CN213381609U

CN213381609U - Robot arm for grabbing

Info

Publication number: CN213381609U
Application number: CN202022418179.6U
Authority: CN
Inventors: 李冠男; 田焕年; 范清亮; 毕波; 邵东永; 李俊鹏
Original assignee: Yantai Huaheng Intelligent Technology Co ltd
Current assignee: Yantai Huaheng Intelligent Technology Co ltd
Priority date: 2020-10-27
Filing date: 2020-10-27
Publication date: 2021-06-08
Anticipated expiration: 2030-10-27

Abstract

The utility model provides a robot arm for snatch relates to the manipulator field, including grabbing device and suction means, grabbing device and suction means's tip is equipped with connecting device, and suction means and grabbing device respectively with connecting device's both ends swing joint, be equipped with second movable rod and third movable rod between sucking device and the connecting device, be equipped with connecting pin axle between second movable rod and the third activity, and second movable rod and third movable rod pass through connecting pin axle swing joint, be equipped with first movable rod between grabbing device and the connecting device, and the tip and the connecting device swing joint of first movable rod. Adopt suction means and grabbing device, it is different with traditional manipulator that it both can absorb the metal material or the glass material of board class, also can snatch irregular object, finely tune suction means and grabbing device through the movable rod drive, increase the degree of freedom of whole manipulator, make work more nimble.

Description

Robot arm for grabbing

Technical Field

The utility model relates to a manipulator technical field especially relates to a robot arm for snatch.

Background

A robot refers to an automatic operating device that can simulate some action functions of human hands and arms and is used for grabbing, carrying objects or operating tools according to a fixed program. The device mainly comprises an executing mechanism, a driving mechanism and a control system. It can replace human to carry out heavy work to realize mechanization and automation of production, and is widely applied to departments of mechanical manufacturing, light industry, atomic energy and the like.

Traditional manipulator intelligence is absorbing or snatchs a mode work, goes on and also can not both independent work when can not both a section of thick bamboo, and work efficiency does not have the height of two kinds of work types to the degree of freedom is not high.

SUMMERY OF THE UTILITY MODEL

The utility model aims at solving the defects existing in the prior art, and providing a robot arm for grabbing.

In order to achieve the above purpose, the utility model adopts the following technical scheme: the utility model provides a robot arm for snatch, includes grabbing device and suction means, grabbing device and suction means's tip is equipped with connecting device, and suction means and grabbing device respectively with connecting device's both ends swing joint, be equipped with second movable rod and third movable rod between suction means and the connecting device, be equipped with connecting pin axle between second movable rod and the third activity, and second movable rod and third movable rod pass through connecting pin axle swing joint, and the tip and the connecting device tip swing joint of second movable rod, be equipped with first movable rod between grabbing device and the connecting device, and the tip and the connecting device swing joint of first movable rod.

Optionally, grabbing device includes the control panel, the control panel surface is equipped with the tong, and tong and control panel electric connection, the control panel tip is equipped with first rotary device, and first rotary device tip and control panel fixed connection, and first rotary device's the other end and first movable rod fixed connection.

Optionally, the suction device comprises a supporting frame, the surface of the supporting frame is provided with suckers in an array manner, a second rotating device is arranged at the center of the back face of the supporting frame, the end part of the second rotating device is fixedly installed on the supporting frame, and the other end of the second rotating device is fixedly connected with the end part of the third movable rod.

Optionally, a third arm is arranged on the surface of the connecting device, the end of the third arm is fixedly connected with the surface of the connecting device, a second arm is arranged at the end of the third arm far away from the connecting device, and the second arm is movably connected with the third arm through a connecting pin shaft.

Optionally, a first arm is arranged at the end of a second arm far away from the third arm, and the first arm and the second arm are movably connected through a connecting pin shaft.

Optionally, keep away from the first arm tip of second arm is equipped with the fixed plate, and the tip and the fixed plate of first arm pass through connecting pin axle swing joint, and connecting pin axle's both ends and fixed plate swing joint, the fixed plate bottom is equipped with the support base, and fixed plate fixed mounting is on supporting the base surface.

The utility model has the advantages that:

(1) the utility model discloses in, adopt suction means and grabbing device, it is the metal material or the glass material that it both can absorb the board class with traditional manipulator difference, also can snatch irregular object, passes through the motor rotation at grabbing device and suction means tip simultaneously, the adjustment direction, rethread activity pole drive is to suction means and grabbing device fine setting, carries out adjustment by a wide margin through first arm, second arm, third arm, increases the degree of freedom of whole manipulator, makes work more nimble.

(2) The utility model discloses in, when only needing one kind to snatch the mode, another device stop using to the movable rod is to the backward direction and is kept motionless, but the integrated device can follow whole device and move together, and suction means and grabbing device both independently also can mutually support, do not disturb the normal operating of another device.

Drawings

Fig. 1 is an isometric view of the present invention;

FIG. 2 is an enlarged view of the suction device of FIG. 1;

FIG. 3 is an enlarged view of the grasping device of FIG. 1;

fig. 4 is a partial cross-sectional view of the present invention;

fig. 5 is a top view of the present invention;

fig. 6 is a cross-sectional view of the present invention.

Illustration of the drawings:

1. a gripping device; 101. clamping a hand; 102. a control panel; 103. a first rotating device; 2. a suction device; 201. a second movable bar; 202. a third movable bar; 203. a second rotating device; 204. a support frame; 205. a vacuum chuck; 3. a connecting device; 4. a third arm; 5. a second arm; 6. a first arm; 7. a fixing plate; 8. a support base; 9. a first movable bar; 10. and connecting a pin 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 work 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.

The specific embodiment is as follows:

referring to fig. 1-6, a robot arm for grabbing comprises a grabbing device 1 and a suction device 2, wherein a connecting device 3 is arranged at the end portions of the grabbing device 1 and the suction device 2, the suction device 2 and the grabbing device 1 are respectively movably connected with the two ends of the connecting device 3, a second movable rod 201 and a third movable rod 202 are arranged between the sucking device 2 and the connecting device 3, a connecting pin shaft 10 is arranged between the second movable rod 201 and the third movable rod 201, the second movable rod 201 and the third movable rod 202 are movably connected through the connecting pin shaft 10, the end portion of the second movable rod 201 is movably connected with the end portion of the connecting device 3, a first movable rod 9 is arranged between the grabbing device 1 and the connecting device 3, and the end portion of the first movable rod 9 is movably connected with the connecting device 3.

Grabbing device 1 includes control panel 102, and control panel 102 surface is equipped with tong 101, and tong 101 and control panel 102 electric connection, and control panel 102 tip is equipped with first rotary device 103, and first rotary device 103 tip and control panel 102 fixed connection, and the other end and the first movable rod 9 fixed connection of first rotary device 103.

The suction device 2 comprises a supporting frame 204, vacuum suction cups 205 are arrayed on the surface of the supporting frame 204, a second rotating device 203 is arranged at the center of the back surface of the supporting frame 204, the end part of the second rotating device 203 is fixedly installed with the supporting frame 204, and the other end of the second rotating device 203 is fixedly connected with the end part of the third movable rod 202.

Connecting device 3's surface is equipped with third arm 4, and the 4 tip of third arm and connecting device 3 fixed surface are connected, the tip of keeping away from connecting device 3's third arm 4 is equipped with second arm 5, and second arm 5 and third arm 4 are through connecting pin axle 10 swing joint, the 5 tip of second arm of keeping away from third arm 4 is equipped with first arm 6, and first arm 6 and second arm 5 are through connecting pin axle 10 swing joint, the 6 tip of first arm of keeping away from second arm 5 is equipped with fixed plate 7, and the tip of first arm 6 and fixed plate 7 are through connecting pin axle 10 swing joint, and the both ends of connecting pin axle 10 and fixed plate 7 swing joint, fixed plate 7 bottom is equipped with support base 8, and fixed plate 7 fixed mounting is on support base 8 surface.

The utility model discloses a theory of operation: the manipulator mainly comprises three major parts, namely a hand part, a motion mechanism and a control system, wherein the hand part is a suction device 2 and a gripping device 1 which are parts for gripping workpieces or tools, there are various structural forms according to the shape, size, weight, material and operation requirements of the gripped object, such as a clamping type, a holding type, an adsorption type and the like, a motion mechanism enables a hand part to complete various rotary swinging, moving or compound motions to realize a specified action, changes the position and the posture of a gripped object, and has the whole flexibility determined by the degree of freedom, the more the degree of freedom is, the greater the flexibility of the manipulator is, the wider the universality is, the more complex the structure is, the control system is to control the motor of each degree of freedom of the manipulator to complete a specific action, and meanwhile, receiving information fed back by the sensor, forming stable closed-loop control, and realizing the required function by programming the closed-loop control. Adopt suction means 2 and grabbing device 1, it is different from traditional manipulator that it both can absorb the metal material or the glass material of board class, also can snatch irregular object, passes through the motor rotation simultaneously at

grabbing device

1 and 2 tip of suction means, the adjustment direction, rethread activity pole drive is finely tuned sucking means 2 and grabbing device 1, carries out adjustment by a wide margin through first arm 6, second arm 5, third arm 4, increase the degree of freedom of whole manipulator, make work more nimble. When only one grabbing mode is needed, the other device is stopped to be used, the movable rod is kept immovable in the backward direction, the two devices are connected through the connecting device 3, the first movable rod 9, the second movable rod 201 and the third movable rod 202 are driven by the motor inside the connecting device 3, the degree of freedom of the movable rod is increased, the suction device 2 and the grabbing device 1 can also control the operation of a local device through the degree of freedom of the manipulator and are independent of each other, but the whole device can move together with the whole device, the suction device 2 and the grabbing device 1 are independent of each other and can be matched with each other, and the normal operation of the other device is not interfered.

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

1. A robot arm for snatching, includes grabbing device and suction means, its characterized in that:

the end parts of the gripping device and the suction device are provided with connecting devices, the suction device and the gripping device are respectively movably connected with the two ends of the connecting devices, a second movable rod and a third movable rod are arranged between the suction device and the connecting devices, a connecting pin shaft is arranged between the second movable rod and the third movable rod, the second movable rod and the third movable rod are movably connected through the connecting pin shaft, the end part of the second movable rod is movably connected with the end part of the connecting device, a first movable rod is arranged between the gripping device and the connecting devices, and the end part of the first movable rod is movably connected with the connecting devices.

2. A robot arm for gripping according to claim 1, characterized in that:

grabbing device includes the control panel, the control panel surface is equipped with the tong, and tong and control panel electric connection, the control panel tip is equipped with first rotary device, and first rotary device tip and control panel fixed connection, and first rotary device's the other end and first movable rod fixed connection.

3. A robot arm for gripping according to claim 1, characterized in that:

the suction device comprises a supporting frame, the surface of the supporting frame is provided with vacuum suckers in an array mode, a second rotating device is arranged at the center of the back face of the supporting frame, the end portion of the second rotating device is fixedly installed with the supporting frame, and the other end of the second rotating device is fixedly connected with the end portion of the third movable rod.

4. A robot arm for gripping according to claim 1, characterized in that:

the surface of the connecting device is provided with a third arm, the end part of the third arm is fixedly connected with the surface of the connecting device, the end part of the third arm far away from the connecting device is provided with a second arm, and the second arm is movably connected with the third arm through a connecting pin shaft.

5. A robot arm for gripping according to claim 4, characterized in that:

the end part of the second arm far away from the third arm is provided with a first arm, and the first arm is movably connected with the second arm through a connecting pin shaft.

6. A robot arm for gripping according to claim 5, characterized in that:

keep away from the first arm tip of second arm is equipped with the fixed plate, and the tip and the fixed plate of first arm pass through connecting pin axle swing joint, and the both ends and the fixed plate swing joint of connecting pin axle, the fixed plate bottom is equipped with the support base, and fixed plate fixed mounting is on supporting the base surface.