Manipulator wedge type structure driving clamping jaw

Abstract

The utility model belongs to the technical field of automatic manufacturing equipment, and particularly relates to a wedge type structure driving clamping jaw of a manipulator, which comprises a mounting plate, a rotating cylinder is arranged on one side of the mounting plate, one side of the rotating cylinder is connected with one side of the mounting plate, and a clamping jaw cylinder is arranged on one side of the rotating cylinder. One side of the clamping jaw air cylinder is connected with a first rotating air cylinder. The wedge-type structure driving clamping jaw of the mechanical arm is suitable for equipment such as lathes and machining centers, unmanned grabbing and placing of metal and plastic workpieces are stably completed, the continuous operation efficiency of a machine tool is improved, the wedge-type structure driving clamping jaw cooperates with a conveying belt and an AGV to work, rapid transferring of the workpieces between working procedures can be achieved, the wedge-type structure driving clamping jaw is adopted, the clamping force can be increased, and the working efficiency is improved. And the clamping jaws can synchronously perform centering movement, the distance between the clamping jaws can be adjusted, the mechanical arm can be compatible with workpieces of different shapes and sizes, a main body is made of a high-strength aluminum alloy material, the load pressure of the mechanical arm is remarkably reduced, and the service life of the mechanical arm is prolonged.

Description

Technical Field

[0001] This utility model relates to the field of automated manufacturing equipment technology, specifically to a wedge-shaped driven gripper for a robotic arm. Background Technology

[0002] A robotic arm mainly consists of an actuator, a drive system, a control system, and a detection system. The actuator, as the part that directly interacts with the target object, performs grasping actions through end effectors such as grippers and suction cups.

[0003] Existing robotic grippers with wedge-shaped drive grippers have limited gripping force, making it difficult to meet the gripping needs of heavy or high-precision workpieces. The grippers also have poor synchronization, which can lead to uneven force distribution during workpiece gripping, affecting positioning accuracy. Furthermore, the complex structure makes debugging and maintenance difficult, and it is hard to adapt to the rapid switching needs of diverse production scenarios.

[0004] Therefore, we urgently need to provide a wedge-shaped structure driven gripper for robotic arms. Utility Model Content

[0005] The purpose of this invention is to provide a wedge-shaped driven gripper for a robotic arm to solve the problems mentioned in the background art.

[0006] To achieve the above objectives, this utility model provides the following technical solution: a wedge-shaped driven gripper for a robotic arm, comprising a mounting plate, a rotary cylinder disposed on one side of the mounting plate, the rotary cylinder being connected to one side of the mounting plate, a gripper cylinder disposed on one side of the rotary cylinder, the gripper cylinder being connected to the rotary cylinder, a rotation limiter being disposed between the rotary cylinder and the gripper cylinder, and a rotation detection sensor being disposed on the rotation limiter.

[0007] A further improvement is that a buffer is provided on one side of the rotary cylinder, and the buffer is connected to one side of the rotary cylinder. A wedge is provided on one side of the gripper cylinder, and one end of the wedge is slidably connected to one side of the gripper cylinder, so that the position of the gripper can be better adjusted, thereby enabling better gripping of the workpiece.

[0008] A further improvement is that a gripper is provided on one side of the wedge block, and one end of the gripper is connected to one side of the wedge block. There are three grippers, which are symmetrically distributed on one side of the gripper cylinder, so that workpieces of different sizes can be clamped and fixed quickly and conveniently, thus enabling better use.

[0009] A further improvement is that a limit plate is provided on one side of the gripper cylinder, and a telescopic rod is provided on one side of the limit plate. One end of the telescopic rod is connected to one end of the limit plate, and the outer wall of the telescopic rod is slidably connected to the inner wall of the gripper cylinder.

[0010] A further improvement is that the number of telescopic rods is three, which are symmetrically distributed on one side of the limiting plate. A gripper sensor is provided on one side of the gripper cylinder, and the gripper sensor side is connected to the gripper cylinder side, thereby enabling further gripping of the workpiece and thus better use.

[0011] Compared with the prior art, the beneficial effects of this utility model are:

[0012] This robotic arm features a wedge-driven gripper structure. Through the inclusion of a mounting plate, rotary cylinder, gripper cylinder, rotation limit switch, rotation detection sensor, buffer, wedge, gripper, limit plate, telescopic rod, and gripper sensor, it is suitable for lathes, machining centers, and other equipment. It stably performs unmanned gripping and placement of metal and plastic workpieces, improving the efficiency of continuous machine tool operation. Furthermore, it can work in conjunction with conveyor belts and AGVs to achieve rapid workpiece transfer between processes. The wedge-driven gripper structure increases clamping force and allows for synchronous centering movement. The gripper spacing is adjustable, accommodating workpieces of different shapes and sizes. The main body is made of high-strength aluminum alloy, significantly reducing the load on the robotic arm and extending the equipment's service life. Attached Figure Description

[0013] Figure 1 This is a three-dimensional structural diagram of the present invention;

[0014] Figure 2 This is a schematic diagram of the gripper cylinder structure of this utility model;

[0015] Figure 3 This is a schematic diagram of the telescopic rod structure of this utility model.

[0016] In the diagram: 1. Mounting plate; 2. Rotary cylinder; 3. Gripper cylinder; 4. Rotation limit switch; 5. Rotation detection sensor; 6. Buffer; 7. Wedge block; 8. Gripper; 9. Limiting plate; 10. Telescopic rod; 11. Gripper sensor. Detailed Implementation

[0017] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0018] Please see Figures 1-3 This utility model provides a technical solution:

[0019] A wedge-shaped driven gripper for a robotic arm includes a mounting plate 1. A rotary cylinder 2 is provided on one side of the mounting plate 1, and one side of the rotary cylinder 2 is connected to one side of the mounting plate 1. A gripper cylinder 3 is provided on one side of the rotary cylinder 2, and one side of the gripper cylinder 3 is connected to one side of the rotary cylinder 2. A rotation limit 4 is provided between one side of the rotary cylinder 2 and one side of the gripper cylinder 3. A rotation detection sensor 5 is provided on one side of the rotation limit 4.

[0020] A buffer 6 is provided on one side of the rotary cylinder 2. The buffer 6 is connected to one side of the rotary cylinder 2. A wedge 7 is provided on one side of the gripper cylinder 3. One end of the wedge 7 is slidably connected to one side of the gripper cylinder 3, so that the position of the gripper 8 can be better adjusted, and the workpiece can be gripped better.

[0021] A gripper 8 is provided on one side of the wedge block 7. One end of the gripper 8 is connected to one side of the wedge block 7. There are three grippers 8, which are symmetrically distributed on one side of the gripper cylinder 3. This allows for quick and convenient clamping and fixing of workpieces of different sizes, thus enabling better use.

[0022] A limit plate 9 is provided on one side of the gripper cylinder 3, and a telescopic rod 10 is provided on one side of the limit plate 9. One end of the telescopic rod 10 is connected to one end of the limit plate 9, and the outer wall of the telescopic rod 10 is slidably connected to the inner wall of the gripper cylinder 3.

[0023] There are three telescopic rods 10, which are symmetrically distributed on one side of the limiting plate 9. A gripper sensor 11 is provided on one side of the gripper cylinder 3. The gripper sensor 11 is connected to the gripper cylinder 3, so that the workpiece can be gripped further and the workpiece can be used better.

[0024] When needed, the operator connects the entire device to external equipment via mounting plate 1. During gripping, the gripper cylinder 3 is activated, pushing the wedge 7 to the right. The inclined surface of the wedge 7 pushes the three grippers 8 to open radially and synchronously. Upon depressurization, the right chamber spring resets, and the wedge 7 moves to the left, causing the grippers 8 to close, thus completing the gripping of the workpiece. A buffer 6 is installed at the end of the rotary cylinder 2 to better absorb the impact energy during gripping. During gripping, one side of the limiting plate 9 can contact the workpiece. When the grippers 8 grip the workpiece, the workpiece can squeeze and move against the limiting plate 9. The telescopic rod 10 is moved by the motor, which can effectively increase the stability of the gripper 8 and further prevent it from falling. The gripper sensor 11 can detect and position the gripper 8. When it is detected that one end of the gripper 8 is squeezed, it means that the opening degree of the gripper 8 is not enough, so it is necessary to readjust the opening degree of the gripper 8 and grab it again. After one gripper 8 has finished grabbing the workpiece, the rotary cylinder 2 can be started to rotate so that the other gripper 8 can grab it. The rotation limit 4 and the rotation detection sensor 5 can detect the rotation adjustment of the rotary cylinder 2, so that the rotation position of the gripper 8 can be better adjusted according to the position of the workpiece.

[0025] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

Claims

1. A wedge-shaped driven gripper for a robotic arm, comprising a mounting plate (1), characterized in that: A rotary cylinder (2) is provided on one side of the mounting plate (1). One side of the rotary cylinder (2) is connected to one side of the mounting plate (1). A gripper cylinder (3) is provided on one side of the rotary cylinder (2). One side of the gripper cylinder (3) is connected to one side of the rotary cylinder (2). A rotation limiter (4) is provided between one side of the rotary cylinder (2) and one side of the gripper cylinder (3). A rotation detection sensor (5) is provided on one side of the rotation limiter (4).

2. The wedge-shaped drive gripper of a robotic arm according to claim 1, characterized in that: A buffer (6) is provided on one side of the rotary cylinder (2), and one side of the buffer (6) is connected to one side of the rotary cylinder (2). A wedge (7) is provided on one side of the gripper cylinder (3), and one end of the wedge (7) is slidably connected to one side of the gripper cylinder (3).

3. The wedge-shaped drive gripper of a robotic arm according to claim 2, characterized in that: A gripper (8) is provided on one side of the wedge (7). One end of the gripper (8) is connected to one side of the wedge (7). There are three grippers (8), which are symmetrically distributed on one side of the gripper cylinder (3).

4. The wedge-shaped drive gripper of a robotic arm according to claim 1, characterized in that: A limiting plate (9) is provided on one side of the gripper cylinder (3), and a telescopic rod (10) is provided on one side of the limiting plate (9). One end of the telescopic rod (10) is connected to one end of the limiting plate (9), and the outer wall of the telescopic rod (10) is slidably connected to the inner wall of the gripper cylinder (3).

5. The wedge-shaped drive gripper of a robotic arm according to claim 4, characterized in that: The number of telescopic rods (10) is three. The telescopic rods (10) are symmetrically distributed on one side of the limiting plate (9). A gripper sensor (11) is provided on one side of the gripper cylinder (3). The gripper sensor (11) is connected to the gripper cylinder (3) on one side.

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