Mechanical arm clamping mechanism

Abstract

The mechanical arm clamping mechanism comprises a supporting plate, a transition plate, a first clamping arm, a gear seat and a guide assembly, a movable opening is formed in one side of the middle of the supporting plate, a connecting rod with a driving assembly is arranged in the movable opening, and the transition plate is fixedly connected to the middle of the bottom end of the supporting plate. A structure for driving the first clamping arm and the second clamping arm to operate is arranged at the bottom end of the supporting plate, and clamping assemblies used in cooperation are arranged at the bottom ends of the close sides of the first clamping arm and the second clamping arm correspondingly. Meanwhile, the gear seat is fixedly connected to the bottom end of the transition plate, a gear shaft and a gear are arranged at the bottom end of the gear seat, and the front end and the rear end of the gear are in meshed connection with a first rack and a second rack correspondingly and used for driving the first clamping arm and the second clamping arm to operate; the utility model has the advantages that the clamping of different shapes is realized by designing the clamping mode of the plurality of clamping rods; and with the assistance of a new clamping structure, clamping is more efficient.

Description

Technical Field

[0001] The utility model relates to the field of mechanical arms, in particular to a mechanical arm clamping mechanism. Background Art

[0002] A robotic arm is an automated device that is usually composed of a series of links and joints and can be programmed to perform a variety of complex movements. They are widely used in many industrial and scientific fields, such as assembly, handling, welding, painting and packaging in manufacturing. Robotic arms can significantly improve production efficiency, accuracy and safety while reducing labor costs. The robotic arm mainly includes the structure that holds the object and the structure that drives the structure to operate.

[0003] For example, a clamping structure for an artificial intelligence robotic arm disclosed in the utility model patent with publication number CN216682222U, the structure designed by the prior art mainly includes a mounting base and a stabilizing mechanism, a mounting bottom cover is fixedly installed on the bottom of the mounting base, an electric push rod is fixedly installed on the inner side of the mounting bottom cover, and the top of the electric push rod is fixedly connected to a connecting frame.

[0004] The utility model is provided with a stabilizing mechanism. When in use, the user can adjust the extension of the electric push rod according to the height of the stacked objects, thereby completing the adjustment of the distance between the two electric rotating clamping rods. However, the existing technology still has room for improvement:

[0005] 1. In the prior art, the design of the clamping structure can only be adjusted and driven by an electric push rod, which means that its connecting clamp can only move on one side and be fixed on the other side. Since the design of the clamping structure usually relies on the linear movement of the electric push rod, this design causes the clamp to be opened and closed on only one side, while the other side is fixed. Such a design limits the flexibility and diversity of the clamped objects, especially when symmetrical or balanced clamping is required, this unilateral movement design may not meet the requirements. And in the case of unilateral drive, the clamping force may produce a large torque on one side of the clamp, resulting in unstable clamping or uneven pressure on the clamped object. This uneven distribution of force may cause the object to slip or be damaged during the clamping process. Therefore, the structure is not stable enough and needs to be improved.

[0006] 2. In the existing technology, the clamping plates are mostly flat plates. Although such clamping plates are efficient in clamping flat objects, they are powerless when encountering round objects or irregular objects, because such clamping plates do not have enough contact area to produce friction with the surface of the object. It is difficult for the flat plate-type clamping plates to provide sufficient gripping or fixing force. Therefore, it is difficult to maintain stable clamping of the object; and because the contact between the clamping plates and the surface of the object is insufficient, it is easy to slip during the clamping process, resulting in the displacement of the object position or change of posture, which is a serious problem for operations that require precise position or posture control.

[0007] In view of this, it is necessary to improve the above defects. Utility Model Content

[0008] The technical problem to be solved by the utility model is to overcome the above-mentioned defects and provide a mechanical arm clamping mechanism.

[0009] In order to solve the above technical problems, the technical solution provided by the utility model is:

[0010] A mechanical arm clamping mechanism, comprising:

[0011] A support plate, wherein a movable opening is opened on one side of the middle portion of the support plate, a connecting rod is arranged inside the movable opening, and a driving assembly for use with the connecting rod is arranged at the top end of the connecting rod;

[0012] The cam is secured to the bottom of the support plate and is adapted to engage the cams of the linkage set to move the linkage set into engagement with the bottom edge of the support plate.

[0013] Clamping arm 1, the clamping arm 1 is fixedly connected to the bottom end of the movable plate 1, the front and rear ends of the clamping arm 1 are respectively fixedly connected to the fixed block 5 and the movable block 1, the bottom end of the movable plate 2 is fixedly connected to the clamping arm 2, the front and rear ends of the clamping arm 2 are respectively fixedly connected to the movable block 2 and the fixed block 6, and the bottom ends of the adjacent sides of the clamping arm 1 and the clamping arm 2 are both provided with clamping components used in conjunction with each other;

[0014] A gear seat, the gear seat is fixedly connected to the bottom end of the transition plate, the bottom end of the gear seat is fixedly connected to a gear shaft, the bottom end of the gear shaft is rotatably connected to a gear, the front and rear ends of the gear are respectively meshed with rack 1 and rack 2, the rack 1 is fixedly connected to the fixed block 5 and plugged into the movable block 2, the rack 2 is fixedly connected to the fixed block 6 and plugged into the movable block 1;

[0015] A guide assembly is arranged at the front and rear ends of the support plate, and is used to assist the sliding of rack one and rack two.

[0016] As an improvement, the driving assembly includes a connecting block fixedly connected to the top end of the connecting rod, a shaft sleeve is fixedly connected to the side of the connecting block close to the second fixed plate, a telescopic cylinder is provided inside the shaft sleeve, an output shaft of the telescopic cylinder is fixedly connected to the inside of the shaft sleeve, and a guide seat fixedly connected to the support plate is provided on the output shaft of the telescopic cylinder.

[0017] As an improvement, the outside of the telescopic cylinder is fixedly connected to a fixed frame, the bottom end of the fixed frame is fixedly connected to a base, the base is fixedly connected to a support plate, the side of the fixed frame away from the connecting block is fixedly connected to a fixed block 2, the front and rear ends of the fixed block 2 are rotatably connected to a fixed seat, the bottom end of the fixed seat is fixedly connected to a fixed plate 1, and the fixed plate 1 is fixedly connected to the support plate.

[0018] As an improvement, the clamping assembly includes a clamping base fixedly connected to clamping arm one and clamping arm two, and the front and rear parts of the separated ends of the clamping base on both sides are fixedly connected with stabilizing blocks, and the stabilizing blocks are fixedly connected to clamping arm one and clamping arm two.

[0019] As an improvement, the adjacent sides of the clamping base on both sides are provided with a number of evenly distributed movable grooves, the interior of the movable grooves is fixedly connected with a damping spring, the adjacent ends of the damping springs on both sides are fixedly connected with a push rod, and the end of the push rod away from the damping spring is provided with a silicone clamping head.

[0020] As an improvement, the guide assembly includes a fixed block 1 fixedly connected to the front and rear ends and both sides of the transition plate, the bottom end of the fixed block 1 is fixedly connected to a guide shaft, the bottom end of the guide shaft is rotatably connected to a guide roller, the guide rollers on both sides of the front end are rollingly connected to rack 1, and the guide rollers at the rear end are rollingly connected to rack 2.

[0021] Compared with the traditional technology, the advantages of the utility model are: 1. The utility model improves the structure of driving clamping, so that the position of clamping arm one and clamping arm two can be adjusted by setting racks that mesh with each other between rack one and rack two, and the movement of the rack is stabilized and straightened by a guide component. In this way, only one telescopic cylinder needs to be set to drive clamping arm one. Under the action of the above structure, clamping arm two will be driven, and the two will approach each other to finally complete the clamping. Compared with unilateral clamping, the force distribution is more uniform and the clamped objects are easier to balance.

[0022] 2. This invention uses a new type of splint to make improvements compared to the traditional one, replacing it with a clamping base with several movable grooves. By setting a top rod with a silicone clamping head inside it and supplementing it with a damping spring, the clamping base can adapt itself according to the shape of the clamped object. In the process of abutment, the damping spring is compressed to finally clamp objects of different shapes. This clamping method has stronger adaptability when clamping objects of different shapes, expanding the practical scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 The utility model is a three-dimensional structure of a mechanical arm clamping mechanism Figure 1 ;

[0024] Figure 2 The utility model is a three-dimensional structure of a mechanical arm clamping mechanism Figure 2 ;

[0025] Figure 3 The utility model is a three-dimensional structure of a mechanical arm clamping mechanism Figure 3 ;

[0026] Figure 4 This is a front cross-sectional view of a mechanical arm clamping mechanism of the utility model;

[0027] Figure 5 It is an enlarged view of A of a mechanical arm clamping mechanism of the utility model;

[0028] Figure 6 It is an enlarged view of B of a mechanical arm clamping mechanism of the utility model;

[0029] As shown in the figure: 1. Support plate; 2. Movable opening; 3. Connecting rod; 4. Driving assembly; 5. Transition plate; 6. Fixed plate 2; 7. Fixed rod; 8. Fixed block 3; 9. Fixed block 4; 10. Slider;

[0030] 11. movable plate 1; 12. movable plate 2; 13. clamping arm 1; 14. fixed block 5; 15. clamping arm 2; 16. movable block 1; 17. movable block 2; 18. fixed block 6; 19. clamping assembly; 20. gear seat;

[0031] 21. gear shaft; 22. gear; 23. rack 1; 24. rack 2; 25. guide assembly; 26. connecting block; 27. bushing; 28. telescopic cylinder; 29. ​​guide seat; 30. fixed frame;

[0032] 31. Base; 32. Fixed block 2; 33. Fixed seat; 34. Fixed plate 1; 35. Stabilizing block; 36. Movable slot; 37. Damping spring; 38. Ejector rod; 39. Silicone clamping head; 40. Fixed block 1;

[0033] 41. Guide shaft; 42. Guide roller. DETAILED DESCRIPTION

[0034] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present disclosure. Instead, they are merely examples of devices consistent with some aspects of the present disclosure as detailed in the appended claims.

[0035] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0036] Embodiment 1:

[0037] like Figures 1 to 5As shown, this embodiment proposes a mechanical arm clamping mechanism, which is mainly composed of a support plate 1, a transition plate 5, a clamping arm 13, a gear seat 20 and a guide assembly 25, wherein the support plate 1 is a rectangular arrangement, and a movable opening 2 is opened on one side of the middle, a connecting rod 3 is arranged inside the movable opening 2, and a driving assembly 4 is arranged at the top of the connecting rod 3 to cooperate with it, and the connecting rod 3 can be driven by the driving assembly 4 to perform translational movement inside the movable opening 2; and the transition plate 5 is fixedly connected to the middle of the bottom end of the support plate 1, and at the same time, both sides of the bottom end of the support plate 1 are also fixedly connected There is a fixed plate 2 6, and fixed rods 7 are provided at the front and rear parts below the fixed plates 2 6 on both sides. The two ends of the fixed rod 7 are fixedly connected with fixed blocks 3 8 and 4 9 respectively. The fixed blocks 3 8 and 4 9 are fixedly connected to the fixed plate 2 6 and the transition plate 5 respectively. Through the above structure, the fixed plate 2 6 and the transition plate 5 can be connected to form a mechanism that can slide thereon, and a slider 10 is slidably connected to the fixed rod 7. The fixed rod 7 is used as a support so that the slider 10 can slide freely thereon, thereby controlling the components thereunder to approach or move away from each other.

[0038] The above-mentioned components connected to the slider 10 include a movable plate 11 and a movable plate 2 12 respectively arranged on both sides below the support plate 1. The movable plate 11 and the movable plate 2 12 are exactly the same. The only difference is that the movable plate 11 is located on the side close to the movable opening 2 and is also fixedly connected to the bottom end of the connecting rod 3, and the bottom ends of the movable plate 11 and the movable plate 2 12 are both fixedly connected to the slider 10.

[0039] At the same time, the above-mentioned active clamping arm 13 is fixedly connected to the bottom end of the movable plate 11, and the front and rear ends of the clamping arm 13 are respectively fixedly connected to the fixed block 5 14 and the movable block 16, and the bottom end of the movable plate 2 12 is fixedly connected to the clamping arm 2 15 used as a slave, and the front and rear ends of the clamping arm 2 15 are respectively fixedly connected to the movable block 2 17 and the fixed block 6 18, and the bottom ends of the adjacent sides of the clamping arm 13 and the clamping arm 2 15 are both provided with a clamping assembly 19 used in cooperation with each other, and the clamping assembly 19 can clamp objects of different shapes, and has a wider range of application scenarios compared to the flat clamping plate;

[0040] Next, the gear seat 20 is fixedly connected to the bottom end of the transition plate 5, the bottom end of the gear seat 20 is fixedly connected to the gear shaft 21, the bottom end of the gear shaft 21 is rotatably connected to the gear 22, the front and rear ends of the gear 22 are respectively meshed with the rack 1 23 and the rack 2 24, the rack 1 23 is fixedly connected to the fixed block 5 14 and inserted in the movable block 2 17, the rack 24 is fixedly connected to the fixed block 6 18 and inserted in the movable block 1 16; the guide assembly 25 is arranged at the front and rear ends of the support plate 1, and the guide assembly 25 is used to assist the sliding of the rack 1 23 and the rack 2 24. Therefore, when the driving component 4 drives the connecting rod 3 to translate inside the movable opening 2, the connecting rod 3 will drive the clamping arm 13 to move synchronously. At this time, the clamping arm 13 will drive the rack 1 23 fixedly connected to it to move. The gear 22, which is meshed with it, will start to rotate under the force, driving the rack 2 24 to start moving. The rack 24 will drive the clamping arm 2 15 to move, and finally achieve clamping.

[0041] Embodiment 2:

[0042] The solution in Example 1 is further introduced below in combination with a specific working method, as described below:

[0043] like Figure 1 , Figure 2 as well as Figure 5 As shown, this embodiment proposes a mechanical arm clamping mechanism, the driving assembly 4 of the structure includes a connecting block 26 fixedly connected to the top of the connecting rod 3, the connecting block 26 is fixedly connected to a sleeve 27 on one side close to the fixing plate 26, a telescopic cylinder 28 is provided inside the sleeve 27, the output shaft of the telescopic cylinder 28 is fixedly connected to the inside of the sleeve 27, and a guide seat 29 fixedly connected to the support plate 1 is provided on the output shaft of the telescopic cylinder 28. A fixing frame 30 is fixedly connected to the outside of the telescopic cylinder 28, a base 31 is fixedly connected to the bottom end of the fixing frame 30, the base 31 is fixedly connected to the support plate 1, a fixing block 2 32 is fixedly connected to the side of the fixing frame 30 away from the connecting block 26, the front and rear ends of the fixing block 2 32 are both rotatably connected to a fixing seat 33, the bottom end of the fixing seat 33 is fixedly connected to a fixing plate 1 34, and the fixing plate 1 34 is fixedly connected to the support plate 1.

[0044] Embodiment 3:

[0045] The solution in Example 1 is further introduced below in combination with a specific working method, as described below:

[0046] like Figure 6As shown, this embodiment proposes a mechanical arm clamping mechanism, the clamping assembly 19 of the structure includes a clamping base 31 fixedly connected to the clamping arm 13 and the clamping arm 2 15, and the front and rear parts of the separated ends of the clamping bases 31 on both sides are fixedly connected with a stabilizing block 35, and the stabilizing block 35 is fixedly connected to the clamping arm 13 and the clamping arm 2 15. The arrangement of the stabilizing block 35 can make the force of the clamping base 31 more uniform, and the adjacent sides of the clamping bases 31 on both sides are provided with a number of evenly distributed movable grooves 36, and the inside of the movable grooves 36 is fixedly connected with a damping spring 37, and the adjacent ends of the damping springs 37 on both sides are fixedly connected with a push rod 38, the length of the push rod 38 is slightly greater than the depth of the movable groove 36, and the end of the push rod 38 away from the damping spring 37 is provided with a silicone clamping head 39, the silicone clamping head 39 is hard inside and soft outside, and its soft part has a slight deformation ability, and due to its material characteristics, it can increase the friction force in the clamping process to a certain extent, and finally consolidate the clamping.

[0047] Embodiment 4:

[0048] The solution in Example 1 is further introduced below in combination with a specific working method, as described below:

[0049] like Figure 2 As shown, this embodiment proposes a robot arm clamping mechanism, and the guide component 25 of the structure includes a fixed block 40 fixedly connected to the front and rear ends and both sides of the transition plate 5, the bottom end of the fixed block 40 is fixedly connected to a guide shaft 41, the bottom end of the guide shaft 41 is rotatably connected to a guide roller 42, the guide rollers 42 on both sides of the front end are rollingly connected to the rack 1 23, and the guide rollers 42 at the rear end are rollingly connected to the rack 2 24.

[0050] It should be specially noted here that the components described and identified in the text and drawings of the utility model are the key components constituting the utility model, and the remaining non-key components or obvious prior art components, such as screws, nuts and other connectors, and technical features similar to the prior art are not shown. However, this does not mean that the above-mentioned components do not exist in the utility model, nor can it be interpreted as a practical limitation on the utility model.

[0051] The above description of the utility model and its implementation methods is not restrictive. The drawings show only one implementation method of the utility model, and the actual structure is not limited thereto. In short, if ordinary technicians in this field are inspired by it and design structural methods and embodiments similar to the technical solution without creativity without departing from the purpose of the invention of the utility model, they should all fall within the protection scope of the utility model.

Claims

1. A mechanical arm clamping mechanism, characterized in that: include: A support plate (1), wherein a movable opening (2) is formed on one side of a middle portion of the support plate (1), a connecting rod (3) is disposed inside the movable opening (2), and a driving assembly (4) for use with the connecting rod (3) is disposed at the top end of the connecting rod (3); A transition plate (5), wherein the transition plate (5) is fixedly connected to the middle part of the bottom end of the support plate (1), and the two sides of the bottom end of the support plate (1) are fixedly connected with a fixed plate 2 (6), and the front and rear parts of the lower part of the fixed plate 2 (6) on both sides are provided with a fixed rod (7), and the two ends of the fixed rod (7) are respectively fixedly connected with a fixed block 3 (8) and a fixed block 4 (9), and the fixed block 3 (8) and the fixed block 4 (9) are respectively fixedly connected to the fixed plate 2 (6) and the transition plate (5), and the fixed rod (7) is slidably connected with a slider (10), and the two sides of the lower part of the support plate (1) are respectively provided with a movable plate 1 (11) and a movable plate 2 (12), and the movable plate 1 (11) is located on a side close to the movable opening (2), and the bottom ends of the movable plate 1 (11) and the movable plate 2 (12) are fixedly connected to the slider (10), and the top end of the movable plate 1 (11) is fixedly connected to the bottom end of the connecting rod (3); A clamping arm (13), the clamping arm (13) being fixedly connected to the bottom end of the movable plate (11), the front and rear ends of the clamping arm (13) being fixedly connected to a fixed block (14) and a movable block (16) respectively, the bottom end of the movable plate (12) being fixedly connected to a clamping arm (15), the front and rear ends of the clamping arm (15) being fixedly connected to a movable block (17) and a fixed block (18) respectively, the bottom ends of the adjacent sides of the clamping arm (13) and the clamping arm (15) being provided with a clamping assembly (19) for use with each other; A gear seat (20), the gear seat (20) is fixedly connected to the bottom end of the transition plate (5), the bottom end of the gear seat (20) is fixedly connected to a gear shaft (21), the bottom end of the gear shaft (21) is rotatably connected to a gear (22), the front and rear ends of the gear (22) are respectively meshed with a rack 1 (23) and a rack 2 (24), the rack 1 (23) is fixedly connected to the fixed block 5 (14) and inserted into the movable block 2 (17), and the rack 2 (24) is fixedly connected to the fixed block 6 (18) and inserted into the movable block 1 (16); A guide assembly (25) is arranged at the front and rear ends of the support plate (1), and the guide assembly (25) is used to assist the sliding of rack 1 (23) and rack 2 (24).

2. A mechanical arm clamping mechanism according to claim 1, characterized in that: The driving assembly (4) comprises a connecting block (26) fixedly connected to the top end of the connecting rod (3); a shaft sleeve (27) is fixedly connected to the side of the connecting block (26) close to the second fixing plate (6); a telescopic cylinder (28) is provided inside the shaft sleeve (27); an output shaft of the telescopic cylinder (28) is fixedly connected to the inside of the shaft sleeve (27); and a guide seat (29) fixedly connected to the support plate (1) is provided on the output shaft of the telescopic cylinder (28).

3. A mechanical arm clamping mechanism according to claim 2, characterized in that: The exterior of the telescopic cylinder (28) is fixedly connected to a fixing frame (30), the bottom end of the fixing frame (30) is fixedly connected to a base (31), the base (31) is fixedly connected to the support plate (1), the side of the fixing frame (30) away from the connecting block (26) is fixedly connected to a second fixing block (32), the front and rear ends of the second fixing block (32) are both rotatably connected to a fixing seat (33), the bottom end of the fixing seat (33) is fixedly connected to a first fixing plate (34), the first fixing plate (34) is fixedly connected to the support plate (1).

4. A mechanical arm clamping mechanism according to claim 1, characterized in that: The clamping assembly (19) comprises a clamping base (31) fixedly connected to the clamping arm 1 (13) and the clamping arm 2 (15), and the front and rear parts of the separated ends of the clamping base (31) on both sides are fixedly connected to a stabilizing block (35), and the stabilizing block (35) is fixedly connected to the clamping arm 1 (13) and the clamping arm 2 (15).

5. A mechanical arm clamping mechanism according to claim 4, characterized in that: A plurality of evenly distributed movable grooves (36) are provided on the adjacent sides of the clamping base (31) on both sides, a damping spring (37) is fixedly connected inside the movable groove (36), a push rod (38) is fixedly connected to the adjacent ends of the damping spring (37) on both sides, and a silicone clamping head (39) is provided at one end of the push rod (38) away from the damping spring (37).

6. A mechanical arm clamping mechanism according to claim 1, characterized in that: The guide assembly (25) comprises a fixed block (40) fixedly connected to the front and rear ends and both sides of the transition plate (5); the bottom end of the fixed block (40) is fixedly connected to a guide shaft (41); the bottom end of the guide shaft (41) is rotatably connected to a guide roller (42); the guide rollers (42) at both sides of the front end are rollingly connected to the rack (23); and the guide rollers (42) at the rear end are rollingly connected to the rack (24).

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