Manipulator self-adaptive clamp and manipulator

Abstract

The manipulator self-adaptive clamp comprises a fixing plate, a first fixing rod and a second fixing rod are fixedly arranged on the fixing plate, an adjusting component used for rotation is arranged on the first fixing rod, a rotating shaft and a fixator fixedly connected with the rotating shaft are arranged on the adjusting component, and a clamping component is arranged on the fixator. Through meshing transmission of a driving gear, a rotating gear and a driven gear in the adjusting component and cooperation of rotating supporting and attaching limiting of a connecting arm on a rotating shaft, the orientation adjusting accuracy and structural stability of the manipulator are effectively improved, and the problems that in traditional rotating adjusting, accuracy is insufficient, and shaking is likely to happen are solved; according to the clamping component, the T-shaped sliding blocks are tightly matched with the T-shaped sliding grooves, sliding deviation of the sliding blocks is avoided, meanwhile, the reliability of material clamping is enhanced through the anti-skid layers on the inner sides of the clamping plates, and sliding is prevented.

Description

Technical Field

[0001] This invention relates to the field of machining technology, and in particular to an adaptive gripper and a robotic arm. Background Technology

[0002] Traditional robotic grippers have several problems in practical applications: when adjusting the gripping angle, they often rely on simple bushing rotation or single gear transmission, which can easily lead to low rotational accuracy and structural wobbling due to uneven force distribution, making it difficult to adapt to the precise alignment requirements of different materials; in addition, the cooperation between the slider and the slide rail in the gripping components is mostly a common rectangular structure, which is prone to offset and jamming during sliding, and the gripping plate lacks anti-slip design, making it easy to slip when gripping smooth or fragile materials; furthermore, most robotic grippers have a single motion mode, which can only achieve rotation or swing in one direction. If it is necessary to switch motion modes, complex disassembly and adjustment or additional drive devices are often required, which is cumbersome to operate and has limited applicability. Summary of the Invention

[0003] The purpose of this invention is to address the shortcomings of existing technologies, such as the reliance on simple bushing rotation or single gear transmission when adjusting the gripping angle, which easily leads to low rotational accuracy and structural wobbling due to uneven force distribution, making it difficult to adapt to the precise alignment requirements of different materials; the use of ordinary rectangular structures for the slider and slide rail in the clamping components, which are prone to offset and jamming during sliding; the lack of anti-slip design in the clamping plate, which makes it easy to slip when gripping smooth or fragile materials; and the limited range of motion modes of most robotic arms, which can only achieve rotation or oscillation in one direction, often requiring complex disassembly and adjustment or additional drive devices to switch motion modes, resulting in cumbersome operation and limited adaptability. Therefore, this invention proposes an adaptive gripper and robotic arm.

[0004] To achieve the above objectives, the present invention adopts the following technical solution: An adaptive gripper for a robotic arm includes: a fixed plate, on which a first fixed rod and a second fixed rod are fixedly mounted; an adjustment component for rotation is provided on the first fixed rod; a rotating shaft is provided on the adjustment component; and a fixture is fixedly connected to the rotating shaft; a clamping component is provided on the fixture. The adjusting component includes a first motor fixedly mounted on the first fixed rod, a first connecting cylinder fixedly mounted on the output end of the first motor, a drive gear fixedly mounted on the first connecting cylinder, and a rotating gear fixedly mounted on the rotating shaft.

[0005] In a preferred embodiment of the adaptive gripper for the robotic arm described in this invention, a second connecting cylinder is rotatably provided at one end of the second fixing rod, and a driven gear is fixedly provided on the second connecting cylinder.

[0006] As a preferred embodiment of the adaptive gripper for the robotic arm described in this invention, the driving gear meshes with the rotating gear, the driven gear meshes with the rotating gear, and a connecting arm is provided at one end of the second connecting cylinder.

[0007] As a preferred embodiment of the adaptive gripper for the robotic arm described in this invention, the lower end of the connecting arm is provided with a circular groove, the inner wall of the circular groove is rotatably connected to the rotating shaft, and the two sides of the lower end of the connecting arm are respectively tightly fitted with the lower end of the rotating gear and the upper end of the fixture.

[0008] As a preferred embodiment of the adaptive gripper for the robotic arm described in this invention, the gripping component includes a second motor fixedly disposed within the fixture, a rotating disk fixedly disposed at the output end of the second motor, a rotating arm rotatably disposed on the rotating disk, a slide rail fixedly disposed within the fixture, a slider slidably disposed within the slide rail, a connecting block fixedly disposed on the slider, and a gripping plate fixedly disposed on the slider.

[0009] As a preferred embodiment of the adaptive gripper for the robotic arm described in this invention, the slide rail is provided with a T-shaped groove, the slider is a T-shaped slider, the slider is in close contact with the inner wall of the groove, and the inner side of the clamping plate is provided with an anti-slip layer.

[0010] As a preferred embodiment of the robotic arm described in this invention, it further includes a fixing component disposed between the second connecting cylinder and the first connecting cylinder, the fixing component being used to fix the first connecting cylinder and the second connecting cylinder so that they can rotate in the same direction.

[0011] In a preferred embodiment of the robotic arm described in this invention, the fixing component includes a fixing cylinder rotatably disposed within the connecting arm, a cylinder fixedly disposed within the fixing cylinder, a pushing block fixedly disposed at the output end of the cylinder, a fixing wing disposed on the pushing block, and an elastic reset member connected between the end of the fixing wing and the pushing block.

[0012] Compared with the prior art, the beneficial effects of the present invention are: By adjusting the meshing transmission of the driving gear, rotating gear, and driven gear in the component, and cooperating with the connecting arm to support the rotation of the shaft and limit its contact, the accuracy of the robot's orientation adjustment and the structural stability are effectively improved, solving the problems of insufficient precision and easy shaking in traditional rotation adjustment. The clamping component adopts a tight fit between a T-shaped slider and a T-shaped groove to avoid slider slippage, while the anti-slip layer on the inner side of the clamping plate enhances the reliability of material clamping and prevents slippage.

[0013] The fixing component achieves rapid fixing and release of the first connecting cylinder and the second connecting cylinder through the cylinder-driven engagement of the fixing fin and the notch, and the reset function of the elastic reset component. This allows the robot to easily switch between rotation and swing mode centered on the lower end of the second fixing rod, greatly improving the robot's flexibility and scene adaptability, and meeting diverse grasping needs without complicated operations. Attached Figure Description

[0014] Figure 1 This is a perspective view of an adaptive gripper and a robotic arm proposed in this invention. Figure 2 This is a schematic diagram of the adaptive gripper for a robotic arm and the adjustment components of the robotic arm proposed in this invention; Figure 3 This is a schematic diagram of the adaptive gripper for a robotic arm and the fixing component structure of the robotic arm proposed in this invention; Figure 4 This is a schematic diagram of the internal structure of the adaptive gripper for a robotic arm and the fixed cylinder of the robotic arm proposed in this invention; Figure 5 This is a schematic diagram of an adaptive gripper and a fixator structure for a robotic arm proposed in this invention. Figure 6 This is a schematic cross-sectional view of the adaptive gripper and the manipulator holder proposed in this invention. Figure 7 This is a schematic diagram of an adaptive gripper for a robotic arm and the gripping component of the robotic arm proposed in this invention.

[0015] In the diagram: 101, fixing plate; 102, first fixing rod; 103, second fixing rod; 201, connecting rod; 202, adjusting component; 2021, first motor; 2022, first connecting cylinder; 2023, driving gear; 2024, rotating gear; 203, connecting arm; 204, second connecting cylinder; 205, driven gear; 206, fixing component; 2061, fixing cylinder; 2062, cylinder; 2063, pushing block; 2064, elastic reset component; 2065, fixing wing; 207, rotating shaft; 208, fixing device; 209, clamping component; 2091, second motor; 2092, rotating disk; 2093, rotating arm; 2094, slide rail; 2095, slider; 2096, connecting block; 2097, clamping plate. Detailed Implementation

[0016] The embodiments of the present invention will be described in further detail below with reference to the accompanying drawings and examples. The following examples are for illustrative purposes only and should not be construed as limiting the scope of the invention.

[0017] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "set up," "connected," and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0018] Reference Figures 1-7 An adaptive gripper and a robotic arm include a fixed plate 101, a first fixed rod 102 and a second fixed rod 103 fixedly mounted on the fixed plate 101, an adjustment component 202 for rotation mounted on the first fixed rod 102, a rotating shaft 207 mounted on the adjustment component 202, and a fixture 208 fixedly connected to the rotating shaft 207, and a clamping component 209 mounted on the fixture 208. Considering the need to adjust the orientation of the robotic arm to adapt to the gripping angle of different materials, and to ensure the accuracy of rotation and structural stability, an adjustment component 202 is required. This component includes a first motor 2021 fixedly mounted on the first fixed rod 102, a first connecting cylinder 2022 fixedly mounted at the output end of the first motor 2021, a drive gear 2023 fixedly mounted on the first connecting cylinder 2022, a rotating gear 2024 fixedly mounted on the rotating shaft 207, and a second connecting cylinder 204 rotatably mounted on one end of the second fixed rod 103. A drive gear 2023 is fixedly mounted on the second connecting cylinder 204. There is a driven gear 205, a driving gear 2023 meshing with a rotating gear 2024, a driven gear 202 meshing with a rotating gear 2024, a connecting arm 203 is provided at one end of the second connecting cylinder 204, a circular groove is provided at the lower end of the connecting arm 203, the inner wall of the circular groove is rotatably connected to the rotating shaft 207, the two sides of the lower end of the connecting arm 203 are tightly fitted with the lower end of the rotating gear 2024 and the upper end of the fixing device 208 respectively, and a connecting rod 201 is provided at one end of the second connecting cylinder 204 to prevent it from deviating, and the connecting cylinder 204 is rotatably connected to the connecting rod 201.

[0019] Considering the need for mechanical transmission to drive the clamping plate 2097 to open and close stably to clamp the material, and to prevent the slider from deviating during sliding and the material from slipping during clamping, a clamping component 209 is required. This component includes a second motor 2091 fixedly installed in the fixture 208. A rotating disk 2092 is fixedly installed at the output end of the second motor 2091. A rotating arm 2093 is rotatably installed on the rotating disk 2092. A slide rail 2094 is fixedly installed in the fixture 208. A slider 2095 slides within the slide rail 2094. A connecting block 2096 is fixedly installed on the slider 2095. A clamping plate 2097 is fixedly installed on the slider 2096. A T-shaped groove is provided on the slide rail 2094. The slider 2095 is a T-shaped slider. The slider 2095 fits tightly against the inner wall of the groove. An anti-slip layer is provided on the inner side of the clamping plate 2097.

[0020] In addition, considering the need to switch the movement mode of the robotic arm to achieve convenient switching between fixation and release, a fixing component 206 is also required between the second connecting cylinder 204 and the first connecting cylinder 2022. The fixing component 206 is used to fix the first connecting cylinder 2022 and the second connecting cylinder 204 so that they can rotate in the same direction. The fixing component 206 includes a fixing cylinder 2061 rotatably disposed in the connecting arm 203. A cylinder 2062 is fixedly disposed in the fixing cylinder 2061. A push block 2063 is fixedly disposed at the output end of the cylinder 2062. A fixing wing 2065 is disposed on the push block 2063. An elastic reset component 2064 is connected between the end of the fixing wing 2065 and the push block 2063.

[0021] In summary, the working process of this solution is as follows: When the second motor 2091 is turned on, its output drives the rotating disk 2092 to rotate, which in turn drives the slider 2095 to slide along the slide rail 2094 via the rotating arm 2093. This, in turn, causes the clamping plate 2097 to clamp the material under the action of the connecting block 2096. When the robotic arm needs to be rotated, the first motor 2021 is turned on. Its output drives the drive gear 2023 to rotate via the first connecting cylinder 2022, which in turn drives the fixing device 208 to rotate under the action of the rotating gear 2024, thus adjusting the machine. The robotic arm; when it is necessary for the robotic arm to swing around the rectangular block below the second fixed rod 103, the cylinder 2062 inside the fixed cylinder 2061 is opened. The output end of the cylinder 2062 drives the push block 2063 to move backward until the fixed wing 2065 moves to the notch on the fixed cylinder 2061, the first connecting cylinder 2022 and the second connecting cylinder 204 and pops out to fix them. Then the first motor 2021 is turned on. Under the action of the fixed cylinder 2061, the robotic arm is driven by the connecting arm 203 to swing left and right around the rectangular block at the lower end of the second fixed rod 103.

[0022] It is worth noting that the entire device is controlled by a controller. Since the controller is a common device and belongs to existing mature technology, its electrical connection relationship and specific circuit structure will not be described in detail here.

[0023] The above description is merely a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the technical scope disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention. In the description of the present invention, it should be noted that the terms "upper," "lower," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention. Furthermore, the terms "first," "second," or "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

Claims

1. An adaptive gripper for a robotic arm, comprising: A fixing plate (101) is fixedly provided with a first fixing rod (102) and a second fixing rod (103), characterized in that: the first fixing rod (102) is provided with an adjustment component (202) for rotation, the adjustment component (202) is provided with a rotating shaft (207), and a fixture (208) is fixedly connected to the rotating shaft (207), and the fixture (208) is provided with a clamping component (209); The adjusting component (202) includes a first motor (2021) fixedly mounted on the first fixed rod (102), a first connecting cylinder (2022) fixedly mounted at the output end of the first motor (2021), a drive gear (2023) fixedly mounted on the first connecting cylinder (2022), and a rotating gear (2024) fixedly mounted on the rotating shaft (207).

2. The adaptive gripper for robotic arms according to claim 1, characterized in that: The second fixed rod (103) has a second connecting cylinder (204) rotatably mounted on one end, and a driven gear (205) is fixedly mounted on the second connecting cylinder (204).

3. The adaptive gripper for robotic arms according to claim 2, characterized in that: The driving gear (2023) meshes with the rotating gear (2024), the driven gear (205) meshes with the rotating gear (2024), and a connecting arm (203) is provided at one end of the second connecting cylinder (204).

4. The adaptive gripper for robotic arms according to claim 3, characterized in that: The lower end of the connecting arm (203) is provided with a circular groove, the inner wall of the circular groove is rotatably connected to the rotating shaft (207), and the two sides of the lower end of the connecting arm (203) are respectively tightly fitted to the lower end of the rotating gear (2024) and the upper end of the fixing device (208).

5. The adaptive gripper for robotic arms according to claim 2, characterized in that: The clamping component (209) includes a second motor (2091) fixedly installed in the fixture (208), a rotating disk (2092) fixedly installed at the output end of the second motor (2091), a rotating arm (2093) rotatably installed on the rotating disk (2092), a slide rail (2094) fixedly installed in the fixture (208), a slider (2095) slidably installed in the slide rail (2094), a connecting block (2096) fixedly installed on the slider (2095), and a clamping plate (2097) fixedly installed on the slider (2095).

6. The adaptive gripper for robotic arms according to claim 5, characterized in that: The slide rail (2094) is provided with a T-shaped slide groove, the slider (2095) is a T-shaped slider (2095), the slider (2095) is in close contact with the inner wall of the slide groove, and the inner side of the clamping plate (2097) is provided with an anti-slip layer.

7. A robotic arm, characterized in that: The robotic adaptive gripper according to any one of claims 1 to 6 further includes a fixing component (206) disposed between the second connecting cylinder (204) and the first connecting cylinder (2022), the fixing component (206) being used to fix the first connecting cylinder (2022) and the second connecting cylinder (204) so ​​that they can rotate in the same direction.

8. The robotic arm according to claim 7, characterized in that: The fixing component (206) includes a fixing cylinder (2061) rotatably disposed within the connecting arm (203), a cylinder (2062) fixedly disposed within the fixing cylinder (2061), a push block (2063) fixedly disposed at the output end of the cylinder (2062), a fixing wing (2065) disposed on the push block (2063), and an elastic reset member (2064) connected between the end of the fixing wing (2065) and the push block (2063).

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