Mechanical arm clamping structure

Abstract

The utility model provides a mechanical arm clamping structure which comprises a mechanical arm, a clamping assembly is arranged on the front face of the mechanical arm, and a force adjusting assembly is arranged on the inner side of the clamping assembly. The clamping assembly comprises a mounting frame arranged on the front face of the mechanical arm, a sliding groove is transversely formed in the inner side of the mounting frame, two sliding blocks are arranged on the left side and the right side of the inner side of the sliding groove, and clamping plates are arranged on the front faces of the two sliding blocks. According to the mechanical arm clamping structure, in the clamping process, a left side clamping plate is fixed, a contact plate is extruded when making contact with an object, then a limiting block moves rightwards, a pressing block is extruded to push the limiting block to move rightwards, a trigger button is pressed down when the elastic force of a third spring is broken through, and movement of a telescopic rod is stopped through the trigger button; the structure is simple and practical, and the clamped object is prevented from being damaged while the clamping force is effectively kept in cooperation with the adjusted pressure applied to the object by the first spring.

Description

Technical Field

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

[0002] The robot arm, also known as a robotic arm, is a complex mechanical system with high precision, multiple inputs and multiple outputs. It has a high degree of operational flexibility, and due to this characteristic, it has been widely used in industrial assembly, safety and explosion protection, and other fields. The robot arm is a complex system involving uncertainties such as parameter perturbations, external interference, and unmodeled dynamics, so its modeling model also has uncertainties. In practical applications, for different tasks, it is necessary to plan the motion trajectory of the robot arm joint space, so as to cascade and form the end pose.

[0003] Nowadays, the application scope of robotic arms has far exceeded the industrial field and entered many fields such as healthcare, military, logistics and warehousing, agriculture and home services. For example, in the field of healthcare, robotic arms can assist doctors in performing surgeries and reduce surgical risks; in the field of logistics and warehousing, robotic arms can improve the efficiency of warehousing and logistics, and perform automated logistics sorting and inventory management.

[0004] With the advancement of science and technology and the advancement of industrialization, the application of robotic arms will become more and more extensive, and they will play an increasingly important role in the development of future society. Application number: CN201921290440.X, provides a clamping head structure based on a robotic arm clamping device, which can slide and adjust the auxiliary assembly plates on the left and right sides of the main assembly plate according to the specifications of the workpiece to be clamped, so as to better meet the clamping and transportation requirements of workpieces of different specifications. However, when the device is in use, the clamping force of the object cannot be adjusted. If you encounter easily deformed objects such as paper, precision instruments, foam boards, etc., excessive clamping force will cause damage to the object, and if the force is too small, there may be problems such as inability to clamp or falling off midway.

[0005] Therefore, it is necessary to provide a mechanical arm clamping structure to solve the above technical problems. Utility Model Content

[0006] The utility model provides a mechanical arm clamping structure, which solves the problem of ---.

[0007] In order to solve the above technical problems, the utility model provides a mechanical arm clamping structure, comprising: a mechanical arm, a clamping assembly is arranged on the front of the mechanical arm, and a force adjustment assembly is arranged on the inner side of the clamping assembly;

[0008] The gripping assembly comprises a mounting frame arranged on the front of the mechanical arm, a slide groove is arranged laterally on the inner side of the mounting frame, two sliding blocks are arranged on the left and right sides of the inner side of the slide groove, and a clamping plate is arranged on the front side of the two sliding blocks;

[0009] The force adjustment component includes a sliding groove arranged inside the right clamp plate, a limit block is arranged on the inner side of the sliding groove and can slide left and right, a sliding rod is arranged on the left side of the limit block, the left end of the sliding rod passes through the inner side of the sliding groove and extends to the right side of the right clamp plate, and a contact plate is arranged on the left end of the sliding rod.

[0010] Preferably, a first spring is provided on the peripheral side surface of the sliding rod and on the right side of the clamping plate opposite to the contact plate, and a trigger assembly is slidably provided on the inner side of the sliding groove and on the right side of the limit block.

[0011] Preferably, the force adjustment assembly also includes an adjustment plate which is slidable left and right and is arranged on the inner side of the right splint, a rack is arranged on the top of the adjustment plate, a tooth block is arranged on the top of the rack and engaged with the rack, a fixed block is arranged on the right side of the right splint, the inner side of the fixed block is slidably connected with the peripheral side surface of the tooth block, a pull ring is arranged on the top of the tooth block, and a second spring is arranged on the peripheral side surface of the tooth block and at the bottom of the fixed block.

[0012] Preferably, one side opposite to the two sliding blocks is provided with a slot, and one side opposite to the two slots is provided with a moving block which can slide back and forth along its length direction.

[0013] Preferably, the clamping assembly also includes a telescopic rod arranged on the front side of the robotic arm, the output end of the front side of the telescopic rod passes through the back side of the mounting frame and extends to the inner side thereof, and the output end of the front side of the telescopic rod is fixedly connected to the back side of the moving block.

[0014] Preferably, the trigger assembly includes a pressing block arranged inside the sliding groove, a third spring is arranged on the right side of the pressing block, a movable disk is arranged at the right end of the third spring, the right side of the movable disk is fixedly connected to the left side of the adjusting plate, and a trigger button is arranged on the left side of the movable disk and inside the third spring.

[0015] Compared with the related art, the mechanical arm clamping structure provided by the utility model has the following beneficial effects:

[0016] The utility model provides a mechanical arm clamping structure, during the clamping process, the left clamping plate does not move, the contact plate is squeezed when contacting the object, so that the limit block moves to the right, and squeezes the pressing block to push it to move to the right, and the trigger button is pressed when the elastic force of the third spring is broken, and the movement of the telescopic rod is stopped by the trigger button. The structure is simple and practical, and the pressure applied to the object by the first spring after adjustment can effectively maintain the clamping force while preventing damage to the clamped object. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 A schematic structural diagram of a preferred embodiment of a mechanical arm clamping structure provided by the utility model;

[0018] Figure 2 for Figure 1 A schematic structural diagram of a partial cross-sectional view of the mounting frame shown;

[0019] Figure 3 for Figure 1 A schematic diagram of the structure of the left side view of the cross section of the splint shown;

[0020] Figure 4 for Figure 3 An enlarged schematic diagram of the structure of area A is shown;

[0021] Figure 5 for Figure 1 A schematic diagram of the structure of the right side view of the cross section of the splint shown;

[0022] Figure 6 for Figure 5 An enlarged schematic diagram of the structure of region B is shown.

[0023] Numbers in the figure: 1. Robotic arm; 2. Clamping assembly; 21. Mounting frame; 22. Slide groove; 23. Sliding block; 24. Clamping plate; 25. Moving block; 26. Telescopic rod; 3. Force adjustment assembly; 31. Sliding groove; 32. Limiting block; 33. Sliding rod; 34. Contact plate; 35. First spring; 36. Trigger assembly; 361. Pressing block; 362. Third spring; 363. Moving disk; 364. Trigger button; 37. Adjustment plate; 38. Rack; 39. Gear block; 4. Fixed block; 5. Pull ring. DETAILED DESCRIPTION

[0024] The utility model is further described below in conjunction with the accompanying drawings and implementation modes.

[0025] Please refer to Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 ,and Figure 6 ,in Figure 1A schematic structural diagram of a preferred embodiment of a mechanical arm clamping structure provided by the utility model; Figure 2 for Figure 1 A schematic structural diagram of a partial cross-sectional view of the mounting frame shown; Figure 3 for Figure 1 A schematic diagram of the structure of the left side view of the cross section of the splint shown; Figure 4 for Figure 3 An enlarged schematic diagram of the structure of area A is shown; Figure 5 for Figure 1 A schematic diagram of the structure of the right side view of the cross section of the splint shown; Figure 6 for Figure 5 The enlarged schematic diagram of the structure of area B shown is a mechanical arm clamping structure, comprising: a mechanical arm 1, a clamping component 2 is arranged on the front of the mechanical arm 1, and a force adjustment component 3 is arranged on the inner side of the clamping component 2;

[0026] The gripping assembly 2 includes a mounting frame 21 disposed on the front of the mechanical arm 1, a slide groove 22 is disposed laterally on the inner side of the mounting frame 21, two sliding blocks 23 are disposed on the inner side of the slide groove 22, and a clamping plate 24 is disposed on the front side of the two sliding blocks 23;

[0027] The extension of the telescopic rod 26 drives the moving block 25 to move forward, thereby pushing away the sliding blocks 23 on both sides, and cooperating with the setting of the slide groove 22, so that the two sliding blocks 23 move away from each other inside the slide groove 22. Conversely, the retraction of the telescopic rod 26 drives the moving block 25 to move backward, thereby pulling the sliding blocks 23 on both sides to drive the clamping plates 24 to separate.

[0028] The force adjustment component 3 includes a sliding groove 31 arranged inside the right clamping plate 24, a limit block 32 is arranged on the inner side of the sliding groove 31 so as to slide left and right, a sliding rod 33 is arranged on the left side of the limit block 32, the left end of the sliding rod 33 passes through the inner side of the sliding groove 31 and extends to the right side of the right clamping plate 24, and a contact plate 34 is arranged on the left end of the sliding rod 33.

[0029] By setting the sliding rod 33 and the limit block 32, when the contact plate 34 is subjected to pressure, the limit block 32 moves to the right side of the sliding groove 31, thereby providing a certain shock absorption function and preventing the impact of direct clamping from damaging the clamped object.

[0030] A first spring 35 is provided on the peripheral side of the sliding rod 33 and on the side opposite to the right clamping plate 24 and the contact plate 34 , and a trigger assembly 36 is slidably provided on the inner side of the sliding groove 31 and on the right side of the limit block 32 .

[0031] Through the setting of the trigger assembly 36, when an object is clamped, the left clamping plate 24 does not move, and the contact plate 34 is squeezed when it contacts the object, so that the limit block 32 moves to the right, and squeezes the pressing block 361 to push it to move to the right. When the elastic force of the third spring 362 is broken, the trigger button 364 is pressed, and the movement of the telescopic rod 26 is stopped by the trigger button 364, thereby maintaining the clamping force while preventing damage to the clamped object.

[0032] The force adjustment assembly 3 also includes an adjustment plate 37 which is slidable left and right and is arranged on the inner side of the right clamping plate 24. A rack 38 is arranged on the top of the adjustment plate 37, and a tooth block 39 is arranged on the top of the rack 38 and engaged with it. A fixed block 4 is arranged on the right side of the right clamping plate 24, and the inner side of the fixed block 4 is slidably connected with the peripheral side of the tooth block 39. A pull ring 5 is arranged on the top of the tooth block 39, and a second spring is arranged on the peripheral side of the tooth block 39 and at the bottom of the fixed block 4.

[0033] The position where the trigger button 364 is pressed is adjusted by pushing the adjustment plate 37 inside the right clamping plate 24, thereby determining the degree of compression of the first spring 35, thereby adjusting the pressure of the contact plate 34 on one side of the object; through the arrangement of the pull ring 5, the tooth block 39 and the rack 38, when decompression is required, the adjustment plate 37 is pushed inward and the adjustment plate 37 is stuck under the action of the tooth block 39, and when pressure is applied, the pull ring 5 is pulled up to pull the adjustment plate 37 outward.

[0034] One side opposite to the two sliding blocks 23 is provided with a slot, and one side opposite to the two slots is provided with a moving block 25 which can slide forward and backward along the length direction thereof.

[0035] The clamping assembly 2 also includes a telescopic rod 26 arranged on the front of the robot arm 1. The output end of the front of the telescopic rod 26 passes through the back of the mounting frame 21 and extends to the inner side thereof. The output end of the front of the telescopic rod 26 is fixedly connected to the back of the moving block 25.

[0036] The trigger assembly 36 includes a pressing block 361 arranged inside the sliding groove 31, a third spring 362 is arranged on the right side of the pressing block 361, a moving disk 363 is arranged at the right end of the third spring 362, the right side of the moving disk 363 is fixedly connected to the left side of the adjustment plate 37, and a trigger button 364 is arranged on the left side of the moving disk 363 and inside the third spring 362.

[0037] The working principle of a mechanical arm clamping structure provided by the utility model is as follows:

[0038] Step 1: When in use, first adjust the depth of the adjustment plate 37 inside the right clamping plate 24 according to the force applied to the clamped object, and then determine the degree of compression of the first spring 35 when the telescopic rod 26 stops clamping. After the adjustment is completed, the tooth block 39 clamps the adjustment plate 37 again. When clamping an object, the extension of the telescopic rod 26 drives the moving block 25 to move forward, and then pushes away the sliding blocks 23 on both sides, and cooperates with the setting of the slide groove 22, so that the two sliding blocks 23 move away from each other inside the slide groove 22, so that the clamping plate 24 is clamped;

[0039] Step 2: During the clamping process, the left clamping plate 24 remains stationary, and the contact plate 34 is squeezed when it contacts the object, causing the limit block 32 to move to the right, and squeezing the pressing block 361 to push it to move to the right, and pressing the trigger button 364 when breaking through the elastic force of the third spring 362, and stopping the movement of the telescopic rod 26 by the trigger button 364, thereby maintaining the clamping force while preventing damage to the clamped object.

[0040] Compared with the related art, the mechanical arm clamping structure provided by the utility model has the following beneficial effects:

[0041] During the clamping process, the left clamping plate 24 does not move, and the contact plate 34 is squeezed when it contacts the object, causing the limit block 32 to move to the right, and squeezing the pressing block 361 to push it to move to the right, and when the elastic force of the third spring 362 is broken, the trigger button 364 is pressed to stop the movement of the telescopic rod 26. The structure is simple and practical, and the pressure applied to the object by the first spring 35 after adjustment can effectively maintain the clamping force while preventing damage to the clamped object.

[0042] The above description is only an embodiment of the present invention, and does not limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made by using the contents of the specification and drawings of the present invention, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A mechanical arm gripping structure, characterized in that: include: A mechanical arm (1), wherein a gripping assembly (2) is arranged on the front of the mechanical arm (1), and a force adjustment assembly (3) is arranged on the inner side of the gripping assembly (2); The gripping assembly (2) comprises a mounting frame (21) arranged on the front side of the mechanical arm (1), a slide groove (22) is arranged transversely on the inner side of the mounting frame (21), two sliding blocks (23) are arranged on the left and right sides of the inner side of the slide groove (22), and a clamping plate (24) is arranged on the front side of the two sliding blocks (23); The force adjustment component (3) comprises a sliding groove (31) arranged inside the right clamping plate (24), a limit block (32) is arranged inside the sliding groove (31) and can slide left and right, a sliding rod (33) is arranged on the left side of the limit block (32), the left end of the sliding rod (33) passes through the inner side of the sliding groove (31) and extends to the right side of the right clamping plate (24), and a contact plate (34) is arranged on the left end of the sliding rod (33).

2. A mechanical arm gripping structure according to claim 1, characterized in that: A first spring (35) is provided on the peripheral side surface of the sliding rod (33) and on the right side of the clamping plate (24) opposite to the contact plate (34), and a trigger component (36) is slidably provided on the inner side of the sliding groove (31) and on the right side of the limit block (32).

3. A mechanical arm gripping structure according to claim 2, characterized in that: The force adjustment component (3) also includes an adjustment plate (37) which is slidable left and right and is arranged on the inner side of the right clamp (24); a rack (38) is arranged on the top of the adjustment plate (37); a tooth block (39) is arranged on the top of the rack (38) and is engaged with the rack; a fixed block (4) is arranged on the right side of the right clamp (24); the inner side of the fixed block (4) is slidably connected to the peripheral side of the tooth block (39); a pull ring (5) is arranged on the top of the tooth block (39); and a second spring is arranged on the peripheral side of the tooth block (39) and at the bottom of the fixed block (4).

4. A mechanical arm gripping structure according to claim 1, characterized in that: One side opposite to the two sliding blocks (23) is provided with a slot, and one side opposite to the two slots is provided with a moving block (25) which can slide forward and backward along its length direction.

5. A mechanical arm gripping structure according to claim 4, characterized in that: The gripping assembly (2) further comprises a telescopic rod (26) arranged on the front side of the mechanical arm (1), the output end on the front side of the telescopic rod (26) passing through the back side of the mounting frame (21) and extending to the inner side thereof, and the output end on the front side of the telescopic rod (26) is fixedly connected to the back side of the moving block (25).

6. A mechanical arm gripping structure according to claim 3, characterized in that: The trigger assembly (36) comprises a pressing block (361) arranged inside the sliding groove (31); a third spring (362) is arranged on the right side of the pressing block (361); a moving disk (363) is arranged at the right end of the third spring (362); the right side of the moving disk (363) is fixedly connected to the left side of the adjusting plate (37); and a trigger button (364) is arranged on the left side of the moving disk (363) and inside the third spring (362).

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