Clamping device for mechanical arm

Abstract

The clamping device for the mechanical arm particularly relates to the field of mechanical arms and comprises a supporting piece, a sliding groove is formed in the supporting piece, a connecting plate is connected in the sliding groove in a sliding mode, a pressure sensor is fixedly installed in the connecting plate, and a first spring is fixedly installed in the connecting plate. A sliding part is fixedly installed at one end of the first spring, the pressure sensor is arranged on one side of the sliding part, the sliding part is slidably connected into the connecting plate, a rotating shaft and a rotating rod are rotatably connected into the sliding part, and the outer wall of the rotating shaft is sleeved with a V-shaped belt. According to the clamping device, the first gear and the first rack are arranged, when an object is separated from the interior of the clamping device due to the gravity of the object and the like, the object can drive the V-shaped belt to rotate, finally, the sliding part slides along the interior of the connecting plate, the clamping force of the V-shaped belt to the object is increased, and the effect of secondarily clamping and fixing the separated object is achieved; articles are prevented from falling off.

Description

Technical Field

[0001] The utility model relates to the field of robot arms, and more specifically, to a clamping device for a robot arm. Background Art

[0002] A robotic arm usually refers to a programmable mechanical arm that has functions similar to those of a human arm; the arm can be a complete mechanical device or part of a more complex robot.

[0003] Chinese utility model CN218614130U discloses a gripping device for a mechanical arm, comprising a frame, a mechanical connecting part is arranged above the frame, a first tooth plate and a second tooth plate are slidably connected to the inner side wall of the frame, the first tooth plate and the second tooth plate correspond to each other, a gear is arranged between the first tooth plate and the second tooth plate, and the first tooth plate and the second tooth plate are both meshed with the gear, an electric push rod is arranged below the second tooth plate, a clamping plate is arranged below the frame, a vacuum pump is fixedly connected to one side of the clamping plate, a suction port is embedded in the other side of the clamping plate, and the suction port is connected to the port of the vacuum pump; the utility model is easy to use, can be used to clamp hard objects, and can also be used to clamp soft objects, avoiding the problem of increased difficulty in picking and placing due to the easy deformation of soft objects, and avoiding the situation where creases appear on soft objects due to excessive clamping when clamping.

[0004] However, this setting cannot perform secondary clamping and fixing of the object when grabbing the object to prevent the object from falling from the robot arm, resulting in the object easily falling from the grip of the robot arm. To address this problem, it is necessary for technicians in this field to develop a clamping device for a robot arm. Utility Model Content

[0005] In order to overcome the above-mentioned defects of the prior art, an embodiment of the utility model provides a clamping device for a robot arm. By setting a first gear and a first rack, when an object detaches from the inside of the clamping device due to its own gravity or other reasons, the object will drive the V-belt to rotate, and finally the sliding part will slide along the inside of the connecting plate, allowing the V-belt to increase the clamping force of the object, so as to achieve the effect of secondary clamping and fixing the detached object, preventing the object from falling, so as to solve the problems raised in the above-mentioned background technology.

[0006] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: a clamping device for a robot arm, comprising a support member, a slide groove is provided inside the support member, a connecting plate is slidably connected inside the slide groove, a pressure sensor is fixedly installed inside the connecting plate, a first spring is fixedly installed inside the connecting plate, a sliding member is fixedly installed on one end of the first spring, the pressure sensor is arranged on one side of the sliding member, the sliding member is slidably connected inside the connecting plate, a rotating shaft and a rotating rod are rotatably connected inside the sliding member, a V-belt is sleeved on the outer wall of the rotating shaft, a first gear is fixedly connected to the outer wall of the rotating shaft, the first gear is arranged on the outer wall of the sliding member, a first rack is meshed on the outer wall of the first gear, and the first rack is fixedly connected to the inside of the connecting plate.

[0007] In a preferred embodiment, a second rack is fixedly connected to the top of the connecting plate, and the second rack is slidably connected to the inside of the supporting member.

[0008] In a preferred embodiment, a second gear is meshed on one side of the second rack, and a sleeve is fixedly connected to the top of the second gear.

[0009] In a preferred embodiment, the sleeve is rotatably connected to the inside of the support member, a motor is arranged on the top of the support member, and the output shaft of the motor is inserted into the inside of the sleeve.

[0010] In a preferred embodiment, a connector is fixedly mounted on the outer wall of the motor, and the connector is arranged on the top of the support member.

[0011] In a preferred embodiment, the top of the support member is fixedly connected to a limit plate, and a limit rod is inserted into the interior of the limit plate.

[0012] In a preferred embodiment, the limiting rod is inserted into the interior of the connector, the outer wall of the limiting rod is sleeved with a second spring, and the second spring is arranged inside the connector.

[0013] Technical effects and advantages of the utility model:

[0014] 1. The utility model is provided with a first gear and a first rack. When an object is separated from the inside of the clamping device due to its own gravity or other reasons, the object will drive the V-belt to rotate, and finally the sliding member will slide along the inside of the connecting plate, so that the V-belt increases the clamping force of the object, so as to achieve the effect of secondary clamping and fixing the fallen object, thereby preventing the object from falling, causing damage to the object and affecting the work of the robot arm;

[0015] 2. The utility model is provided with a limit rod and a second spring. When the staff needs to remove the clamping device from the connecting head, the staff can hold the support member with their hands and pull the limit rod with their fingers to make the limit rod fall off from the inside of the limit plate. At this time, the limit plate loses the fixed limit of the limit rod, and the staff can remove the clamping device to achieve the effect of quickly disassembling the clamping device, which is convenient for the staff to install or disassemble the clamping device. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic diagram of the overall structure of the utility model.

[0017] Figure 2 This is a cross-sectional view of the support structure of the utility model.

[0018] Figure 3 For this utility model Figure 2 A-section structure enlarged view.

[0019] Figure 4 For this utility model Figure 2 Enlarged view of the structure of part B.

[0020] The accompanying drawings are marked as follows: 1. support member; 2. slide groove; 3. connecting plate; 4. pressure sensor; 5. first spring; 6. sliding member; 7. rotating shaft; 8. rotating rod; 9. V-belt; 10. first gear; 11. first rack; 12. second rack; 13. second gear; 14. sleeve; 15. motor; 16. connecting head; 17. limit plate; 18. limit rod; 19. second spring. DETAILED DESCRIPTION

[0021] 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. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. 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.

[0022] Example 1: Refer to the attached specification Figure 1-4 The utility model is a gripping device for a mechanical arm, comprising a support member 1, see Figure 4 The support member 1 has a slide groove 2 inside, and a connecting plate 3 is slidably connected inside the slide groove 2. Figure 3A pressure sensor 4 is fixedly installed inside the connecting plate 3, a first spring 5 is fixedly installed inside the connecting plate 3, a sliding member 6 is fixedly installed on one end of the first spring 5, the pressure sensor 4 is arranged on one side of the sliding member 6, the sliding member 6 is slidably connected to the inside of the connecting plate 3, the sliding member 6 is rotatably connected to the inside of the rotating shaft 7 and the rotating rod 8, the outer wall of the rotating shaft 7 is sleeved with a V-belt 9, the outer wall of the rotating shaft 7 is fixedly connected to a first gear 10, the first gear 10 is arranged on the outer wall of the sliding member 6, the outer wall of the first gear 10 is meshed with a first rack 11, and the first rack 11 is fixedly connected to the inside of the connecting plate 3.

[0023] It should be noted that, when the clamping device is installed on the robot arm to work, the motor 15 will drive the second gear 13 to rotate through the sleeve 14, so that the second gear 13 drives the two second racks 12 to move, and then the two second racks 12 drive the corresponding connecting plates 3 to approach each other, so that the V-belt 9 on the sliding member 6 inside the connecting plate 3 clamps and fixes the object until the clamping force of the V-belt 9 on the object reaches a certain pressure, the V-belt 9 will transmit the pressure to the sliding member 6 through the rotating shaft 7 and the rotating rod 8, and the sliding member 6 will transmit the pressure to the pressure sensor 4, so that the pressure sensor 4 transmits the pressure signal to the control panel of the robot arm, and the control panel controls the motor 15 to stop. When the object is subjected to a certain clamping pressure, the clamping device stops increasing the pressure to prevent the object from being damaged by excessive pressure. When the object is separated from the inside of the clamping device due to its own gravity or other reasons, the object will drive the V-belt 9 to rotate, so that the V-belt 9 drives the rotating shaft 7 to rotate, and then the rotating shaft 7 drives the first gear 10 to rotate, so that the first gear 10 moves along the first rack 11. At this time, the first gear 10 drives the sliding member 6 to slide along the inside of the connecting plate 3 through the rotating shaft 7, so that the V-belt 9 increases the clamping force of the object, so as to achieve the effect of secondary clamping and fixing the fallen object, and prevent the object from falling, causing damage to the object and affecting the work of the robot arm.

[0024] Furthermore, when the sliding member 6 is moved by the rotating shaft 7, the first spring 5 will be pulled to extend. When the clamping device releases the clamping fixation of the object at the target location for transporting the object, the V-belt 9 will lose the force of the object. At this time, the first spring 5 will pull the sliding member 6 to reset, so that the sliding member 6 drives the first gear 10 to rotate and reset along the first rack 11 through the rotating shaft 7, and then the V-belt 9 rotates and resets, waiting for the next work.

[0025] Example 2: See Figure 4A second rack 12 is fixedly connected to the top of the connecting plate 3, and the second rack 12 is slidably connected to the inside of the support 1. A second gear 13 is meshed with one side of the second rack 12. A sleeve 14 is fixedly connected to the top of the second gear 13, and the sleeve 14 is rotatably connected to the inside of the support 1. A motor 15 is provided at the top of the support 1, and the output shaft of the motor 15 is inserted into the inside of the sleeve 14. A connector 16 is fixedly installed on the outer wall of the motor 15, and the connector 16 is arranged at the top of the support 1. A limiting plate 17 is fixedly connected to the top of the support 1, and a limiting rod 18 is inserted into the inside of the limiting plate 17. The limiting rod 18 is inserted into the inside of the connecting head 16, and a second spring 19 is sleeved on the outer wall of the limiting rod 18, and the second spring 19 is arranged inside the connecting head 16.

[0026] It should be noted that when the staff needs to remove the clamping device from the connecting head 16, the staff can hold the support member 1 with their hands and pull the limit rod 18 with their fingers, so that the limit rod 18 squeezes the second spring 19 to contract and fall off from the inside of the limit plate 17. At this time, the limit plate 17 loses the fixed limit of the limit rod 18, and the staff can remove the clamping device to achieve the effect of quickly disassembling the clamping device. When the staff needs to connect and fix the clamping device to the connecting head 16, the staff can hold the support member 1 with their hands and pull the limit rod 18 with their fingers to make the limit rod 18 detach from the inside of the connecting head 16. Then the staff can align the limit plate 17 at the top of the support member 1 with the inside of the connecting head 16 and insert it, and then release the pull on the limit rod 18, so that the limit rod 18 is reset under the push of the second spring 19, and then the limit rod 18 is inserted into the inside of the limit plate 17, so that the support member 1 and the connecting head 16 are fixed and limited, so as to achieve the effect of quickly connecting and fixing the clamping device.

[0027] Finally, a few points should be explained: First, in the description of this application, it should be noted that, unless otherwise specified and limited, the terms "installed", "connected" and "connected" should be understood in a broad sense, which can be a mechanical connection or an electrical connection, or the internal communication of two components, or a direct connection. "upper", "lower", "left" and "right" are only used to indicate relative positional relationships. When the absolute position of the object being described changes, the relative positional relationship may change;

[0028] Secondly: In the drawings of the embodiments disclosed in the present utility model, only the structures related to the embodiments disclosed in the present utility model are involved, and other structures can refer to the general design. In the absence of conflict, the same embodiment and different embodiments of the present utility model can be combined with each other;

[0029] Finally: The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present utility model should be included in the protection scope of the present utility model.

Claims

1. A gripping device for a robot arm, comprising a support member (1), characterized in that: The support member (1) is provided with a slide groove (2) inside, a connecting plate (3) is slidably connected inside the slide groove (2), a pressure sensor (4) is fixedly installed inside the connecting plate (3), a first spring (5) is fixedly installed inside the connecting plate (3), a sliding member (6) is fixedly installed on one end of the first spring (5), the pressure sensor (4) is arranged on one side of the sliding member (6), the sliding member (6) is slidably connected inside the connecting plate (3), a rotating shaft (7) and a rotating rod (8) are rotatably connected inside the sliding member (6), a V-belt (9) is sleeved on the outer wall of the rotating shaft (7), a first gear (10) is fixedly connected to the outer wall of the rotating shaft (7), the first gear (10) is arranged on the outer wall of the sliding member (6), the outer wall of the first gear (10) is meshed with a first rack (11), and the first rack (11) is fixedly connected to the inside of the connecting plate (3).

2. A gripping device for a robot arm according to claim 1, characterized in that: A second rack (12) is fixedly connected to the top of the connecting plate (3), and the second rack (12) is slidably connected to the inside of the supporting member (1).

3. A gripping device for a robot arm according to claim 2, characterized in that: A second gear (13) is meshed with one side of the second rack (12), and a sleeve (14) is fixedly connected to the top of the second gear (13).

4. A gripping device for a robot arm according to claim 3, characterized in that: The sleeve (14) is rotatably connected to the inside of the support member (1); a motor (15) is arranged on the top of the support member (1); and an output shaft of the motor (15) is inserted into the inside of the sleeve (14).

5. A gripping device for a robot arm according to claim 4, characterized in that: A connector (16) is fixedly mounted on the outer wall of the motor (15), and the connector (16) is arranged on the top of the support member (1).

6. A gripping device for a robot arm according to claim 5, characterized in that: The top of the support member (1) is fixedly connected to a limiting plate (17), and a limiting rod (18) is inserted into the interior of the limiting plate (17).

7. A gripping device for a robot arm according to claim 6, characterized in that: The limiting rod (18) is inserted into the interior of the connecting head (16); the outer wall of the limiting rod (18) is sleeved with a second spring (19); and the second spring (19) is arranged inside the connecting head (16).

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