Tail end clamp and mechanical arm

Abstract

The utility model discloses a tail end clamp and a mechanical arm, and relates to the technical field of mechanical arms. The device comprises a fixing frame arranged at the tail end of the mechanical arm, a driving part, a containing groove and a pumping part are arranged on the fixing frame, a suction cup and two clamping plates are arranged on the fixing frame in a sliding mode, the driving part acts on the two clamping plates and drives the two clamping plates to synchronously and reversely slide, and the suction cup corresponds to the containing groove; and the pumping part is used for pumping out air in the suction cups or feeding the air into the suction cups, a movable plate is arranged on the clamping plate in a sliding mode, and a movable groove is formed in the movable plate. When the clamp is used, three different clamping modes are achieved, the clamping type range is enlarged, universality, applicability and flexibility are improved, if different types of parts need to be clamped in the using process, only the three clamping modes need to be switched, the clamp does not need to be disassembled and replaced after shutdown, operation is convenient, meanwhile, the working efficiency is improved, and the working efficiency is improved. Therefore, the practicability is higher.

Description

Technical Field

[0001] The present application relates to the technical field of robotic arms, and in particular to an end fixture and a robotic arm. Background Art

[0002] A robotic arm is a type of robotic device that can perform tasks such as grasping, carrying, and operating in space. It can achieve various complex movements through programming or remote control. A robotic arm usually includes a main body and a clamp. The main body can perform various movements. The clamp is set at the end of the main body and is used to clamp parts. In the existing technology, the end of the robotic arm is usually only provided with a single type of clamp, resulting in limited clamping types, poor versatility, applicability, and flexibility. If different types of parts need to be clamped during use, the machine needs to be stopped to disassemble and replace the clamp, which is not only cumbersome to operate, but also reduces work efficiency. Therefore, an end clamp and a robotic arm are proposed. Utility Model Content

[0003] The purpose of this application is to solve the technical problem that only a single type of clamp is usually set at the end of the robotic arm, resulting in limited clamping types, poor versatility, applicability and flexibility. If different types of parts need to be clamped during use, the machine needs to be stopped to disassemble and replace the clamp, which is not only cumbersome to operate but also reduces work efficiency. This application provides an end clamp and a robotic arm.

[0004] In order to achieve the above-mentioned purpose, this application specifically adopts the following technical solutions:

[0005] An end fixture, comprising:

[0006] The fixing frame is arranged at the end of the robotic arm, and the fixing frame is provided with a driving member, a receiving groove and a pumping member. A suction cup and two clamping plates are slidably provided on the fixing frame, and the driving member acts on the two clamping plates and drives the two to slide synchronously in opposite directions. The suction cup corresponds to the receiving groove, and the pumping member is used to extract the air in the suction cup or send the air into the suction cup. A movable plate is slidably provided on the clamping plate, and a movable groove is provided on the movable plate. A plurality of limit rods are slidably provided in the movable groove, and a tension spring is provided between the limit rod and the movable plate. A locking member is provided in the movable groove, which acts on multiple limit rods and locks or unlocks multiple limit rods synchronously.

[0007] Furthermore, the driving member includes a driving rod slidably arranged on a fixed frame, two connecting rods are hinged on the driving rod, and the free ends of the two connecting rods are respectively hinged to two clamping plates. A cylinder push rod is provided on the fixed frame, and the movable end of the cylinder push rod is provided with a connecting rod connected to the driving rod.

[0008] Furthermore, the suction cup includes a cup body, a cavity and a groove are formed on the cup body, and the cavity and the groove are connected through a plurality of through holes.

[0009] Furthermore, the groove includes a plurality of annular grooves forming a concentric circle structure, and the plurality of annular grooves are connected through a plurality of strip grooves.

[0010] Furthermore, the pumping member includes a vacuum pump and a bellows both of which are arranged on a fixed frame, one end of the bellows is connected to the vacuum pump, and the other end is connected to the cavity.

[0011] Furthermore, the locking member includes a slide plate slidably arranged in the movable groove, the slide plate is provided with through grooves having the same number as the limiting rods and corresponding to each other, and the through grooves are provided with arc plates that contact and overlap with the limiting rods.

[0012] Furthermore, a slide bar is slidably provided on the fixing frame, and both slide plates are slidably matched with the slide bar.

[0013] The robotic arm includes the above-mentioned end fixture and a robotic arm body, and the fixing frame is arranged at the end of the robotic arm body.

[0014] The beneficial effects of the present application are as follows: When in use, the present application has three different clamping methods, which increases the range of clamping types and improves versatility, applicability and flexibility. If different types of parts need to be clamped during use, it is sufficient to switch between the three clamping methods without stopping the machine to disassemble and replace the clamp. It is easy to operate and also improves work efficiency, so it is more practical. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 This is a three-dimensional diagram of the end fixture structure of this application;

[0016] Figure 2 This is a three-dimensional diagram of the fixing frame structure of the present application;

[0017] Figure 3 This is a three-dimensional diagram of the suction cup and pumping member structure of this application;

[0018] Figure 4 This application Figure 3 A three-dimensional cross-sectional view of

[0019] Figure 5 This is a three-dimensional diagram of the driving member and the clamping plate structure of the present application;

[0020] Figure 6 It is a three-dimensional diagram of the structure of part of this application;

[0021] Figure 7 This application Figure 6 A three-dimensional cross-sectional view of

[0022] Figure 8 This is a three-dimensional diagram of the end fixture and robotic arm structure of this application.

[0023] Figure numerals: 1. fixed frame; 2. accommodating groove; 3. clamping plate; 4. movable plate; 5. movable groove; 6. limiting rod; 7. tension spring; 8. driving rod; 9. connecting rod; 10. cylinder push rod; 11. connecting rod; 12. disk body; 13. cavity; 14. through hole; 15. annular groove; 16. strip groove; 17. vacuum pump; 18. bellows; 19. slide plate; 20. through groove; 21. arc plate; 22. slide rod; 23. robot arm body. DETAILED DESCRIPTION

[0024] In order to make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application.

[0025] like Figure 1-Figure 7 As shown, an end clamp proposed in one embodiment of the present application includes:

[0026] The fixing frame 1 is arranged at the end of the robot arm. The fixing frame 1 is in a vertical direction and is fixed at the end of the robot arm. The fixing frame 1 is provided with a driving member, a receiving groove 2 and a pumping member. A suction cup and two clamping plates 3 are slidingly provided on the fixing frame 1. The suction cup is in a horizontal direction and slides in the vertical direction. A first electric push rod in a vertical direction is fixed on the fixing frame 1. The movable end of the first electric push rod is fixedly connected to the suction cup. The clamping plate 3 is in a vertical direction and slides in the horizontal direction. The driving member acts on the two clamping plates 3 and drives the two to slide synchronously in the opposite direction. The suction cup corresponds to the receiving groove 2. The pumping member is used to extract the air in the suction cup or send the air into the suction cup. A movable plate 4 is slidably provided on the holding plate 3, and the movable plate 4 is in a vertical direction and slides in the horizontal direction. A second electric push rod in a horizontal direction is fixed on the clamping plate 3, and the movable end of the second electric push rod is fixedly connected to the movable plate 4. A movable groove 5 is provided on the movable plate 4, and a plurality of limit rods 6 are slidably provided in the movable groove 5. The plurality of limit rods 6 slide in the horizontal direction and are evenly distributed. A tension spring 7 is provided between the limit rod 6 and the movable plate 4. The tension spring 7 is in a horizontal direction and its two ends are respectively fixedly connected to the limit rod 6 and the movable plate 4. A locking member is provided in the movable groove 5 that acts on the plurality of limit rods 6 and locks or unlocks the plurality of limit rods synchronously.

[0027] In the initial state, the suction cup is located in the accommodating groove 2, the movable end of the first electric push rod is retracted, the two clamping plates 3 are away from each other, the movable plate 4 and the limit rod 6 are both in the initial position, the movable end of the second electric push rod is retracted, and the tension spring 7 is in a natural state. When in use, there are three different clamping methods. The first is to drive the two clamping plates 3 to slide synchronously in opposite directions to approach each other by the driving member until the two clamping plates 3 are in contact with and overlap with the parts to achieve clamping of the parts. Conversely, the two clamping plates 3 are driven by the driving member to slide synchronously in opposite directions to move away from each other, thereby releasing the clamping of the parts. The second is to drive the movable end of the first electric push rod to extend, driving the suction cup to move away from the accommodating groove 2 until the suction cup is in contact with and overlaps with the parts, and then the air in the suction cup is extracted by the pumping member to form a negative pressure state between the suction cup and the parts to achieve clamping of the parts. Conversely , air is sent into the suction cup through the pumping part, and the negative pressure state between the suction cup and the component is released, thereby releasing the clamping of the component, and then the movable end of the first electric push rod is retracted, driving the suction cup to move to the accommodating groove 2. The third method is to respectively drive the movable ends of the two second electric push rods to extend, driving the two movable plates 4 to slide in the opposite direction to approach each other. In this process, multiple limit rods 6 are all in contact with the components, forcing the limit rod 6 to slide to the limit position, the tension spring 7 is stretched, and then the multiple limit rods 6 are synchronously locked by the locking member to achieve clamping of the special-shaped parts. Conversely, the movable ends of the two second electric push rods are respectively driven to retract, driving the two movable plates 4 to slide in the opposite direction to move away from each other, and the multiple limit rods 6 are synchronously unlocked by the locking member, the tension spring 7 is reset to the natural state, and the limit rod 6 slides to the initial position, thereby releasing the clamping of the special-shaped parts.

[0028] In summary, when in use, the present application has three different clamping methods, which increases the range of clamping types and improves versatility, applicability and flexibility. If different types of parts need to be clamped during use, it is sufficient to switch between the three clamping methods without stopping the machine to disassemble and replace the clamp. It is convenient to operate and also improves work efficiency, so it is more practical.

[0029] like Figure 5 As shown, in some embodiments, the driving member includes a driving rod 8 slidably arranged on the fixing frame 1, the driving rod 8 slides in the vertical direction, two connecting rods 9 are hinged on the driving rod 8, and the free ends of the two connecting rods 9 are respectively hinged to the two clamping plates 3, and a cylinder push rod 10 is provided on the fixing frame 1. The cylinder push rod 10 is in a vertical direction and fixed on the fixing frame 1, and a connecting rod 11 connected to the driving rod 8 is provided at the movable end of the cylinder push rod 10, and the connecting rod 11 is fixed to the movable end of the cylinder push rod 10;

[0030] Referring to the above, in the initial state, the movable end of the cylinder push rod 10 is retracted, the connecting rod 11 and the driving rod 8 are both in the initial position, the two connecting rods 9 are both tending to the vertical direction, and the two clamping plates 3 are away from each other. When in use, the movable end of the cylinder push rod 10 is extended, driving the connecting rod 11 and the driving rod 8 to move downward to the extreme position, and the two connecting rods 9 are respectively rotated synchronously in opposite directions around their respective corresponding hinge points until they are both tending to the horizontal direction, thereby driving the two clamping plates 3 to slide synchronously in opposite directions until they are close to each other. Conversely, the movable end of the cylinder push rod 10 is retracted, driving the connecting rod 11 and the driving rod 8 to move upward to the initial position together, and the two connecting rods 9 are respectively rotated synchronously in opposite directions around their respective corresponding hinge points until they are both tending to the vertical direction, thereby driving the two clamping plates 3 to slide synchronously in opposite directions until they are away from each other.

[0031] like Figure 3-Figure 4 As shown, in some embodiments, the suction cup includes a disc body 12, the movable end of the first electric push rod is fixedly connected to the disc body 12, the disc body 12 is provided with a cavity 13 and a groove, the cavity 13 and the groove are spaced apart from each other, and the cavity 13 and the groove are connected through a plurality of through holes 14, and the plurality of through holes 14 are all vertically oriented and distributed in a circular array;

[0032] Referring to the above, in the initial state, the disk body 12 is located in the accommodating groove 2. When in use, the movable end of the first electric push rod is driven to extend, driving the disk body 12 to move away from the accommodating groove 2 until the disk body 12 contacts and overlaps with the component, and then the air in the groove, through hole 14 and cavity 13 is extracted by the pumping member, so that a negative pressure state is formed between the disk body 12 and the component to achieve clamping of the component. Conversely, air is sent into the cavity 13, through hole 14 and groove by the pumping member, and the negative pressure state between the disk body 12 and the component is released, thereby unclamping the component, and then the movable end of the first electric push rod is retracted, driving the disk body 12 to move to the accommodating groove 2.

[0033] like Figure 3 As shown, in some embodiments, the groove includes a plurality of annular grooves 15 forming a concentric circle structure, the plurality of annular grooves 15 are connected by a plurality of strip grooves 16, and the plurality of strip grooves 16 are distributed in an annular array;

[0034] With reference to the above, when clamping a component, the negative pressure area between the disc body 12 and the component can be increased through the cooperation of the multiple annular grooves 15 and the multiple strip grooves 16, thereby improving the clamping stability.

[0035] like Figure 3 As shown, in some embodiments, the pumping member includes a vacuum pump 17 and a bellows 18, both of which are arranged on the fixing frame 1. The vacuum pump 17 and the bellows 18 are both fixed on the fixing frame 1. One end of the bellows 18 is connected to the vacuum pump 17, and the other end is connected to the cavity 13.

[0036] Referring to the above, when in use, the vacuum pump 17 is operated to extract the air in the groove, the through hole 14, the cavity 13 and the bellows 18, or the air is sent into the bellows 18, the cavity 13, the through hole 14 and the groove in sequence. When the disk body 12 moves, the length of the bellows 18 will change accordingly.

[0037] like Figure 6-Figure 7 As shown, in some embodiments, the locking member includes a slide plate 19 slidably disposed in the movable groove 5. The slide plate 19 slides in the vertical direction. The slide plate 19 is provided with through grooves 20 having the same number as the limiting rods 6 and corresponding to each other. The through grooves 20 are provided with arc-shaped plates 21 that contact and overlap with the limiting rods 6. The arc-shaped plates 21 are fixed in the through grooves 20.

[0038] Referring to the above, in the initial state, the slide plate 19 is in the initial position, and the curved plate 21 does not interfere with and overlap the limit rod 6. When in use, the slide plate 19 is slid downward to the extreme position, driving multiple curved plates 21 to move together until the curved plate 21 interferes with and overlaps the limit rod 6, so as to achieve synchronous locking of multiple limit rods 6. Conversely, the slide plate 19 is slid upward to the initial position, driving multiple curved plates 21 to move together until the curved plate 21 is away from the limit rod 6, so as to achieve synchronous unlocking of multiple limit rods 6.

[0039] like Figure 6 As shown, in some embodiments, a slide bar 22 is slidably provided on the fixing frame 1, and the slide bar 22 slides in the vertical direction. A third electric push rod is fixed on the fixing frame 1 in the vertical direction, and the movable end of the third electric push rod is fixedly connected to the slide bar 22. Both slide plates 19 are slidably engaged with the slide bar 22, and the slide plates 19 and the slide bar 22 are slidably engaged in the horizontal direction.

[0040] Referring to the above, in the initial state, the movable end of the third electric push rod is retracted, and the slide bar 22 and the two slide plates 19 are both in the initial position. When the clamping plate 3 slides, the slide plate 19 is driven to slide horizontally on the slide bar 22. When in use, the movable end of the third electric push rod is extended, driving the slide bar 22 and the two slide plates 19 to slide downward to the extreme position. Conversely, the movable end of the third electric push rod is retracted, driving the slide bar 22 and the two slide plates 19 to slide upward to the initial position, so as to drive the two locking parts to operate together, which is more convenient to use.

[0041] like Figure 8 As shown, in some embodiments, the robotic arm includes the above-mentioned end clamp and also includes a robotic arm body 23, and the fixing frame 1 is arranged at the end of the robotic arm body 23, and the fixing frame 1 is fixed to the end of the robotic arm body 23.

[0042] The above description of the disclosed embodiments is intended to enable one skilled in the art to implement or use the present application. Various modifications to these embodiments will be readily apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application is not limited to the embodiments shown herein, but is intended to conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. An end fixture, characterized in that: include: A fixed frame (1) is arranged at the end of a mechanical arm. A driving member, a receiving groove (2) and a pumping member are arranged on the fixed frame (1). A suction cup and two clamping plates (3) are slidably arranged on the fixed frame (1). The driving member acts on the two clamping plates (3) and drives them to slide synchronously in opposite directions. The suction cup corresponds to the receiving groove (2). The pumping member is used to extract air from the suction cup or send air into the suction cup. A movable plate (4) is slidably arranged on the clamping plate (3). A movable groove (5) is provided on the movable plate (4). A plurality of limiting rods (6) are slidably arranged in the movable groove (5). A tension spring (7) is provided between the limiting rod (6) and the movable plate (4). A locking member is provided in the movable groove (5) for acting on the plurality of limiting rods (6) and synchronously locking or unlocking the plurality of limiting rods (6).

2. The end fixture according to claim 1, characterized in that: The driving member comprises a driving rod (8) slidably arranged on a fixed frame (1); two connecting rods (9) are hinged on the driving rod (8); the free ends of the two connecting rods (9) are hinged to two clamping plates (3) respectively; a cylinder push rod (10) is arranged on the fixed frame (1); and a connecting rod (11) connected to the driving rod (8) is arranged at the movable end of the cylinder push rod (10).

3. The end fixture according to claim 1, characterized in that: The suction cup comprises a cup body (12), a cavity (13) and a groove are provided on the cup body (12), and the cavity (13) and the groove are communicated with each other via a plurality of through holes (14).

4. The end fixture according to claim 3, characterized in that: The groove comprises a plurality of annular grooves (15) forming a concentric circle structure, and the plurality of annular grooves (15) are connected to each other via a plurality of strip grooves (16).

5. The end fixture according to claim 3, characterized in that: The pumping member comprises a vacuum pump (17) and a bellows (18) both of which are arranged on a fixed frame (1); one end of the bellows (18) is connected to the vacuum pump (17), and the other end is connected to the cavity (13).

6. The end fixture according to claim 1, characterized in that: The locking member comprises a slide plate (19) slidably arranged in the movable groove (5), the slide plate (19) is provided with through grooves (20) the same number as the limiting rods (6) and corresponding to each other, and an arc-shaped plate (21) is arranged in the through groove (20) and is in contact with and overlapped with the limiting rods (6).

7. The end fixture according to claim 6, characterized in that: A slide bar (22) is slidably provided on the fixing frame (1), and both slide plates (19) are slidably matched with the slide bar (22).

8. A robotic arm comprising the end fixture according to any one of claims 1 to 7, characterized in that: It also includes a mechanical arm main body (23), and the fixing frame (1) is arranged at the end of the mechanical arm main body (23).

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