Anti-shake industrial grabbing manipulator
By introducing buffer and auxiliary components into the industrial gripping robot and utilizing gas and spring buffering technology, the stability problem of the transmission system was solved, achieving smooth and stable movement and precision throughout the robot arm's stroke, thus improving the safety and transmission accuracy of the equipment.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2026-01-13
- Publication Date
- 2026-03-17
AI Technical Summary
The transmission system of existing industrial gripping robots lacks stability and a full-stroke buffer structure, which leads to fatigue wear of the ball nut pair and guide rails caused by inertial impact. Vibration is transmitted to the end effector, affecting gripping accuracy.
It employs buffer and auxiliary components, including a two-way damping air spring, air cylinder and buzzer, to achieve smooth movement throughout the entire stroke through gas buffer and spring buffer, and provides a reminder and cleaning function at the end of the stroke to avoid hard collisions and component damage.
It achieves smooth movement of the robotic arm throughout its entire stroke, eliminates inertial shocks during start-up, stop, and speed change, improves equipment safety and transmission accuracy, and reduces component wear and the risk of failure.
Smart Images
Figure CN121670751A_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The present application relates to the technical field of mechanical hands, in particular to an anti-shake industrial grabbing mechanical hand. BACKGROUND
[0002] The industrial grabbing mechanical hand is an automatic execution device in the intelligent manufacturing system, which undertakes material handling, workpiece assembly and other operations, is usually integrated with a mechanical arm and a transmission mechanism, and completes precise grabbing, transfer and positioning operations on workpieces of different forms and weights through the opening and closing and displacement control of an end gripper and other actuators. The transmission system of the existing industrial grabbing mechanical hand is not smooth, the base and transmission components such as the lead screw and guide rail are usually rigidly connected, lack a full-stroke buffer structure, and the inertia impact during the start-stop and speed change stages of the lead screw driving will directly act on the transmission assembly, which not only easily causes fatigue wear of the ball nut pair and guide rail, shortens the service life of the transmission system, but also causes vibration to be transmitted to the end actuator, resulting in fluctuations in the precision of grabbing and assembly. SUMMARY
[0003] The present application aims to provide an anti-shake industrial grabbing mechanical hand to solve the problem of the lack of smoothness of the transmission system of the existing industrial grabbing mechanical hand, the rigid connection of the base and transmission components such as the lead screw and guide rail, the lack of a full-stroke buffer structure, the inertia impact during the start-stop and speed change stages of the lead screw driving directly acting on the transmission assembly, which not only easily causes fatigue wear of the ball nut pair and guide rail, shortens the service life of the transmission system, but also causes vibration to be transmitted to the end actuator, resulting in fluctuations in the precision of grabbing and assembly.
[0004] To solve the above technical problems, the present application provides the following technical scheme: an anti-shake industrial grabbing mechanical hand, comprising a mechanical arm and a fixed frame, a buffer assembly is arranged on one side of the fixed frame, and an auxiliary assembly is arranged on one side of the fixed frame. The buffer assembly comprises two groups of first connecting frames, a first connecting rod is rotatably embedded in the interior of each of the two groups of first connecting frames, a first connecting block is rotatably sleeved on the outer surface of each of the two groups of first connecting rods, a first fixed plate is fixedly connected to one side of the outer surface of each of the two groups of first connecting blocks, and a bidirectional damping air rod is fixedly connected to one side of the outer surface of each of the two groups of first fixed plates. The auxiliary assembly comprises a plurality of air cylinders, a sliding rod is horizontally slidably embedded in the interior of each of the plurality of air cylinders, two groups of buzzer are fixedly connected to one side of the outer surface of the fixed frame, a first air pipe is arranged in the interior of each of the plurality of air cylinders, and one end of each of the plurality of first air pipes away from the air cylinder is arranged in the interior of the buzzer.
[0005] Preferably, a driving lead screw is rotatably embedded in the interior of the fixed frame, and a threaded block is connected to the driving lead screw through a ball nut pair.
[0006] Preferably, one side of the outer surface of the fixing frame is fixedly connected with two groups of limiting rods, and the threaded block is slidably sleeved on the outer surface of the limiting rod in a horizontal direction.
[0007] Preferably, one side of the outer surface of the fixing frame is fixedly connected with a driving motor, and the output shaft of the driving motor is fixedly connected with the driving screw.
[0008] Preferably, the outer surface of the threaded block is fixedly connected with a second connecting rod, and the inner part of the second connecting rod is rotatably embedded.
[0009] Preferably, the outer surface of the second connecting rod is rotatably sleeved with a second connecting block, and one side of the outer surface of the second connecting block is fixedly connected with a second fixed plate.
[0010] Preferably, the outer surface of the two-way damping type air rod is wound with a first spring, and the output end of the two-way damping type air rod is fixedly connected with the second fixed plate.
[0011] Preferably, one side of the outer surface of the fixing frame is fixedly connected with two groups of air outlet heads, and the inner part of the air cylinder is provided with a second air pipe, and one end of the second air pipe away from the air cylinder is arranged in the inner part of the air outlet head.
[0012] Preferably, one side of the outer surface of the slide rod is fixedly connected with a piston, and the piston is slidably embedded in the inner part of the air cylinder in a horizontal direction, and one side of the outer surface of the slide rod is fixedly connected with a contact pad.
[0013] Preferably, the outer surface of the slide rod is wound with a second spring, the inner part of the air cylinder is provided with an air inlet, and the inner part of the air inlet is provided with a one-way valve.
[0014] Compared with the prior art, the present application has the following beneficial effects: First, the present invention enables the operator to activate the drive motor, which in turn drives the drive screw to rotate. The rotation of the drive screw causes the threaded block to move, which in turn moves the robotic arm. During the movement of the robotic arm, when the robotic arm is at the center of the fixed frame, the bidirectional damping pneumatic rod and the first spring are in a compressed state. As the threaded block moves, the bidirectional damping pneumatic rod and the first spring provide traction to the threaded block, thereby buffering and preventing the robotic arm from shaking during movement. Through the above technical solution, the robotic arm is within the range of action of the first spring and the bidirectional damping pneumatic rod throughout the entire movement stroke. When moving towards the center, the compressed elastic element provides a reverse buffering force, and when moving towards both ends, the traction elastic element forms traction resistance, achieving smooth movement throughout the entire stroke and eliminating inertial impact during start-stop and speed change phases.
[0015] Secondly, when the robotic arm is about to move to the sides of the fixed frame, the threaded block first contacts the contact pad and slides inside the air cylinder via the slide rod. Simultaneously, it is buffered by the second spring and the piston. When the piston compresses the gas inside the air cylinder, the gas is expelled through the first and second air pipes. The gas enters the buzzer through the first air pipe, which sounds a warning when the robotic arm is about to move to the sides of the fixed frame. The air cylinder is connected to an air outlet through the second air pipe, which sprays gas onto the surfaces of the drive screw and the robotic arm base. Through this technical solution, the air cylinder and the second spring form a contact buffer at the edge of the stroke, preventing hard collisions between the fixed frame and the robotic arm base, thus preventing structural deformation or component damage and improving the safety of equipment operation. The gas in the air cylinder drives the buzzer to provide a warning at the end of the stroke, preventing overtravel malfunctions. Furthermore, the gas discharged from the air cylinder is guided through the air outlet to the drive screw and the bottom of the robotic arm, removing dust, oil, and other contaminants from the surface, reducing frictional resistance of the transmission components, maintaining transmission accuracy, and reducing the risk of component corrosion and jamming. Attached Figure Description
[0016] Figure 1 This is a three-dimensional structural diagram of the present invention; Figure 2 This is one of the three-dimensional structural schematic diagrams of the present invention; Figure 3 This is a second schematic diagram of the three-dimensional structure of the present invention; Figure 4 This is a partial three-dimensional structural schematic diagram of the present invention.
[0017] The components include: 1. Robotic arm; 2. Fixing frame; 3. Drive screw; 301. Threaded block; 302. Limiting rod; 4. Bidirectional damping pneumatic rod; 401. First spring; 402. First fixing plate; 403. First connecting block; 404. First connecting rod; 405. First connecting frame; 406. Second fixing plate; 407. Second connecting block; 408. Second connecting rod; 409. Second connecting frame; 5. Air cylinder; 501. Sliding rod; 502. Contact pad; 503. Piston; 504. Second spring; 505. Air inlet; 506. One-way valve; 6. Buzzer; 601. First air pipe; 7. Air outlet; 701. Second air pipe; 8. Drive motor. Detailed Implementation
[0018] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.
[0019] Please see Figures 1-4 A type of anti-shake industrial gripping robot includes a robotic arm 1 and a fixed frame 2. A buffer component is provided on one side of the fixed frame 2, and an auxiliary component is provided on another side of the fixed frame 2. The buffer assembly includes two sets of first connecting frames 405, and a first connecting rod 404 is rotatably embedded inside each of the two sets of first connecting frames 405. A first connecting block 403 is rotatably sleeved on the outer surface of each of the two sets of first connecting rods 404. A first fixing plate 402 is fixedly connected to one side of the outer surface of each of the two sets of first connecting blocks 403. A bidirectional damping gas rod 4 is fixedly connected to one side of the outer surface of each of the two sets of first fixing plates 402. The auxiliary components include multiple air cylinders 5, and each of the multiple air cylinders 5 has a sliding rod 501 slidably embedded inside in a horizontal direction. Two sets of buzzers 6 are fixedly connected to one side of the outer surface of the fixing frame 2. Each of the multiple air cylinders 5 has a first air pipe 601 inside, and the end of each of the multiple first air pipes 601 away from the air cylinder 5 is located inside the buzzer 6.
[0020] Through the above technical solution, the operator turns on the drive motor 8, which drives the drive screw 3 to rotate. The rotation of the drive screw 3 drives the threaded block 301 to move, and the movement of the threaded block 301 drives the robotic arm 1 to move. During the movement of the robotic arm 1, when the robotic arm 1 is at the center position of the fixed frame 2, the bidirectional damping pneumatic rod 4 and the first spring 401 are in a compressed state. When the threaded block 301 moves, the bidirectional damping pneumatic rod 4 and the first spring 401 pull the threaded block 301 to buffer it and prevent the robotic arm 1 from shaking during the movement. Through the above technical solution, the robotic arm 1 is within the range of action of the first spring 401 and the bidirectional damping pneumatic rod 4 throughout the entire movement stroke. When moving towards the middle, the compressed elastic element provides a reverse buffering force, and when moving towards both ends, the traction elastic element forms traction resistance, realizing smooth movement throughout the entire stroke and eliminating inertial impact during start-stop and speed change stages.
[0021] Through the above technical solution, when the robotic arm 1 is about to move to the sides of the fixed frame 2, the threaded block 301 will first contact the contact pad 502, slide inside the air cylinder 5 via the slide rod 501, and be buffered by the second spring 504 and the piston 503. When the piston 503 squeezes the gas inside the air cylinder 5, the gas inside the air cylinder 5 is squeezed out through the first air pipe 601 and the second air pipe 701. The gas enters the buzzer 6 through the first air pipe 601, and the buzzer 6 sounds a reminder when the robotic arm 1 is about to move to the sides of the fixed frame 2. The air cylinder 5 is connected to the air outlet 7 through the second air pipe 701, and the gas is discharged through the air outlet. The head 7 sprays gas onto the surfaces of the drive screw 3 and the base of the robotic arm 1. Through the above technical solution, the air cylinder 5 at the edge of the stroke forms a contact buffer with the second spring 504, which can avoid hard collision between the fixed frame 2 and the base of the robotic arm 1, prevent structural deformation or component damage, and improve the safety of equipment operation. The gas in the air cylinder 5 drives the buzzer 6 to provide a reminder at the end of the stroke, avoiding over-travel failure. The gas discharged from the air cylinder 5 is guided by the air outlet 7 to the bottom of the drive screw 3 and the robotic arm 1, removing dust, oil and other contaminants from the surface, reducing the frictional resistance of the transmission components, maintaining transmission accuracy, and reducing the risk of component corrosion and jamming.
[0022] Specifically, the drive screw 3 is rotatably embedded inside the fixed frame 2, and the drive screw 3 is connected to the threaded block 301 through a ball nut pair.
[0023] The above technical solution drives the screw 3 to rotate, thereby moving the threaded block 301.
[0024] Specifically, two sets of limiting rods 302 are fixedly connected to one side of the outer surface of the fixing frame 2, and the threaded block 301 is slidably sleeved on the outer surface of the limiting rod 302 in a horizontal direction.
[0025] The above technical solution limits the threaded block 301 by using the limiting rod 302.
[0026] Specifically, a drive motor 8 is fixedly connected to one side of the outer surface of the fixed frame 2, and the output shaft of the drive motor 8 is fixedly connected to the drive screw 3.
[0027] The above technical solution enables the drive motor 8 to drive the drive screw 3 to rotate.
[0028] Specifically, the threaded block 301 has a second connecting frame 409 fixedly connected to both sides of its outer surface, and the two sets of second connecting frames 409 have a second connecting rod 408 rotatably embedded inside them.
[0029] Through the above technical solution, the threaded block 301 is connected to the second connecting rod 408 via the second connecting bracket 409.
[0030] Specifically, the outer surfaces of the two sets of second connecting rods 408 are rotatably fitted with second connecting blocks 407, and one side of the outer surface of the two sets of second connecting blocks 407 is fixedly connected with a second fixing plate 406.
[0031] Through the above technical solution, the second connecting rod 408 is connected to the second fixing plate 406 via the second connecting block 407.
[0032] Specifically, the outer surfaces of both sets of bidirectional damping gas springs 4 are wrapped with a first spring 401, and the output ends of both sets of bidirectional damping gas springs 4 are fixedly connected to the second fixing plate 406.
[0033] The above technical solution involves using a bidirectional damping gas spring 4 in conjunction with a first spring 401.
[0034] Specifically, two sets of air outlets 7 are fixedly connected to one side of the outer surface of the fixed frame 2. The interior of the two sets of air cylinders 5 is provided with a second air pipe 701, and the ends of the multiple second air pipes 701 away from the air cylinders 5 are all located inside the air outlets 7.
[0035] Through the above technical solution, the air cylinder 5 is connected to the air outlet 7 through the second air pipe 701, and the air outlet 7 sprays gas onto the surface of the drive screw 3 and the base of the robotic arm 1.
[0036] Specifically, a piston 503 is fixedly connected to one side of the outer surface of multiple slide rods 501, and multiple pistons 503 are horizontally slidably embedded inside the air cylinder 5. A contact pad 502 is fixedly connected to one side of the outer surface of multiple slide rods 501.
[0037] The above technical solution uses piston 503 to compress the gas inside cylinder 5.
[0038] Specifically, a second spring 504 is wound around the outer surface of multiple slide rods 501, and an air inlet 505 is provided inside the multiple air cylinders 5, and a one-way valve 506 is provided inside the multiple air inlets 505.
[0039] The above technical solution allows air to enter through the air inlet 505 and prevents backflow of gas through the one-way valve 506.
[0040] In use, the operator turns on the drive motor 8, which drives the drive screw 3 to rotate. The rotation of the drive screw 3 causes the threaded block 301 to move, which in turn moves the robotic arm 1. During the movement of the robotic arm 1, when the robotic arm 1 is at the center of the fixed frame 2, the bidirectional damping pneumatic rod 4 and the first spring 401 are in a compressed state. When the threaded block 301 moves, the bidirectional damping pneumatic rod 4 and the first spring 401 pull the threaded block 301 to buffer it and prevent the robotic arm 1 from shaking during the movement. Through the above technical solution, the robotic arm 1 is within the range of action of the first spring 401 and the bidirectional damping pneumatic rod 4 throughout the entire movement stroke. When moving towards the middle, the compressed elastic element provides a reverse buffering force, and when moving towards both ends, the traction elastic element forms a traction resistance, realizing smooth movement throughout the entire stroke and eliminating the inertial impact during the start-stop and speed change stages. When the robotic arm 1 is about to move to the sides of the fixed frame 2, the threaded block 301 will first contact the contact pad 502, slide inside the air cylinder 5 via the slide rod 501, and be buffered by the second spring 504 and the piston 503. When the piston 503 squeezes the gas inside the air cylinder 5, the gas inside the air cylinder 5 is squeezed out through the first air pipe 601 and the second air pipe 701. The gas enters the buzzer 6 through the first air pipe 601, and the buzzer 6 sounds a warning when the robotic arm 1 is about to move to the sides of the fixed frame 2. The air cylinder 5 is connected to the air outlet 7 through the second air pipe 701, and the air outlet 7 discharges the gas. The air is sprayed onto the surfaces of the drive screw 3 and the base of the robotic arm 1. Through the above technical solution, the air cylinder 5 at the edge of the stroke forms a contact buffer with the second spring 504, which can avoid hard collision between the fixed frame 2 and the base of the robotic arm 1, prevent structural deformation or component damage, and improve the safety of equipment operation. The air in the air cylinder 5 drives the buzzer 6 to provide a reminder at the end of the stroke, avoiding over-travel failure. The air discharged from the air cylinder 5 is guided through the air outlet 7 to the bottom of the drive screw 3 and the robotic arm 1, removing dust, oil and other contaminants from the surface, reducing the frictional resistance of the transmission components, maintaining transmission accuracy, and reducing the risk of component corrosion and jamming.
[0041] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.
Claims
1. An anti-shake industrial grabbing manipulator, comprising a mechanical arm (1) and a fixing frame (2), characterized in that: One side of the fixed frame (2) is provided with a buffer assembly, and one side of the fixed frame (2) is provided with an auxiliary assembly. The buffer assembly comprises two groups of first connecting frames (405), and the interiors of the two groups of first connecting frames (405) are rotatably embedded with first connecting rods (404). The outer surfaces of the two groups of first connecting rods (404) are rotatably sleeved with first connecting blocks (403), and one side of the outer surfaces of the two groups of first connecting blocks (403) is fixedly connected with first fixed plates (402). One side of the outer surfaces of the two groups of first fixed plates (402) is fixedly connected with bidirectional damping air rods (4). The auxiliary assembly comprises a plurality of air cylinders (5), and the interiors of the plurality of air cylinders (5) are slidably embedded with slide rods (501) in a horizontal direction. One side of the outer surface of the fixed frame (2) is fixedly connected with two groups of buzzer (6). The interiors of the plurality of air cylinders (5) are provided with first air pipes (601), and one end of the plurality of first air pipes (601) away from the air cylinders (5) is arranged in the interior of the buzzer (6).
2. The anti-vibration industrial gripping robot manipulator according to claim 1, characterized in that: The interior of the fixed frame (2) is rotatably embedded with a drive screw rod (3), and the drive screw rod (3) is connected with a threaded block (301) through a ball nut pair.
3. The anti-vibration industrial gripping robot manipulator according to claim 2, characterized in that: One side of the outer surface of the fixed frame (2) is fixedly connected with two groups of limiting rods (302), and the threaded block (301) is slidably sleeved on the outer surface of the limiting rod (302) in a horizontal direction.
4. The anti-vibration industrial gripping robot manipulator according to claim 2, characterized in that: One side of the outer surface of the fixed frame (2) is fixedly connected with a drive motor (8), and the output shaft of the drive motor (8) is fixedly connected with the drive screw rod (3).
5. The anti-vibration industrial gripping robot manipulator according to claim 2, characterized in that: The outer surfaces of the threaded block (301) are fixedly connected with second connecting frames (409) on both sides, and the interiors of the two groups of second connecting frames (409) are rotatably embedded with second connecting rods (408).
6. The anti-vibration industrial gripping robot manipulator according to claim 5, characterized in that: The outer surfaces of the two groups of second connecting rods (408) are rotatably sleeved with second connecting blocks (407), and one side of the outer surfaces of the two groups of second connecting blocks (407) is fixedly connected with second fixed plates (406).
7. The anti-vibration industrial gripping robot manipulator according to claim 6, characterized in that: The outer surfaces of the two groups of bidirectional damping air rods (4) are woundly sleeved with first springs (401), and the output ends of the two groups of bidirectional damping air rods (4) are fixedly connected with the second fixed plates (406).
8. The anti-vibration industrial gripping robot manipulator according to claim 1, characterized in that: One side of the outer surface of the fixed frame (2) is fixedly connected with two groups of air outlet heads (7), and the interiors of the two groups of air cylinders (5) are provided with second air pipes (701), and one end of the plurality of second air pipes (701) away from the air cylinders (5) is arranged in the interior of the air outlet head (7).
9. The anti-vibration industrial gripping robot manipulator according to claim 1, characterized in that: One side of the outer surface of the plurality of slide rods (501) is fixedly connected with pistons (503), and the plurality of pistons (503) are slidably embedded in the interiors of the air cylinders (5) in a horizontal direction. One side of the outer surface of the plurality of slide rods (501) is fixedly connected with contact pads (502).
10. The anti-vibration industrial gripping robot manipulator according to claim 1, characterized in that: The outer surfaces of the plurality of slide rods (501) are woundly sleeved with second springs (504), the interiors of the plurality of air cylinders (5) are provided with air inlets (505), and the interiors of the plurality of air inlets (505) are provided with one-way valves (506).