CN221021056U - Workpiece grabbing mechanical arm - Google Patents

Abstract

The utility model discloses a workpiece grabbing mechanical arm, which comprises an arm body and a grabbing mechanism, wherein the arm body comprises: the middle part of the rear end of the upper surface of the bottom plate is provided with a singlechip, the middle part of the front wall surface of the front end frame body of the arm body is provided with a motor I through a mounting seat I, and the front end of an output shaft of the motor I passes through a through hole arranged in the middle part of the front surface of the front end frame body of the arm body and extends to the outside; grabbing mechanism: the device comprises a mounting shell, a mounting seat, a swinging plate and a grabbing hand, wherein the mounting shell is arranged at the front end of an output shaft of a first motor. This work piece snatchs arm, through the operation of singlechip regulation and control motor two, avoid work piece snatch arm to snatch the excessive and cause the damage to the work piece when can firmly snatch the work piece for work piece snatch arm can be according to the quick regulation of the actual conditions of different work pieces, can select to install with work piece assorted snatch hand, increased the application scope that the work piece snatched arm by a wide margin.

Description

Workpiece grabbing mechanical arm

Technical Field

The utility model belongs to the technical field of workpiece grabbing, and particularly relates to a workpiece grabbing mechanical arm.

Background

The workpiece grabbing mechanical arm is used as an important industrial automation device, plays a key role on a production line, is closely related to the production and life of people, is widely applied to the fields of manufacturing industry, logistics distribution, medical appliances and the like, has the main functions of grabbing, carrying and placing various workpieces, provides high-efficiency and accurate automation operation for people,

The existing workpiece grabbing mechanical arm drives a joint and an actuator through a control system to realize grabbing action, and although the existing workpiece grabbing mechanical arm has significantly advanced in improving production efficiency and accuracy, some defects and problems still exist: for example: when the fragile workpiece is grabbed, the workpiece is easy to damage, the whole grabbing structure is required to be replaced when the workpiece with complex shape and irregular surface is grabbed, and the operation is complex during replacement, so that the application range is not wide enough, and therefore, the workpiece grabbing mechanical arm is provided.

Disclosure of utility model

The utility model aims to provide a workpiece grabbing mechanical arm so as to solve the technical problems in the background art.

In order to achieve the above purpose, the specific technical scheme of the utility model is as follows: a workpiece grabbing mechanical arm comprises an arm body and a grabbing mechanism,

Arm body: the middle part of the rear end of the upper surface of the bottom plate is provided with a singlechip, the middle part of the front wall surface of the front end frame body of the arm body is provided with a motor I through a mounting seat I, and the front end of an output shaft of the motor I passes through a through hole arranged in the middle part of the front surface of the front end frame body of the arm body and extends to the outside;

Grabbing mechanism: the device comprises a mounting shell, a mounting seat, a swinging plate and a grabbing hand, wherein the mounting shell is arranged at the front end of an output shaft of a motor I, annular uniformly distributed mounting seats are arranged at the front end of an inner arc surface of the mounting shell, the swinging plate is rotationally connected to the inside of the mounting seats through pin shafts, and the grabbing hand is movably inserted into a socket arranged on the front surface of the swinging plate;

Wherein: the input of singlechip electricity is connected external power source, and the output of singlechip is all connected to the input of the equal electricity of the arm body and motor one, avoids the work piece to snatch the arm and snatchs the excessive and cause the damage to the work piece when can firmly grasp the work piece for the work piece snatchs the arm and can adjust according to the actual conditions of different work pieces fast, can select to install with work piece assorted snatch hand, has increased the application scope of work piece snatch arm by a wide margin.

Preferably, the grabbing mechanism further comprises a worm wheel and a worm, the worm wheel is respectively arranged in a notch arranged at the rear end of the swinging plate, the worm is connected in a rotating groove arranged in the middle of the front wall surface of the installation shell in a rotating mode through a bearing, and the worm wheel is meshed with the worm to play a role in rapid transmission.

Preferably, the grabbing mechanism further comprises a second motor, the second motor is arranged at the rear end of the inner cavity of the installation shell, and the input end of the second motor is electrically connected with the output end of the single chip microcomputer to play a role in quick driving.

Preferably, the front end of the inner wall of the grabbing hand is provided with a pressure sensor, the output end of the pressure sensor is electrically connected with the input end of the singlechip, and the workpiece grabbing mechanical arm can be firmly grabbed and simultaneously prevented from being damaged due to overlarge grabbing force.

Preferably, the front end of the outer side of the swing plate is provided with a rectangular groove, the rear end of the inner cavity of the rectangular groove is rotationally connected with a limiting plate through a rotating shaft, the front end of the rectangular groove, which is close to the inner wall of the axis of the installation shell, is provided with an avoidance port matched with the limiting plate, and the rear end of the outer side of the grabbing hand is provided with limiting ports corresponding to the limiting plates one by one, so that the application range of the workpiece grabbing mechanical arm is greatly increased.

Preferably, elastic sheets are arranged between the inner wall surface of the rectangular groove, which is close to the axle center of the installation shell, and the inner side surface of the limiting plate, which is adjacent to the same side, so that the limiting plate and the accessory mechanism thereof are elastically supported.

The workpiece grabbing mechanical arm has the following advantages:

1. According to the workpiece grabbing mechanical arm, instructions in a workpiece grabbing program are read through the single chip microcomputer, the movement speed and the movement position of the arm body and the first motor are controlled, so that the workpiece grabbing mechanical arm is guaranteed to grab a workpiece according to a preset path, after that, the single chip microcomputer regulates and controls the second motor to operate, the second output shaft of the motor drives the worm to synchronously rotate, the worm drives the corresponding swinging plate, the grabbing hand and the accessory mechanism of the grabbing hand to synchronously fold inwards while rotating, so that the workpiece is grabbed, in the process, the pressure sensor carries out pressure detection in real time and synchronizes signals to the single chip microcomputer, whether the workpiece is firmly grabbed is determined through the single chip microcomputer, and after the fact that the workpiece is firmly grabbed is determined, the single chip microcomputer regulates and controls the second motor to stop operating, so that damage to the workpiece caused by overlarge grabbing force of the workpiece grabbing mechanical arm can be firmly grabbed;

2. This work piece snatchs arm for the front end of limiting plate overcomes the elasticity of shell fragment and sticks up to the outside through pressing the rear end of limiting plate, thereby make limiting plate and snatch the spacing mouth separation that the hand lateral surface corresponds the setting, at this moment relevant staff can take off unnecessary snatch the hand, thereby make work piece snatch arm can be according to the actual conditions of different work pieces quick adjust, on the contrary, only need to insert back the snatch hand of taking off in the oscillating plate again, then make limiting plate and snatch the spacing mouth movable joint that the hand lateral surface corresponds the setting again, thereby carry out spacingly to snatch the hand, the same reason also can select and install with work piece assorted snatch hand, work piece snatch arm's application scope has been increased by a wide margin.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present utility model, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some examples of the present utility model and therefore should not be considered as limiting the scope, and other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic diagram of the overall structure of the present utility model;

FIG. 2 is a schematic cross-sectional view of the present utility model;

FIG. 3 is a schematic view of a grabbing mechanism according to the present utility model;

FIG. 4 is an enlarged schematic view of the structure of FIG. 3A according to the present utility model;

FIG. 5 is an enlarged schematic view of the structure of FIG. 4B according to the present utility model;

The figure indicates: 1. an arm body; 2. a single chip microcomputer; 3. a first motor; 4. a grabbing mechanism; 41. a mounting shell; 42. a mounting base; 43. a swinging plate; 44. grabbing hands; 45. a worm wheel; 46. a worm; 47. a second motor; 5. a pressure sensor; 6. rectangular grooves; 7. a limiting plate; 8. and the elastic sheet.

Detailed Description

Hereinafter, only certain exemplary embodiments are briefly described. As will be recognized by those of skill in the pertinent art, the described embodiments may be modified in numerous different ways without departing from the spirit or scope of the embodiments of the present utility model. Accordingly, the drawings and description are to be regarded as illustrative in nature and not as restrictive.

In the description of the embodiments of the present utility model, it should be understood that the terms "length," "vertical," "horizontal," "top," "bottom," and the like indicate an orientation or a positional relationship based on that shown in the drawings, and are merely for convenience in describing the embodiments of the present utility model and to simplify the description, rather than to indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the embodiments of the present utility model.

Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the embodiments of the present utility model, the meaning of "plurality" is two or more, unless explicitly defined otherwise.

In the embodiments of the present utility model, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured" and the like are to be construed broadly and include, for example, either permanently connected, removably connected, or integrally formed; the device can be mechanically connected, electrically connected and communicated; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the above terms in the embodiments of the present utility model will be understood by those of ordinary skill in the art according to specific circumstances.

The following disclosure provides many different implementations, or examples, for implementing different configurations of embodiments of the utility model. In order to simplify the disclosure of embodiments of the present utility model, components and arrangements of specific examples are described below. Of course, they are merely examples and are not intended to limit embodiments of the present utility model. Furthermore, embodiments of the present utility model may repeat reference numerals and/or letters in the various examples, which are for the purpose of brevity and clarity, and which do not themselves indicate the relationship between the various embodiments and/or arrangements discussed.

For a better understanding of the objects, structures and functions of the present utility model, a workpiece gripping robot according to the present utility model will be described in further detail with reference to the accompanying drawings.

As shown in fig. 1 to 5, a workpiece gripping mechanical arm of the present utility model includes an arm body 1 and a gripping mechanism 4,

Arm body 1: the arm body 1 provides a mounting support place for the accessory mechanism unit, the middle part of the rear end of the upper surface of the bottom plate of the arm body is provided with a singlechip 2, the middle part of the front wall surface of the front end frame body of the arm body 1 is provided with a motor I3 through a mounting seat I, and the front end of an output shaft of the motor I3 passes through a through hole arranged in the middle part of the front surface of the front end frame body of the arm body 1 and extends to the outside;

Gripping mechanism 4: the utility model comprises a mounting shell 41, a mounting seat 42, a swinging plate 43 and a grabbing hand 44, wherein the mounting shell 41 is arranged at the front end of an output shaft of a first motor 3, the front end of an inner arc surface of the mounting shell 41 is provided with the annular uniformly distributed mounting seat 42, the inside of the mounting seat 42 is rotationally connected with the swinging plate 43 through a pin shaft, the inside of a socket arranged on the front surface of the swinging plate 43 is movably inserted with the grabbing hand 44, the grabbing mechanism 4 also comprises a worm wheel 45 and a worm 46, the worm wheel 45 is respectively arranged in a notch arranged at the rear end of the swinging plate 43, the worm 46 is rotationally connected in a rotating groove arranged in the middle of the front wall surface of the mounting shell 41 through a bearing, the worm wheel 45 is engaged with the worm 46, the grabbing mechanism 4 also comprises a second motor 47, the second motor 47 is arranged at the rear end of an inner cavity of the mounting shell 41, the input end of the second motor 47 is electrically connected with the output end of the single chip microcomputer 2, the working personnel fixedly installs the arm body 1 and the accessory mechanism thereof in a workpiece grabbing place, then the singlechip 2 reads instructions in a workpiece grabbing program, controls the movement speed and the position of the arm body 1 and the motor I3, so as to ensure that the workpiece grabbing mechanical arm grabs a workpiece according to a preset path, after that, the singlechip 2 regulates and controls the motor II 47 to operate, the output shaft of the motor II 47 rotates to drive the worm 46 to synchronously rotate, the worm 46 drives the corresponding swinging plate 43 and the grabbing hand 44 and the accessory mechanism thereof to synchronously fold in the middle through the worm wheel 45 which is in meshed connection with the worm 46 while rotating, so as to grab the workpiece, after that, the singlechip 2 reads the instructions in the workpiece grabbing program, so as to move the workpiece into the appointed place, then the singlechip 2 regulates and controls the motor II 47 to reversely operate, each structure is reset, so as to release the grabbed workpiece, and circularly reciprocate, the grabbing process of the workpiece can be completed;

Wherein: the input end of the singlechip 2 is electrically connected with an external power supply, and the input ends of the arm body 1 and the motor I3 are electrically connected with the output end of the singlechip 2 to regulate and control the operation of each electrical element.

Wherein: the front end of the inner wall surface of the grabbing hand 44 is provided with a pressure sensor 5, the output end of the pressure sensor 5 is electrically connected with the input end of the single chip microcomputer 2, the pressure sensor 5 carries out pressure detection in real time and synchronizes signals to the single chip microcomputer 2, the single chip microcomputer 2 judges whether to grab a workpiece firmly or not, when judging that the workpiece grabs firmly, the single chip microcomputer 2 regulates and controls the motor II 47 to stop operating, so that the workpiece can be firmly grabbed, and meanwhile, damage to the workpiece caused by overlarge grabbing force of the workpiece grabbing mechanical arm is avoided.

Wherein: the front end of the outer side of the swinging plate 43 is provided with rectangular grooves 6, the rear end of the inner cavity of each rectangular groove 6 is rotationally connected with a limiting plate 7 through a rotating shaft, the front end of the inner wall of each rectangular groove 6, which is close to the axis of the installation shell 41, is provided with avoidance openings matched with the limiting plates 7, the rear end of the outer side of each grabbing hand 44 is provided with limiting openings corresponding to the limiting plates 7 one by one, when workpieces in different shapes are met, related staff presses the rear end of each limiting plate 7, the front end of each limiting plate 7 is tilted outwards, the limiting openings corresponding to the outer sides of each limiting plate 7 are separated, at the moment, the related staff can take down redundant grabbing hands 44, so that the workpiece grabbing mechanical arm can be adjusted rapidly according to actual conditions of different workpieces, otherwise, the grabbing hands 44 taken down are only required to be reinserted into the swinging plate 43, the limiting plates 7 are enabled to be movably clamped with the limiting openings corresponding to the outer sides of the grabbing hands 44, the grabbing hands 44 are limited, the clamping of the workpieces can be selected, and the application range of the grabbing mechanical arm is greatly enlarged.

Wherein: elastic pieces 8 are arranged between the inner wall surface of the rectangular groove 6, which is close to the axis of the mounting shell 41, and the inner side surface of the limiting plate 7, which is adjacent to the same side, and the elastic pieces 8 play a role in elastically supporting the limiting plate 7 and the accessory mechanism thereof.

The working principle of the workpiece grabbing mechanical arm is as follows: firstly, a worker fixedly installs an arm body 1 and an accessory mechanism thereof in a workpiece grabbing place, then a single chip microcomputer 2 reads instructions in a workpiece grabbing program, controls the movement speed and the position of the arm body 1 and a motor I3 so as to ensure that the workpiece grabbing mechanical arm grabs a workpiece according to a preset path, after that, the single chip microcomputer 2 regulates and controls a motor II 47 to operate, an output shaft of the motor II 47 rotates to drive a worm 46 to synchronously rotate, the worm 46 drives a corresponding swinging plate 43 and a grabbing hand 44 and the accessory mechanism thereof to synchronously fold inwards through a worm wheel 45 in meshed connection with the worm 46 during rotation, so as to grab the workpiece, a pressure sensor 5 carries out pressure detection in real time and synchronizes signals to the single chip microcomputer 2, the single chip microcomputer 2 judges whether the workpiece grabbing is firm or not, after judging that the workpiece grabbing is firm, the single chip microcomputer 2 regulates and controls the motor II 47 to stop operating, therefore, the workpiece can be firmly grasped and damage to the workpiece caused by overlarge grasping force of the workpiece grasping mechanical arm is avoided, after that, the singlechip 2 reads instructions in the workpiece grasping program, so that the workpiece is moved into a designated place, then the singlechip 2 regulates and controls the motor II 47 to reversely operate, each structure is reset, the grasped workpiece is released, the cyclic reciprocation is performed, the grasping process of the workpiece can be completed, when workpieces with different shapes are encountered, the rear end of the limiting plate 7 is pressed by related staff, the front end of the limiting plate 7 is lifted outwards by overcoming the elastic force of the elastic sheet 8, so that the limiting plate 7 is separated from a limiting opening correspondingly arranged on the outer side of the grasping hand 44, at the moment, the related staff can take down the redundant grasping hand 44, and the workpiece grasping mechanical arm can be rapidly adjusted according to the actual conditions of different workpieces, otherwise, only the removed grabbing hand 44 is inserted back into the swinging plate 43 again, and then the limiting plate 7 is movably clamped with the limiting opening correspondingly arranged on the outer side face of the grabbing hand 44 again, so that the grabbing hand 44 is limited, and the grabbing hand 44 matched with a workpiece can be selected for installation in the same way, so that the application range of the workpiece grabbing mechanical arm is greatly enlarged.

It will be understood that the utility model has been described in terms of several embodiments, and that various changes and equivalents may be made to these features and embodiments by those skilled in the art without departing from the spirit and scope of the utility model. In addition, many modifications may be made to adapt a particular situation or material to the teachings of the utility model without departing from the essential scope thereof. Therefore, it is intended that the utility model not be limited to the particular embodiment disclosed, but that the utility model will include all embodiments falling within the scope of the appended claims.

Claims (6)

1. The utility model provides a work piece snatchs arm, includes the arm body (1) and snatchs mechanism (4), its characterized in that:

Arm body (1): the middle part of the rear end of the upper surface of the bottom plate is provided with a singlechip (2), the middle part of the front wall surface of the front end frame body of the arm body (1) is provided with a motor I (3) through a mounting seat I, and the front end of an output shaft of the motor I (3) penetrates through a through hole arranged in the middle part of the front surface of the front end frame body of the arm body (1) and extends to the outside;

gripping means (4): the novel electric motor comprises a mounting shell (41), mounting seats (42), swinging plates (43) and grabbing hands (44), wherein the mounting shell (41) is arranged at the front end of an output shaft of a motor I (3), the annular uniformly distributed mounting seats (42) are arranged at the front end of an inner arc surface of the mounting shell (41), the swinging plates (43) are rotatably connected inside the mounting seats (42) through pin shafts, and the grabbing hands (44) are movably inserted into sockets formed in the front surface of the swinging plates (43);

Wherein: the input end of the singlechip (2) is electrically connected with an external power supply, and the input ends of the arm body (1) and the motor I (3) are electrically connected with the output end of the singlechip (2).

2. The workpiece gripping robot of claim 1, wherein: the grabbing mechanism (4) further comprises a worm wheel (45) and a worm (46), the worm wheel (45) is respectively arranged in a notch formed in the rear end of the swinging plate (43), the worm (46) is connected in a rotating groove formed in the middle of the front wall surface of the installation shell (41) through bearing rotation, and the worm wheel (45) is meshed with the worm (46).

3. The workpiece gripping robot of claim 2, wherein: the grabbing mechanism (4) further comprises a second motor (47), the second motor (47) is arranged at the rear end of the inner cavity of the installation shell (41), and the input end of the second motor (47) is electrically connected with the output end of the single chip microcomputer (2).

4. The workpiece gripping robot of claim 1, wherein: the front end of the inner wall of the grabbing hand (44) is provided with a pressure sensor (5), and the output end of the pressure sensor (5) is electrically connected with the input end of the singlechip (2).

5. The workpiece gripping robot of claim 1, wherein: the front end of the outer side face of the swinging plate (43) is provided with a rectangular groove (6), the rear end of the inner cavity of the rectangular groove (6) is rotationally connected with a limiting plate (7) through a rotating shaft, the front end of the inner wall face of the rectangular groove (6) close to the axis of the mounting shell (41) is provided with avoiding openings matched with the limiting plate (7), and the rear end of the outer side face of the grabbing hand (44) is provided with limiting openings corresponding to the limiting plates (7) one by one.

6. The workpiece gripping robot of claim 5, wherein: elastic pieces (8) are arranged between the inner wall surface of the rectangular groove (6) close to the axle center of the mounting shell (41) and the inner side surface of the limiting plate (7) adjacent to the same side.