Dual-mode mechanical arm clamp

Abstract

The invention discloses a dual-mode mechanical arm clamp which comprises a clamp mounting seat, a flange used for being connected with a mechanical arm is fixedly mounted at the top of the clamp mounting seat, four channels are formed in the bottom of the clamp mounting seat, a pressing plate is mounted on each channel in the bottom of the clamp mounting seat, and a fixed gripper is fixedly connected to one end of each pressing plate. A first air cylinder is fixedly installed on the pressing plate, and the output end of the first air cylinder is fixedly connected with a movable gripper. Four bearing seats are fixedly installed on the clamp installation seat, a movable rod is fixedly installed between every two adjacent bearing seats in the front-back direction, and claw arms are fixedly installed at the two ends of each movable rod. According to the clamp, two grabbing modes are provided, then two different objects can be grabbed, the process and equipment for replacing the clamp are reduced, and therefore the work efficiency of the clamp is improved.

Description

Technical Field

[0001] The present invention relates to the field of robotic arm fixtures, and more particularly to a dual-mode robotic arm fixture. Background Art

[0002] A robotic arm fixture is a core component of a robot end effector, directly responsible for grasping, clamping, or operating a target object. Its design needs to comprehensively consider object characteristics (shape, material, weight), operating environment (precision, speed, contact force), and task requirements (assembly, sorting, handling, etc.).

[0003] During the automated production process of metal (iron) easy-open lids, robotic arm fixtures are often used for turnover and handling work. Most current robotic arm fixtures can only pick up a single type of object, such as metal easy-open lids. Although its single-mode robotic arm fixture (i.e., a fixture with only a single grasping or operating method) can work efficiently in specific scenarios, its inherent limitations will significantly affect flexible production, adaptability to complex tasks, and overall system efficiency. For example, trays for placing easy-open lids often require manual handling or additional robots to work. Summary of the Invention

[0004] Aiming at the problems existing in the prior art, the purpose of the present invention is to provide a dual-mode robotic arm fixture to solve the problems in the background art.

[0005] To achieve the above purpose, the present invention adopts the following technical solutions;

[0006] The dual-mode robotic arm fixture includes a fixture mounting base. A flange for connecting to a robotic arm is fixedly installed at the top of the fixture mounting base. Four channels are provided at the bottom of the fixture mounting base. A pressing plate is installed in each channel at the bottom of the fixture mounting base. One end of the pressing plate is fixedly connected to a fixed gripper. A first cylinder is fixedly installed on the pressing plate, and the output end of the first cylinder is fixedly connected to a movable gripper.

[0007] Four bearing seats are fixedly installed on the fixture mounting base. A movable rod is fixedly installed between two adjacent bearing seats, front and back. Claw arms are fixedly installed at both ends of the movable rod. A third cylinder is installed on the fixture mounting base, and the output end of the third cylinder is connected to the left movable rod. A connecting rod is hinged between the two claw arms on the front side. The hinge of the left end of the connecting rod with the claw arm is located below the connection of the claw arm and the movable rod, and the hinge of the right end of the connecting rod with the claw arm is located above the connection of the claw arm and the movable rod.

[0008] As a further description of the above technical solution:

[0009] A V-shaped groove is provided at the bottom of the pressing plate.

[0010] As a further description of the above technical solution:

[0011] Two guide rods are fixedly installed on the pressing plate. The top ends of the guide rods are slidably connected to the fixture mounting seat. The top of the guide rods is threadedly connected with bolts, and the bolts are used to prevent the top ends of the guide rods from disengaging from the channels of the fixture mounting seat. Springs are sleeved on the guide rods. The top and bottom ends of the springs are respectively in contact with the fixture mounting seat and the pressing plate. A displacement sensor is fixedly installed at the bottom of the fixture mounting seat. The displacement sensor is located on one side of the top end of the guide rod. The displacement sensor is used to detect displacement data and upload it to the manipulator control end when the guide rod moves upward relative to the fixture mounting seat, so as to control the manipulator to stop working and alarm.

[0012] As a further description of the above technical solution:

[0013] Magnets are inserted through the pressing plate. The top of the magnets is fixedly installed with a second cylinder, and the second cylinder is fixedly installed at the bottom of the fixture mounting seat.

[0014] As a further description of the above technical solution:

[0015] The fixed gripper is L-shaped and is fixedly installed on the pressing plate through bolts.

[0016] As a further description of the above technical solution:

[0017] Protective pads are fixedly installed on both the opposite sides of the fixed gripper and the movable gripper.

[0018] As a further description of the above technical solution:

[0019] Circular cylinders are fixedly installed on both the left and right sides of the fixture mounting seat. The bottom ends of the two circular cylinders are both fixedly installed with pressing blocks.

[0020] Compared with the prior art, the advantages of the present invention are as follows:

[0021] This solution provides two modes of gripping methods, and thus can perform gripping work on two different objects, reducing the process and equipment of replacing fixtures, thereby improving the working efficiency of the fixtures. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 is a schematic structural diagram of the present invention;

[0023] Figure 2 is a schematic cross-sectional structural diagram inside the pressing plate of the present invention;

[0024] Figure 3 is a schematic structural diagram of the present invention with the claw arms in the open state;

[0025] Figure 4 Schematic diagram of the rear - view structure of the present invention.

[0026] Description of the reference numerals in the figure:

[0027] 1. Fixture mounting seat; 2. Pressure plate; 3. Fixed gripper; 4. First cylinder; 5. Movable gripper; 6. Magnet; 7. Bearing seat; 8. Movable rod; 9. Claw arm; 10. Third cylinder; 11. Connecting rod; 12. Guide rod; 13. Spring; 14. Second cylinder; 15. Displacement sensor; 16. Circular cylinder. Specific embodiments

[0028] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention;

[0029] Please refer to Figures 1-4 , in the present invention, the dual - mode robotic arm fixture includes a fixture mounting seat 1. A flange for connecting with the robotic arm is fixedly installed at the top of the fixture mounting seat 1. Four channels are provided at the bottom of the fixture mounting seat 1. A pressure plate 2 is installed in each channel at the bottom of the fixture mounting seat 1. One end of the pressure plate 2 is fixedly connected to a fixed gripper 3. A first cylinder 4 is fixedly installed on the pressure plate 2. The output end of the first cylinder 4 is fixedly connected to a movable gripper 5. Four bearing seats 7 are fixedly installed on the fixture mounting seat 1. A movable rod 8 is fixedly installed between two adjacent bearing seats 7 in the front - rear direction. Claw arms 9 are fixedly installed at both ends of the movable rod 8. A third cylinder 10 is installed on the fixture mounting seat 1. The output end of the third cylinder 10 is connected to the left - hand movable rod 8. A connecting rod 11 is hinged between the two claw arms 9 on the front side. The hinge point of the left end of the connecting rod 11 and the claw arm 9 is located below the connection point of the claw arm 9 and the movable rod 8. The hinge point of the right end of the connecting rod 11 and the claw arm 9 is located above the connection point of the claw arm 9 and the movable rod 8.

[0030] In the present invention, the flange mounts the fixture mounting seat 1 on the robotic arm of the robot. By controlling the telescopic movement of the first cylinder 4, the movable gripper 5 is driven to move. When the robotic arm drives the pressure plate 2 to move above the workpiece and adjusts the movable gripper 5 and the fixed gripper 3 to be located at both ends of the workpiece respectively, the distance between the movable gripper 5 and the fixed gripper 3 is shortened to complete the clamping work of the workpiece. By driving the left - hand movable rod 8 to rotate through the third cylinder 10, the two left - hand claw arms 9 are opened outward. Since the two claw arms 9 on the front side are connected by a connecting rod 11, when the left - hand claw arms 9 are opened outward, the right - hand claw arms 9 are driven to open outward synchronously, so that one third cylinder 10 drives the four claw arms 9 to open and close synchronously. The four claw arms 9 can be used to grab the tray. During the process of not grabbing the tray, the left and right claw arms 9 are staggered to avoid affecting the grabbing of the workpiece. This solution can provide two modes of grabbing methods, and thus can grab two different objects, reducing the process and equipment of replacing the fixture, thereby improving the working efficiency of the fixture.

[0031] Please refer to Figure 4 , wherein a V-shaped groove is provided at the bottom of the pressing plate 2.

[0032] In the present invention, when the pressing plate 2 contacts the workpiece through the inclined plane of the V-shaped groove, the inclined surfaces on both sides of the V-shaped groove can guide the workpiece, making the workpiece centered at the bottom of the pressing plate 2, thereby positioning it, facilitating the alignment of the two ends of the workpiece by the movable gripper 5 and the fixed gripper 3 for clamping work.

[0033] Please refer to Figure 1 and Figure 2 , wherein two guide rods 12 are fixedly installed on the pressing plate 2. The top ends of the guide rods 12 are slidably connected to the fixture mounting base 1. The top of the guide rod 12 is threadedly connected with a bolt, and this bolt is used to prevent the top end of the guide rod 12 from disengaging from the channel of the fixture mounting base 1. A spring 13 is sleeved on the guide rod 12. The top end and the bottom end of the spring 13 are respectively in contact with the fixture mounting base 1 and the pressing plate 2. A displacement sensor 15 is fixedly installed at the bottom of the fixture mounting base 1. The displacement sensor 15 is located on one side of the top end of the guide rod 12. The displacement sensor 15 is used to detect displacement data and upload it to the robotic arm control terminal when the guide rod 12 moves upward relative to the fixture mounting base 1, so as to control the robotic arm to stop working and alarm.

[0034] In the present invention, after a collision occurs when the pressing plate 2 is pressed down, the pressing plate 2 rises relative to the fixture mounting base 1 under the reaction force, the top of the guide rod 12 rises, and the spring 13 is compressed. When the displacement sensor 15 detects a change in the distance value, it indicates that the pressing plate 2 has collided with other objects, and the displacement data is detected and uploaded to the robotic arm control terminal to control the robotic arm to stop working and alarm;

[0035] The guide rods 12 and the springs 13 on each pressing plate 2 in the four channels exist independently, so that the fixture mechanisms on the four channels can work out of alignment, and the clamping work for four or fewer workpieces can be flexibly adjusted by itself.

[0036] Please refer to Figures 1-4 , wherein a magnet 6 is inserted through the pressing plate 2. The top of the magnet 6 is fixedly installed with a second cylinder 14, and the second cylinder 14 is fixedly installed at the bottom of the fixture mounting base 1.

[0037] In the present invention, for circular iron workpieces, such as easy-open lid workpieces, the magnetism of the magnet 6 can attract the workpiece, causing it to deviate to a certain extent and enter the inner side of the V-shaped groove, thereby assisting in positioning. At the same time, according to the clamping and positioning requirements, the second cylinder 14 drives the magnet 6 to move up and down, controlling the distance between the magnet 6 and the bottom of the pressing plate 2, adjusting the magnetic field range affected by the magnet 6 on the workpiece, and thus adjusting the magnetic force, which is more adjustable and more flexible to use.

[0038] Please refer to Figures 1-4, wherein: the fixed gripper 3 is L-shaped and is fixedly mounted on the pressure plate 2 by bolts.

[0039] In the present invention, the L-shaped fixed gripper 3 is convenient for installation and improves the stability of the fixed gripper 3 when installed on the pressing plate 2.

[0040] See also Figures 1-4 , wherein: a protective pad is fixedly installed on the opposite side of the fixed gripper 3 and the movable gripper 5.

[0041] In the present invention, the protective pad is used to prevent the fixed gripper 3 from directly contacting with the workpiece, such as the surface of a metal pull-open lid, causing scratches or excessive deformation on the surface of the workpiece, thereby protecting the workpiece.

[0042] See also Figure 1 , 3 4, wherein: circular cylinders 16 are fixedly mounted on both the left and right sides of the fixture mounting seat 1, and pressure blocks are fixedly mounted on the bottom ends of the two circular cylinders 16.

[0043] In the present invention, when the pallet is clamped and fixed by four claw arms, due to the structural shape of the claw arm 9, in order to avoid the pallet from vibrating up and down, the circular cylinders 16 on both sides drive the bottom pressure block to press down and contact the pallet, and cooperate with the claw arm 9 to further clamp and stabilize the pallet to prevent the pallet from vibrating or slipping, thereby improving the safety of pallet-type workpieces during turnover.

[0044] The above is only a preferred specific implementation of the present invention; however, the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical solution and its improved conception within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. Dual-mode robotic arm fixture, comprising a fixture mounting base (1), characterized in that: A flange for connecting with a robotic arm is fixedly installed at the top of the fixture mounting base (1). Four channels are provided at the bottom of the fixture mounting base (1). A pressing plate (2) is installed in each channel at the bottom of the fixture mounting base (1). One end of the pressing plate (2) is fixedly connected to a fixed gripper (3). A first cylinder (4) is fixedly installed on the pressing plate (2), and the output end of the first cylinder (4) is fixedly connected to a movable gripper (5). Four bearing seats (7) are fixedly installed on the fixture mounting base (1). A movable rod (8) is fixedly installed between two adjacent bearing seats (7) in the front and back. Claw arms (9) are fixedly installed at both ends of the movable rod (8). A third cylinder (10) is installed on the fixture mounting base (1), and the output end of the third cylinder (10) is connected to the left movable rod (8). A connecting rod (11) is hinged between the two claw arms (9) on the front side. The hinged position of the left end of the connecting rod (11) and the claw arm (9) is below the connection position of the claw arm (9) and the movable rod (8), and the hinged position of the right end of the connecting rod (11) and the claw arm (9) is above the connection position of the claw arm (9) and the movable rod (8).

2. The dual-mode robotic arm fixture according to claim 1, wherein: A V-shaped groove is provided at the bottom of the pressing plate (2).

3. The dual-mode robotic arm fixture according to claim 1, wherein: Two guide rods (12) are fixedly installed on the pressing plate (2). The top ends of the guide rods (12) are slidably connected to the fixture mounting base (1). A bolt is threadedly connected to the top of the guide rod (12) and is used to prevent the top end of the guide rod (12) from detaching from the channel of the fixture mounting base (1). A spring (13) is sleeved on the guide rod (12). The top and bottom ends of the spring (13) are in contact with the fixture mounting base (1) and the pressing plate (2) respectively. A displacement sensor (15) is fixedly installed at the bottom of the fixture mounting base (1). The displacement sensor (15) is located on one side of the top end of the guide rod (12). The displacement sensor (15) is used to detect displacement data and upload it to the control end of the robotic arm when the guide rod (12) moves upward relative to the fixture mounting base (1), so as to control the robotic arm to stop working and give an alarm.

4. The dual-mode robotic arm fixture according to claim 1, wherein: A magnet (6) is inserted through the pressing plate (2). A second cylinder (14) is fixedly installed at the top of the magnet (6), and the second cylinder (14) is fixedly installed at the bottom of the fixture mounting base (1).

5. The dual-mode robotic arm fixture according to claim 1, wherein: The fixed gripper (3) is L-shaped and is fixedly installed on the pressing plate (2) by bolts.

6. The dual-mode robotic arm fixture according to claim 1, wherein: Protective pads are fixedly installed on the opposite sides of the fixed gripper (3) and the movable gripper (5).

7. The dual-mode robotic arm fixture according to claim 1, wherein: Circular cylinders (16) are fixedly installed on both the left and right sides of the fixture mounting base (1). Pressing blocks are fixedly installed at the bottom ends of the two circular cylinders (16).

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