CN210081782U - Snatch formula mechanical pressurizing arm - Google Patents

Abstract

The utility model provides a grabbing type mechanical supercharging arm, which relates to the field of manipulators and comprises a support arm, wherein the bottom of the right end of the support arm is connected with an axle sleeve, a transmission shaft which is rotationally connected with the axle sleeve is arranged in the axle sleeve, the bottom end of the transmission shaft is fixedly connected with the output shaft of a servo motor in a coaxial manner, the bottom end of the servo motor is fixed above the support arm, the bottom end of the transmission shaft is connected with a transmission gear, two sides of the transmission gear are respectively meshed with two toothed plates, one end of each toothed plate is fixed on a sliding block, the other end of each toothed plate is connected with a wire wheel through a steel rope, the wire wheel is fixedly connected with a rotating shaft through a clamping key, two ends of the rotating shaft respectively pass through a cylinder fixedly connected with the inner side of a curved claw and are rotationally connected with the, the situation that the object is damaged due to large grabbing force is avoided, and the method is safer; the debugging is comparatively convenient.

Description

Snatch formula mechanical pressurizing arm

Technical Field

The utility model relates to a manipulator field especially relates to a snatch formula mechanical supercharging arm.

Background

The mechanical arm is an automatic mechanical device which is widely applied in the technical field of robots, and the figure of the mechanical arm can be seen in the fields of industrial manufacturing, medical treatment, entertainment service, military, semiconductor manufacturing, space exploration and the like. Although the shapes of the robot arm are different, the robot arm has the common characteristic that the robot arm can receive an instruction and accurately position to a certain point on a three-dimensional (or two-dimensional) space for operation, and the common general situation in the current market is that the robot arm used by people is integrated, and when the robot arm is not used, the robot arm can be moved to other places by means of a tool for placement, so that the operation is complicated, a large amount of manpower and material resources are required, the economic benefit is low, and the practicability is not strong; and the scope that most equipment can snatch is certain, if some article place when robotic arm can't snatch far away, can only snatch the goods through the mode that makes the pay-off, and this just makes workman operating time increase, and the operation is comparatively loaded down with trivial details complicated, and its economic benefits is lower the practicality not strong.

Patent No. CN 208215320U discloses an improved graspable mechanical arm, which comprises a base, an embedded groove is provided on the outer wall of the bottom of the base, a fixing plate is installed in the embedded groove, a universal wheel is installed on the outer wall of the bottom of the fixing plate, a limit sleeve is provided on the outer wall of the top of the fixing plate, a worm sleeve is installed in the limit sleeve, a worm is installed in the worm sleeve, a first rotating motor is installed above the worm, a switch control box and a support rod are installed on the outer wall of the top of the base, a power source is provided on the outer wall of one side of the support rod, the device is provided with a fixing plate, and a universal wheel is installed below the fixing plate, so that the fixing plate is ejected by opening the first rotating motor, and then if the mobile device needs no auxiliary tool, only by sliding the universal wheel, the operation is simple and convenient, and the cost of manpower and material resources is not needed, the economic benefit is lower, and the practicability is stronger.

But because the products of required production are different in the different production workshops, the article that robotic arm snatched has different requirements to robotic arm's the mode of snatching, the dynamics of snatching, and current robotic arm snatchs the mode singleness, snatchs the dynamics and fixes, has greatly restricted robotic arm's application range.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a snatch formula mechanical supercharging arm to solve above-mentioned technical problem.

The utility model discloses a solve above-mentioned technical problem, adopt following technical scheme to realize: a grabbing type mechanical supercharging arm comprises a support arm, wherein a shaft sleeve is connected to the bottom of the right end of the support arm, a transmission shaft which is connected with the shaft sleeve in a rotating mode is arranged in the shaft sleeve, the bottom end of the transmission shaft is fixedly connected with an output shaft of a servo motor in a coaxial mode, the bottom end of the servo motor is fixed above the support arm, a transmission gear is connected to the bottom end of the transmission shaft, two sides of the transmission gear are respectively meshed with two toothed plates, one end of each toothed plate is fixed to a sliding block, the other end of each toothed plate is connected with a wire wheel through a steel rope, the wire wheel is fixedly connected with a rotating shaft through a clamping key, two ends of the rotating shaft respectively penetrate through a cylinder fixedly connected to the inner side of a bent claw and are rotatably connected with the cylinder, nuts are respectively connected to two ends of the rotating shaft, the application range of the mechanical arm is enlarged.

Preferably, be equipped with the keyway in the pivot, the pivot is through the coaxial fixed connection of card key and hollow gear axle, hollow gear axle overcoat has the rubber sleeve, rubber sleeve length is the same with the length of hollow gear axle, rubber sleeve side protrusion in curved claw concave surface one side sets up the pivot on curved claw and makes it connect the gear shaft, is applicable to and snatchs the unsmooth price in surface, and the rubber sleeve has certain resiliency and avoids coefficient of friction higher, is applicable to and snatchs great article.

Preferably, the slider has two and two sliders symmetrical, every two sliding sleeves are connected respectively to the slider both ends, the sliding sleeve bottom is connected with curved claw top, the sliding sleeve and the coaxial sliding connection of slide bar, lie in two the cover has compression spring on the slide bar between the slider, and two sliders move in opposite directions under the drive gear drive and reduce the clamping range for preliminary clamping article.

Preferably, two the slide bar both ends are connected through the connecting rod respectively, montant and link fixed connection are passed through on the slide bar top, the link comprises four middle parts and axle sleeve bottom fixed connection, tip and four montant fixed connection's horizontal pole respectively, connects the slide bar through the connecting rod, connects slide bar and axle sleeve through montant, link, makes the slide bar keep fixed for the support arm.

Preferably, the bottom end of the steel rope is fixedly connected with the wire wheel, the steel rope penetrates through the wire groove in the sliding block and is fixedly connected with the toothed plate on the other sliding block, the two toothed plates are in central symmetry relative to the shaft of the gear, the wire wheel is connected with the toothed plate through the steel rope, the gear shaft rotates to drive the toothed plate to move, the fixed bent claws on the two sliding blocks are further closed, and the object is grabbed more stably.

Preferably, the rotating shaft comprises a cylindrical part and a threaded column part, wherein the cylindrical part is rotatably connected with the cylinder in the middle, the threaded column part is coaxially connected with the two ends of the cylindrical part, the radius of the threaded column part is smaller than that of the cylindrical part, the diameter of the cylindrical part is the same as the inner diameter of the cylinder, a key groove is formed in the cylindrical part, the key groove is formed in the rotating shaft, and the gear shaft, the wire wheel and the rotating wheel are kept in radial fixed connection through a clamping key.

The utility model has the advantages that:

in the utility model, the grabbing part of the mechanical arm is designed into a curved shape, so that the object can be positioned between the four curved claws when grabbing smaller objects, the grabbing is more stable, the rotating shaft is arranged in the curved claws, the rotating shaft is connected with the gear shaft, the gear shaft is connected with the rubber sleeve, and the grabbing device can be respectively used for grabbing irregular objects and larger objects, and has wider application range; the wire wheel is connected on the rotating shaft, the toothed plate and the wire wheel are connected through the steel rope, and the two sliding blocks are closed by utilizing the gravity of the object, so that the condition that the object is damaged due to large grabbing force is avoided, and the safety is higher; the mode that pivot and drum are pegged graft is convenient for change the gear shaft that the diameter is different to snatch of different articles, it is comparatively convenient.

Drawings

Fig. 1 is a schematic structural view of the present invention;

fig. 2 is a schematic view of a three-dimensional structure of the gripping mechanism of the present invention;

fig. 3 is a top view of fig. 2 according to the present invention;

fig. 4 is a front view of fig. 2 in the present invention;

FIG. 5 is an exploded view of the rotating shaft of the present invention;

reference numerals: 1. a support arm; 2. a servo motor; 3. a shaft sleeve; 4. a connecting frame; 5. a vertical rod; 6. a slide bar; 7. a curved claw; 8. a slider; 9. a rubber sleeve; 10. a nut; 11. a rotating shaft; 12. a cylinder; 13. a compression spring; 14. a sliding sleeve; 15. a steel cord; 16. a connecting rod; 17. a drive shaft; 18. a transmission gear; 19. a toothed plate; 20. a wire wheel; 21. a card key; 22. a keyway; 23. hollow gear shaft.

Detailed Description

In order to make the technical means, the creation features, the achievement purposes and the functions of the present invention easy to understand, the present invention will be further explained below with reference to the following embodiments and the accompanying drawings, but the following embodiments are only the preferred embodiments of the present invention, and not all embodiments are included. Based on the embodiments in the implementation, other embodiments obtained by those skilled in the art without any creative efforts belong to the protection scope of the present invention.

Specific embodiments of the present invention will be described below with reference to the accompanying drawings.

Example one

As shown in fig. 1-5, a grabbing type mechanical supercharging arm comprises a support arm 1, wherein a shaft sleeve 3 is connected to the bottom of the right end of the support arm 1, a transmission shaft 17 rotatably connected with the shaft sleeve 3 is arranged in the shaft sleeve 3, the bottom end of the transmission shaft 17 is coaxially and fixedly connected with an output shaft of a servo motor 2, the bottom end of the servo motor 2 is fixed above the support arm 1, a transmission gear 18 is connected to the bottom end of the transmission shaft 17, two sides of the transmission gear 18 are respectively engaged with two toothed plates 19, one end of each toothed plate 19 is fixed on a sliding block 8, the other end of each toothed plate 19 is connected with a pulley 20 through a steel rope 15, the pulley 20 is fixedly connected with a rotating shaft 11 through a clamping key 21, two ends of the rotating shaft 11 respectively penetrate through a cylinder 12 fixedly connected to the inner side of a curved claw 7 and are rotatably connected with, the rotating shaft 11 is coaxially and fixedly connected with a hollow gear shaft 23 through a clamping key 21, a rubber sleeve 9 is sleeved outside the hollow gear shaft 23, the length of the rubber sleeve 9 is the same as that of the hollow gear shaft 23, and the side face of the rubber sleeve 9 protrudes out of one side of the concave face of the curved claw 7.

When an object is grabbed, the whole mechanical arm moves above the object to be grabbed and then vertically falls down to enable the object to be positioned between the four curved claws 7, then the servo motor 2 rotates to drive the transmission gear 18 to rotate through the transmission rod, the transmission gear 18 drives the two meshed toothed plates 19 at two sides to move to enable the sliding block 8 to move, so that the curved claws 7 connected with the sliding block 8 through the sliding sleeve 14 horizontally move on the sliding rod 6, when the side surface of the grabbed object is a plane, the rubber sleeve 9 is sleeved on the hollow gear shaft 23, a certain friction force exists between the rubber sleeve 9 and the grabbed object, the object damage caused by hard contact with the object in the grabbing process can be avoided, when the side surface of the grabbed object is an irregular surface, the tooth grooves on the hollow gear shaft 23 can be clamped with the surface of the object, the object is prevented from falling or the object is prevented from being damaged due to large grabbing force, the curved claws 7 can surround, the application range is wider and the safety is higher.

Example two

As shown in fig. 1-5, a grabbing type mechanical supercharging arm comprises a support arm 1, a shaft sleeve 3 is connected to the bottom of the right end of the support arm 1, a transmission shaft 17 rotatably connected to the shaft sleeve 3 is arranged in the shaft sleeve 3, the bottom end of the transmission shaft 17 is coaxially and fixedly connected to an output shaft of a servo motor 2, the bottom end of the servo motor 2 is fixed above the support arm 1, a transmission gear 18 is connected to the bottom end of the transmission shaft 17, two sides of the transmission gear 18 are respectively engaged with two toothed plates 19, one end of each toothed plate 19 is fixed to a sliding block 8, the other end of each toothed plate 19 is connected to a pulley 20 through a steel rope 15, the pulley 20 is fixedly connected to a rotating shaft 11 through a clamping key 21, two ends of the rotating shaft 11 respectively penetrate through a cylinder 12 fixedly connected to the inner side of a curved claw 7 and are rotatably connected to the cylinder 12, two ends, every two sliding sleeves 14 are connected respectively at 8 both ends of slider, sliding sleeve 14 bottom is connected with 7 tops of bent claw, sliding sleeve 14 and the coaxial sliding connection of slide bar 6 are located two the cover has compression spring 13 on the slide bar 6 between the slider 8, two slide bar 6 both ends are connected through connecting rod 16 respectively, montant 5 and link 4 fixed connection are passed through on 6 tops of slide bar, link 4 comprises four middle parts and 3 bottom fixed connection of axle sleeve, tip and four montant 5 fixed connection's horizontal pole respectively, 15 bottoms of steel cable and line wheel 20 fixed connection, steel cable 15 pass on the slider 8 wire casing and another slider 8 on fixed connection's pinion rack 19 fixed connection, two pinion rack 19 becomes central symmetry about the axle of gear.

When the transmission gear 18 drives the toothed plates 19 on the two sliding blocks 8 to move oppositely to a certain degree, the curved claws 7 connected with the two sliding blocks 8 through the sliding sleeve 14 move for a certain distance in the axial direction of the sliding rod 6 to preliminarily clamp the object, after the curved claw 7 grabs the object, in the process of preparing for lifting, a certain friction force exists between the object and the rubber sleeve 9, the object has a falling tendency under the action of gravity, the rotating shaft 11 rotates in the cylinder 12 through the transmission of the rubber sleeve 9 or the hollow gear shaft 23, the wire wheel 20 which is fixedly connected with the rotating shaft 11 in the radial direction rotates to wind the steel rope 15 on the wire wheel 20, the steel rope 15 pulls the toothed plate 19 which is connected with the other sliding block 8 to move on the sliding rod 6, the two toothed plates 19 move towards each other to enable the curved claw 7 to be further grasped, and the grabbing strength is increased through the gravity of the object, so that the grabbing strength is moderate, and the damage to the object caused by the difficulty in controlling the grabbing strength is avoided.

EXAMPLE III

As shown in fig. 1-5, a snatch formula mechanical supercharging arm, includes support arm 1, support arm 1 right-hand member bottom is connected with axle sleeve 3, be equipped with in the axle sleeve 3 rather than rotate the transmission shaft 17 of being connected, the coaxial fixed connection of transmission shaft 17 bottom and servo motor 2's output shaft, servo motor 2 bottom mounting is in support arm 1 top, transmission shaft 17 bottom is connected with drive gear 18, drive gear 18 both sides mesh with two pinion racks 19 respectively, pinion rack 19 one end is fixed in on the slider 8, and the pinion rack 19 other end is connected with line wheel 20 through steel cable 15, line wheel 20 passes through card key 21 fixed connection with pivot 11, pivot 11 both ends pass the inboard fixed connection's of curved claw 7 drum 12 respectively and rotate with drum 12 and be connected, pivot 11 both ends are connected with nut 10 respectively, pivot 11 includes that the middle part rotates the cylindrical part who is connected with drum 12, And the threaded column part is positioned at two ends of the cylindrical part and is coaxially connected, the radius of the threaded column part is smaller than that of the cylindrical part, the diameter of the cylindrical part is the same as the inner diameter of the cylinder 12, and a key groove 22 is arranged at the cylindrical part.

When the rubber sleeve 9 or the hollow gear shaft 23 is installed and replaced, the nut 10 is detached and then the rotating shaft 11 is drawn out, the hollow gear shaft 23 is detached, the hollow gear shaft 23 is drawn out from one end of the rubber sleeve 9, the clamping key 21 is arranged in the clamping groove, so that the hollow gear shaft 23, the reel 20 and the rotating shaft 11 can be radially fixed, and transmission is realized

The working principle is as follows: when the utility model is used, the support arm 1 is connected with the moving arm, the number of rotating turns of the servo motor 2 is set through the operating system, the rotating angle of the servo motor 2 needs to make the curved claw 7 preliminarily contact with an object to be grabbed, in the grabbing process, the servo motor 2 rotates to drive the transmission gear 18 to rotate, the toothed plate 19 meshed with the gear drives the slide block 8 to move in the axial direction of the slide bar 6, the curved claws 7 on the two slide blocks 8 are close to each other to grab the object, when the object is smaller, the object can be directly grabbed, when the size of the object is larger than the capacity between the four curved claws 7, the side face of the object is in contact with the rubber sleeve 9 or the hollow gear shaft 23 on the rotating shaft 11, at the moment, the curved claws 7 do not completely clamp the object, when the grabbing mechanism ascends, the object rotates the rotating shaft 11 under the action of gravity, the steel rope 15 connected with the wire wheel 20 on the rotating, the debugging is convenient, and is safer.

In the present disclosure, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may comprise direct contact between the first and second features, or may comprise contact between the first and second features not directly. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.

The foregoing shows and describes the general principles, essential features, and advantages of the invention. It should be understood by those skilled in the art that the present invention is not limited by the above embodiments, and the description in the above embodiments and the description is only preferred examples of the present invention, and is not intended to limit the present invention, and that the present invention can have various changes and modifications without departing from the spirit and scope of the present invention, and these changes and modifications all fall into the scope of the claimed invention. The scope of the invention is defined by the appended claims and equivalents thereof.

Claims (6)

1. The utility model provides a snatch formula mechanical supercharging arm, includes support arm (1), its characterized in that: the bottom of the right end of the support arm (1) is connected with a shaft sleeve (3), a transmission shaft (17) which is rotationally connected with the shaft sleeve (3) is arranged in the shaft sleeve (3), the bottom end of the transmission shaft (17) is coaxially and fixedly connected with an output shaft of the servo motor (2), the bottom end of the servo motor (2) is fixed above the support arm (1), the bottom end of the transmission shaft (17) is connected with a transmission gear (18), two sides of the transmission gear (18) are respectively meshed with two toothed plates (19), one end of each toothed plate (19) is fixed on the sliding block (8), and the other end of the toothed plate (19) is connected with the reel (20) through a steel rope (15), the wire wheel (20) is fixedly connected with the rotating shaft (11) through a clamping key (21), two ends of the rotating shaft (11) respectively penetrate through the cylinder (12) fixedly connected with the inner side of the curved claw (7) and are rotatably connected with the cylinder (12), and two ends of the rotating shaft (11) are respectively connected with the nuts (10).

2. The gripping and mechanical supercharging arm of claim 1, wherein: be equipped with keyway (22) on pivot (11), pivot (11) are through card key (21) and hollow gear shaft (23) coaxial fixed connection, hollow gear shaft (23) overcoat has rubber sleeve (9), rubber sleeve (9) length is the same with the length of hollow gear shaft (23), rubber sleeve (9) side protrusion is in curved claw (7) concave surface one side.

3. The gripping and mechanical supercharging arm of claim 1, wherein: the sliding block (8) is provided with two sliding blocks (8) which are symmetrical, two sliding sleeves (14) are respectively connected with two ends of each sliding block (8), the bottom ends of the sliding sleeves (14) are connected with the top ends of the curved claws (7), the sliding sleeves (14) are in coaxial sliding connection with the sliding rods (6), and the sliding rods (6) between the two sliding blocks (8) are sleeved with compression springs (13).

4. The gripping and mechanical supercharging arm of claim 3, wherein: two slide bar (6) both ends are connected through connecting rod (16) respectively, montant (5) and link (4) fixed connection are passed through on slide bar (6) top, link (4) comprise four middle parts and axle sleeve (3) bottom fixed connection, tip respectively with four montant (5) fixed connection's horizontal pole.

5. The gripping and mechanical supercharging arm of claim 3, wherein: the bottom end of the steel rope (15) is fixedly connected with the wire wheel (20), the steel rope (15) penetrates through a wire groove in the sliding block (8) to be fixedly connected with a toothed plate (19) on the other sliding block (8), and the two toothed plates (19) are in central symmetry about the shaft of the gear.

6. The gripping and mechanical supercharging arm of claim 1, wherein: the rotating shaft (11) comprises a cylindrical part and a threaded column part, wherein the middle part of the cylindrical part is rotationally connected with the cylinder (12), the threaded column part is positioned at two ends of the cylindrical part and is coaxially connected with the two ends of the cylindrical part, the radius of the threaded column part is smaller than that of the cylindrical part, the diameter of the cylindrical part is the same as the inner diameter of the cylinder (12), and a key groove (22) is arranged at the cylindrical part.

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