Mechanical claw at tail end of mechanical arm

Abstract

The mechanical gripper at the tail end of the mechanical arm relates to the field of mechanical grippers and comprises a rectangular frame, a first motor is installed at the right end of the rectangular frame, a concave plate is installed at the upper end of the rectangular frame, and the output end of the first motor extends into the rectangular frame and is fixedly connected with a right-hand threaded rod and a left-hand threaded rod. Two first clamping plates which are symmetrically distributed left and right are arranged on the outer surface of the positive and negative threaded rod in a threaded sleeving mode, two sliding grooves are formed in the ends, close to each other, of the two first clamping plates, a driving part is installed at the upper end of the concave plate, and an adjusting part is jointly arranged between the left inner wall and the right inner wall of the concave plate; the adjusting component extends into the four sliding grooves. The length of the clamping end can be adjusted through cooperation of the adjusting component and the driving component, the contact area between the clamping end and an object is increased, the clamping force is evenly distributed, and the clamping stability and safety are improved.

Description

Technical Field

[0001] The utility model relates to the field of mechanical claws, and particularly to a mechanical claw at the end of a robotic arm. Background Art

[0002] In recent years, with the development of China's science and technology and the expansion of the application scenarios of robotic arm technology, more and more robotic arms have been put into production. A robotic arm is a high-precision and high-speed complex system that can move the execution end to a specified coordinate in space through automatic control to achieve the functions provided by the execution components. A mechanical claw is an end effector used for grasping and operating objects, and is widely used in industrial automation, manufacturing, logistics and other fields. It usually consists of multiple adjustable clamping parts, can imitate the functions of the human hand, and accurately grasp, carry and place various objects of different shapes and sizes. The mechanical claw can be driven by electric, pneumatic or hydraulic means, and is equipped with sensors to achieve precise control and feedback. By adjusting the clamping force and position of the claw, the mechanical claw can complete complex operation tasks on the premise of high efficiency and safety, improving production efficiency and automation level.

[0003] The prior art (publication number: CN 220922451 U) discloses a mechanical claw, which includes a slide bar frame. Two slide bars are fixedly arranged inside the slide bar frame. A first moving plate is slidably arranged on one side of the two slide bars, and a second moving plate is slidably arranged on the side of the two slide bars away from the first moving plate. Two connecting blocks are fixedly arranged on the lower side of the front end of the slide bar frame.

[0004] Although the above patent uses two hydraulic cylinders as the power system, making the device more efficient, stable, not easily damaged, and capable of controlling the clamping force, it has the following drawbacks. When in use, the length of the clamping block cannot be adjusted. When clamping a relatively high object, if the claw cannot adjust its length, it may cause uneven distribution of the clamping force, affecting the clamping stability and safety, and may require replacement of the clamping part, reducing the flexibility of the production line. Further improvement is needed. For this reason, we propose a mechanical claw at the end of a robotic arm. Summary of the Utility Model

[0005] The main purpose of the utility model is to provide a mechanical claw at the end of a robotic arm, which can effectively solve the problem that the length of the mechanical claw cannot be adjusted.

[0006] To achieve the above purpose, the technical solution adopted by the utility model is as follows:

[0007] A mechanical arm end manipulator claw, including a rectangular frame, a first motor is installed at the right end of the rectangular frame, a concave plate is installed at the upper end of the rectangular frame, the output end of the first motor extends into the rectangular frame and is fixedly connected with a positive and reverse threaded rod, two first clamping plates symmetrically distributed left and right are sleeved on the outer surface of the positive and reverse threaded rod, two chutes are opened at one end of the two first clamping plates close to each other, a driving component is installed at the upper end of the concave plate, an adjusting component is jointly arranged between the left inner wall and the right inner wall of the concave plate, the adjusting component extends into the four chutes, and the driving component is used to drive the adjusting component to move up and down so as to adjust the length of the clamping end.

[0008] Preferably, the adjusting component includes a cross plate, the cross plate is slidably connected between the left inner wall and the right inner wall of the concave plate, two groups of second clamping plates symmetrically distributed left and right are slidably connected to the lower end of the cross plate, and each group of the second clamping plates has two and is symmetrically distributed front and back.

[0009] Preferably, the four second clamping plates respectively extend into the four chutes.

[0010] Preferably, the driving component includes a second motor, the second motor is installed in the middle of the upper end of the concave plate, the output end of the second motor movably penetrates the upper wall of the concave plate and is fixedly connected with a lead screw, the lower end of the lead screw is threadedly inserted to the lower side of the cross plate and is movably connected with a fixing plate, and the fixing plate is installed between the front inner wall and the rear inner wall of the rectangular frame.

[0011] Preferably, a measuring component is installed at the right part of the upper end of the concave plate, the measuring component includes a linear displacement sensor, the linear displacement sensor is installed at the right part of the upper end of the concave plate, and a display is arranged at the front end of the linear displacement sensor.

[0012] Preferably, the measuring end of the linear displacement sensor is fixedly connected with the upper end of the cross plate.

[0013] Preferably, anti-slip pads are arranged at one ends of the first clamping plate and the second clamping plate close to the workpiece.

[0014] Compared with the prior art, the utility model has the following beneficial effects:

[0015] 1. By setting the adjusting component and the driving component to cooperate with each other, the length of the clamping end can be adjusted. When it is necessary to clamp a higher object, control the output end of the second motor to drive the lead screw to rotate, the lead screw drives the cross plate to move downward, and the cross plate drives the second clamping plate to move downward, so that the length of the clamping part becomes longer, and the higher object can be clamped, increasing the contact surface with the object, making the clamping force evenly distributed, improving the stability and safety of clamping, and there is no need to frequently replace the clamping part, improving the flexibility of the production line;

[0016] 2. By setting up a measuring component, the length of the clamping part can be measured. When the clamping end is adjusted, the cross plate drives the measuring end of the linear displacement sensor to move, and then the length data is displayed on the display, enabling the staff to see the length data in real time, ensuring that the gripper is adjusted to the correct position, reducing the adjustment time, increasing the running time of the production line, improving the overall production efficiency. At the same time, the accurate display of data can reduce the probability of workpiece slipping or clamping failure caused by improper length adjustment, thus reducing the occurrence of accidents. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the entire structure proposed in this embodiment;

[0018] Figure 2 It is a schematic diagram of the structure of the concave plate in this embodiment;

[0019] Figure 3 It is a schematic diagram of the structures of the adjusting component and the measuring component in this embodiment;

[0020] Figure 4 It is a schematic diagram of the structure of the measuring component in this embodiment.

[0021] In the figure: 1. rectangular frame; 2. left - right threaded rod; 3. first motor; 4. first clamping plate; 5. concave plate; 6. adjusting component; 7. measuring component; 8. fixing bracket; 9. driving component; 10. anti - slip pad; 11. sliding groove; 91. second motor; 92. lead screw; 93. fixing plate; 61. cross plate; 62. second clamping plate; 71. linear displacement sensor; 72. display. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0022] In order to make the technical means, creative features, achieved purposes and effects of the present utility model easy to understand, the present utility model will be further described below in conjunction with specific embodiments.

[0023] In the description of the present utility model, it should be noted that the orientation or positional relationship indicated by the terms "upper", "lower", "inner", "outer", "front end", "rear end", "both ends", "one end", "the other end", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present utility model. In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance.

[0024] In the description of the present utility model, it should be noted that unless otherwise clearly specified and defined, terms such as "installation", "provided with", "connection", etc. should be understood in a broad sense. For example, "connection" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present utility model can be understood according to specific situations.

[0025] As Figures 1-4 shown, a mechanical arm end manipulator claw includes a rectangular frame 1. A first motor 3 is installed at the right end of the rectangular frame 1. A concave plate 5 is installed at the upper end of the rectangular frame 1. The output end of the first motor 3 extends into the rectangular frame 1 and is fixedly connected with a left - right threaded rod 2. Two first clamping plates 4 symmetrically distributed left and right are sleeved on the outer surface of the left - right threaded rod 2. Two sliding grooves 11 are opened at one end of the two first clamping plates 4 close to each other. A driving component 9 is installed at the upper end of the concave plate 5. An adjusting component 6 is jointly arranged between the left inner wall and the right inner wall of the concave plate 5. The adjusting component 6 extends into the four sliding grooves 11. The driving component 9 is used to drive the adjusting component 6 to move up and down so as to adjust the length of the clamping end. A fixing frame 8 is fixedly connected to the concave plate 5. When in use, the concave plate 5 is connected to the end of the mechanical arm through the fixing frame 8. The mechanical arm drives the manipulator claw to clamp and grab both ends of the workpiece. When grabbing, only workpieces of a certain length can be grabbed. When the height of the workpiece increases, the grabbing will fail due to insufficient contact surface for clamping. To solve this problem, by setting the adjusting component 6 and the driving component 9, the length of the clamping end is adjusted, thereby increasing the contact surface with the workpiece.

[0026] Therefore, when it is necessary to clamp a relatively tall object, the length of the clamping end is adjusted through the joint cooperation of the adjusting component 6 and the driving component 9. The specific structure is as follows: The adjusting component 6 includes a cross plate 61. The cross plate 61 is slidably connected between the left inner wall and the right inner wall of the concave plate 5. Two groups of second clamping plates 62 that are symmetrically distributed left and right are slidably connected to the lower end of the cross plate 61. The second clamping plates 62 are slidably connected to the cross plate 61 through T-shaped sliders. Each group of second clamping plates 62 has two and is symmetrically distributed front and back. The four second clamping plates 62 respectively extend into the four chutes 11. The driving component 9 includes a second motor 91. The second motor 91 is installed in the middle of the upper end of the concave plate 5. The output end of the second motor 91 movably penetrates the upper wall of the concave plate 5 and is fixedly connected to a lead screw 92. The lower end of the lead screw 92 is threadedly inserted to the lower side of the cross plate 61 and is movably connected to a fixing plate 93. The fixing plate 93 is installed between the front inner wall and the rear inner wall of the rectangular frame 1. The fixing plate 93 is installed on the rectangular frame 1 through bolts. During use, control the output end of the second motor 91 to drive the lead screw 92 to rotate. The lead screw 92 drives the cross plate 61 to move downward. The cross plate 61 drives the second clamping plates 62 to move downward, making the length of the clamping part longer, so that a relatively tall object can be clamped, increasing the contact surface with the object, making the clamping force evenly distributed, improving the stability and safety of clamping, and eliminating the need to frequently replace the clamping part, improving the flexibility of the production line.

[0027] Furthermore, in order to enable the staff to see the length data in real time and ensure that the gripper is adjusted to the correct position, by setting the measuring component 7, the length of the clamping part can be measured, reducing the adjustment time, increasing the running time of the production line, improving the overall production efficiency. At the same time, the accurate display of data can reduce the probability of workpiece slipping or clamping failure caused by improper length adjustment, thus reducing the occurrence of accidents. The measuring component 7 is installed at the upper right part of the concave plate 5. The measuring component 7 includes a linear displacement sensor 71. The linear displacement sensor 71 is installed at the upper right part of the concave plate 5. A display 72 is arranged at the front end of the linear displacement sensor 71. During use, the cross plate 61 drives the measuring end of the linear displacement sensor 71 to move. The linear displacement sensor 71 transmits the data to the display 72. The internal processor of the display 72 adds the data of the movement of the cross plate 61 and the overall length of the first clamping plate 4, and then the final length data is displayed.

[0028] The measuring end of the linear displacement sensor 71 is fixedly connected to the upper end of the cross plate 61. The measuring end of the linear displacement sensor 71 is connected to the cross plate 61 through bolts.

[0029] Anti-slip pads 10 are arranged at the ends of the first clamping plate 4 and the second clamping plates 62 close to the workpiece. The anti-slip pads 10 are used to increase the friction with the object to be clamped. The first clamping plate 4 and the second clamping plates 62 together form the clamping end.

[0030] The above has shown and described the basic principles, main features and advantages of the present utility model. Those skilled in the art should understand that the present utility model is not limited by the above embodiments. What is described in the above embodiments and the specification only illustrates the principles of the present utility model. Without departing from the spirit and scope of the present utility model, the present utility model will have various changes and improvements, and all these changes and improvements fall within the scope of the present utility model claimed. The scope of protection claimed by the present utility model is defined by the appended claims and their equivalents.

Claims

1. A mechanical gripper at the end of a mechanical arm, comprising a rectangular frame (1), characterized in that: A first motor (3) is installed at the right end of the rectangular frame (1), and a concave plate (5) is installed at the upper end of the rectangular frame (1). The output end of the first motor (3) extends into the rectangular frame (1) and is fixedly connected to the positive and negative threaded rod (2). The outer surface of the positive and negative threaded rod (2) is threadedly sleeved with two first clamping plates (4) symmetrically distributed on the left and right. Two ends of the two first clamping plates (4) close to each other are each provided with two slide grooves (11). A driving component (9) is installed at the upper end of the concave plate (5). An adjusting component (6) is commonly provided between the left inner wall and the right inner wall of the concave plate (5). The adjusting component (6) extends into the four slide grooves (11). The driving component (9) is used to drive the adjusting component (6) to move up and down so as to adjust the length of the clamping end.

2. The end-of-arm manipulator gripper according to claim 1, characterized in that: The adjusting component (6) comprises a transverse plate (61) which is slidably connected between the left inner wall and the right inner wall of the concave plate (5); the lower end of the transverse plate (61) is slidably connected to two groups of second clamping plates (62) which are symmetrically distributed left and right, and each group of the second clamping plates (62) is provided with two and are symmetrically distributed front and back.

3. The end-of-arm manipulator gripper according to claim 2, characterized in that: The four second clamping plates (62) extend into four sliding grooves (11) respectively.

4. The end-of-arm manipulator gripper according to claim 2, characterized in that: The driving component (9) comprises a second motor (91), the second motor (91) being mounted at the middle of the upper end of the concave plate (5), the output end of the second motor (91) movably passing through the upper wall of the concave plate (5) and being fixedly connected to a screw rod (92), the lower end of the screw rod (92) being threadedly inserted into the lower side of the transverse plate (61) and being movably connected to a fixing plate (93), the fixing plate (93) being mounted between the front inner wall and the rear inner wall of the rectangular frame (1).

5. The end-of-arm manipulator gripper according to claim 2, characterized in that: A measuring component (7) is installed at the upper right portion of the concave plate (5), and the measuring component (7) comprises a linear displacement sensor (71). The linear displacement sensor (71) is installed at the upper right portion of the concave plate (5), and a display (72) is provided at the front end of the linear displacement sensor (71).

6. The end-of-arm manipulator gripper according to claim 5, characterized in that: The measuring end of the linear displacement sensor (71) is fixedly connected to the upper end of the transverse plate (61).

7. The end-of-arm manipulator gripper according to claim 2, characterized in that: An anti-slip pad (10) is provided at one end of the first clamping plate (4) and the second clamping plate (62) close to the workpiece.

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