Anti-skid clamping jaw of manipulator

Abstract

The utility model discloses an anti-skidding clamping jaw of a manipulator, which relates to the technical field of manipulators, and comprises a reinforcing member, one side of the reinforcing member is fixedly connected with a motor II, and the inner wall of the motor II is fixedly connected with a built-in member. The electric push rod can drive the clamping jaw body to slide on one side of the connecting piece, so that the length of the jaw part can be adjusted, the contact area between the clamping jaw part and the side wall of a clamped object is increased, and the clamping jaw part can make contact with objects with different sizes conveniently; a first anti-skid block, an anti-skid sleeve and a second anti-skid block can improve the anti-skid effect of the inner wall of the jaw part; the pressure sensor can assist in adjusting the clamping force of the clamping jaw, so that damage to the articles during clamping is reduced; the first motor and the second gear can drive the first gear and the rotating disc to rotate, the clamping direction of the claw part is changed, and when the rotating disc rotates, the arc-shaped plate supports one side of the rotating disc, so that the rotating stability of the rotating disc is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of manipulators, in particular to an anti-slip clamping claw of a manipulator. Background Art

[0002] A robotic gripper is a component of a robot that can perform functions similar to a human hand. It is used to hold workpieces or tools and is one of the most important actuators.

[0003] For example, Chinese patent CN219946264U discloses a robotic arm with an anti-slip mechanical claw structure, including a mechanical arm, a mechanical arm hinged at one end of the mechanical arm, a mounting plate hinged at one end of the mechanical arm, four groups of openings on the outer wall of the mounting plate, clamping claw plates hinged in the four groups of openings, four groups of hydraulic rods hinged at the bottom of the mounting plate, one end of the four groups of hydraulic rods are respectively hinged to the inner walls of the four groups of clamping claw plates, the inner walls of the clamping claw plates are provided with fixed plates, a cavity is opened in the fixed plate, and a stabilizing mechanism is provided in the cavity.

[0004] In the above patent, although the problem of easy sliding of objects during clamping and poor anti-slip effect is solved by the clamping claw plate and the first anti-slip layer, the length of the clamping claw is relatively fixed and the contact area with the object is small. When clamping a larger object, the clamping claw only contacts a smaller area of ​​the top of the object, and the remaining part is larger in volume. When the object moves, there will be a center of gravity shift phenomenon, which reduces the stability of the object during movement. Utility Model Content

[0005] The purpose of the utility model is to solve the problem in the prior art that the length of the clamping claw is relatively fixed and the contact area with the object is small. When clamping a larger object, the clamping claw only contacts a small area on the top of the object, and the remaining part is larger in volume. When the object is moved, the center of gravity will shift, which reduces the stability of the object when moving. A non-slip clamping claw of a robot is proposed.

[0006] In order to achieve the above-mentioned purpose, the utility model adopts the following technical solutions: an anti-slip clamp of a manipulator, comprising a reinforcement piece, one side of the reinforcement piece is fixedly connected to motor 2, the inner wall of motor 2 is fixedly connected to a built-in piece, one side of the built-in piece is provided with an anti-slip mechanism, the anti-slip mechanism comprises a clamp body, an electric push rod and anti-sliding block 2, the inside of the clamp body is slidably connected to a built-in bar, one side of the built-in bar is fixedly connected to a connecting piece, one side of the connecting piece is hinged with an auxiliary piece, one side of the auxiliary piece is fixedly connected to gear three, the gear three is rotatably connected to the reinforcement piece, one side of the clamp body and the connecting piece are both fixedly connected to a fixed block, one side of the fixed block is fixedly connected to the electric push rod, and one side of the clamp body and the connecting piece are both fixedly connected to anti-sliding block 2.

[0007] Preferably, one side of the clamp body is fixedly connected to an anti-sliding block 1, and one side of the anti-sliding block 1 is embedded with a pressure sensor.

[0008] Preferably, an anti-slip sleeve is engaged on one side of the clamp body, one side of the clamp body is overlapped with the connecting piece, one side of the connecting piece is hinged with a hinge, and one end of the hinge is hinged to the built-in piece.

[0009] Preferably, the two gears three are meshed with each other, wherein one side of the gear three is meshed with a gear four, and one side of the gear four is fixedly connected to the output shaft of the motor two.

[0010] Preferably, an L-shaped piece is fixedly connected to the bottom of the reinforcement piece, the L-shaped piece is connected to a rotating disk via bolts, the bottom of the rotating disk is fixedly connected to gear 1, and one side of gear 1 is meshed with gear 2.

[0011] Preferably, one side of the gear 2 is fixedly connected to the output shaft of the motor 1, one side of the motor 1 is fixedly connected to a connecting seat, and one side of the connecting seat is provided with a mounting hole.

[0012] Preferably, an arc-shaped plate is fixedly connected to one side of the connecting seat, the arc-shaped plate is semicircular, and the inner wall of the arc-shaped plate is rotatably connected to the rotating disk.

[0013] Compared with the prior art, the advantages and positive effects of the present invention are:

[0014] 1. In the utility model, the two ends of the electric push rod are connected to the clamping claw body and the connecting piece. The electric push rod can be used to drive the clamping claw body to slide on one side of the connecting piece, so that the length of the claw can be adjusted, the contact area with the side wall of the clamped object is increased, and it is convenient to contact with objects of different sizes, thereby improving the applicability of the clamping claw. The anti-slip block 1, the anti-slip sleeve and the anti-slip block 2 can increase the anti-slip effect of the inner wall of the claw to prevent the object from falling when clamped. The pressure sensor can assist in adjusting the clamping force of the clamping claw, thereby reducing damage to the object during clamping.

[0015] 2. In the present invention, the connecting base is installed on one side of the motor 1 and can support the motor 1. The connecting base can assist in the installation and fixation of the entire clamping jaw. The motor 1 and the gear 2 can drive the gear 1 and the rotating disk to rotate, thereby changing the clamping direction of the claw. When the rotating disk rotates, the arc plate supports one side of the rotating disk and can guide the rotation of the rotating disk, thereby improving the stability of the rotation of the rotating disk. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is a schematic diagram of the overall structure of an anti-slip gripper for a manipulator proposed in the utility model;

[0017] Figure 2This utility model provides a schematic diagram of the installation structure of a rotating disk of an anti-slip gripper of a manipulator;

[0018] Figure 3 This utility model provides a schematic diagram of the installation of three gear structures of the anti-slip gripper of a manipulator;

[0019] Figure 4 The utility model provides a schematic diagram of the second structural installation of an anti-slip block of an anti-slip clamping claw of a manipulator.

[0020] Legend: 1. Gripper body; 2. Connecting part; 3. Reinforcement part; 4. Arc plate; 5. Connecting seat; 6. Motor 1; 7. Motor 2; 8. L-shaped part; 9. Gear 1; 10. Gear 2; 11. Rotating plate; 12. Electric push rod; 13. Auxiliary part; 14. Gear 3; 15. Gear 4; 16. Built-in part; 17. Hinge part; 18. Anti-slip block 1; 19. Anti-slip sleeve; 20. Anti-slip block 2; 21. Pressure sensor; 22. Built-in strip. DETAILED DESCRIPTION

[0021] In order to more clearly understand the above-mentioned purpose, features and advantages of the present invention, the present invention is further described below with reference to the accompanying drawings and embodiments. It should be noted that the embodiments of the present application and the features therein can be combined with each other without conflict.

[0022] In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention may also be implemented in other ways than those described herein. Therefore, the present invention is not limited to the specific embodiments disclosed in the following specification.

[0023] Example 1

[0024] Reference Figure 1-4As shown: a non-slip clamp of a manipulator, including a reinforcement 3, one side of the reinforcement 3 is fixedly connected to a motor 2 7, the inner wall of the motor 2 7 is fixedly connected to an internal component 16, one side of the internal component 16 is provided with an anti-slip mechanism, the anti-slip mechanism includes a clamp body 1, an electric push rod 12 and an anti-sliding block 20, the inside of the clamp body 1 is slidably connected to a built-in strip 22, one side of the built-in strip 22 is fixedly connected to a connecting piece 2, one side of the connecting piece 2 is hinged with an auxiliary piece 13, one side of the auxiliary piece 13 is fixedly connected to a gear 3 14, the gear 3 14 is rotatably connected to the reinforcement 3, and one side of the clamp body 1 and the connecting piece 2 are both fixedly connected to a fixed Block, one side of the fixed block is fixedly connected to the electric push rod 12, and one side of the clamping jaw body 1 and the connecting member 2 are fixedly connected to the anti-sliding block 20, one side of the clamping jaw body 1 is fixedly connected to the anti-sliding block 18, one side of the anti-sliding block 18 is embedded with a pressure sensor 21, one side of the clamping jaw body 1 is engaged with an anti-slip sleeve 19, one side of the clamping jaw body 1 is overlapped with the connecting member 2, one side of the connecting member 2 is hinged with a hinge 17, one end of the hinge 17 is hinged with the built-in member 16, two gears three 14 are meshed with each other, one side of one gear three 14 is meshed with a gear four 15, and one side of the gear four 15 is fixedly connected to the output shaft of the motor two 7.

[0025] The built-in part 16 can be used to support the installation of gear three 14 and gear four 15. The hinge 17 connects the connecting part 2 and the built-in part 16, which can be adjusted as the claw rotates when the claw is opened to limit the opening angle of the claw. The fixed block is connected to the clamping claw body 1 and the connecting part 2 respectively. The electric push rod 12 can drive the clamping claw body 1 to move. The built-in strip 22 can guide the movement of the clamping claw body 1, thereby achieving the distance adjustment between the clamping claw body 1 and the connecting part 2, and then changing the use length of the entire claw. The anti-slip sleeve 19 is easy to replace after wear, which can ensure The clamping effect of the claw end, the anti-slider block 18 and the anti-slider block 2 20 can increase the roughness of the inner wall of the claw, thereby reducing the sliding and falling of the item when clamping the item, and improving the stability of the item when clamping. The anti-slider block 18 is wrapped around the outside of the pressure sensor 21, and can wrap and protect the side wall of the pressure sensor 21, reducing the collision damage of the pressure sensor 21. The pressure sensor 21 can be used to sense the pressure on the item. When the pressure is too large, the clamping force of the clamp body 1 can be adjusted in time, thereby reducing damage to the item.

[0026] Example 2

[0027] like Figure 1-Figure 3As shown, the bottom of the reinforcement 3 is fixedly connected to an L-shaped member 8, and the L-shaped member 8 is connected to a rotating disk 11 by bolts. The bottom of the rotating disk 11 is fixedly connected to a gear 9, and one side of the gear 9 is engaged with a gear 2 10. One side of the gear 2 10 is fixedly connected to the output shaft of the motor 1 6, and one side of the motor 1 6 is fixedly connected to a connecting base 5. A mounting hole is provided on one side of the connecting base 5. An arc plate 4 is fixedly connected to one side of the connecting base 5. The arc plate 4 is semicircular, and the inner wall of the arc plate 4 is rotatably connected to the rotating disk 11.

[0028] By using the L-shaped piece 8 to connect the reinforcement 3 and the rotating disk 11, the connection between the rotating disk 11 and the reinforcement 3 can be achieved, thereby achieving synchronous rotation of the rotating disk 11 and the reinforcement 3. The connecting seat 5 can assist in the installation and fixation of the entire clamp. The connecting seat 5 can support the motor 1 6, thereby improving the stability of the motor 1 6 when in use. The motor 1 6 can drive the rotation of the gear 2 10 as a power source. The arc plate 4 overlaps the outer ring surface of the rotating disk 11, which can wrap and protect the outer ring surface of the rotating disk 11, and the top of the arc plate 4 overlaps the L-shaped piece 8, which can support the connection between the rotating disk 11 and the connecting seat 5, thereby improving the stability of the rotating disk 11 when it rotates on one side of the connecting seat 5.

[0029] The method of use and working principle of this device: First, the entire clamping claw can be installed on the mechanical arm using the connecting seat 5, and the electric push rod 12 can be used to drive the clamping claw body 1 to move to the side away from the connecting piece 2. At this time, the clamping claw body 1 extends the built-in bar 22 to move, which can adjust the distance between the clamping claw body 1 and the connecting piece 2, change the length of the entire clamping claw, and thus increase the contact area with the object. The motor 2 7 drives the gear 4 15 to rotate, and the gear 3 14 meshing with the gear 4 15 rotates, and then drives the other gear 3 14 to rotate, so that the two jaws are opened, and the gear 4 15 is reversed. When rotating, the claw can be closed. The surface of the anti-sliding block 20 is provided with an anti-slip pattern. When grabbing an item, the anti-sliding block 20 and the pressure sensor 21 fit against the side wall of the item, which can reduce the sliding of the item. The pressure sensor 21 is used to obtain the clamping force on the side wall of the item. The claw can be adjusted to continue tightening according to the data fed back by the pressure sensor 21. The motor 16 drives the gear 2 10 to rotate, and the gear 2 10 is engaged with the gear 1 9. The driving gear 1 9 and the rotating disk 11 drive the reinforcement 3 to rotate on one side of the connecting seat 5, which can change the clamping position of the claw on the item.

[0030] The above description is only a preferred embodiment of the present invention and does not limit the present invention in any other form. Any technician familiar with the profession may use the technical content disclosed above to change or modify it into an equivalent embodiment with equivalent changes for application in other fields. However, any simple modification, equivalent change and modification of the above embodiment made according to the technical essence of the present invention without departing from the content of the technical solution of the present invention shall still fall within the scope of protection of the technical solution of the present invention.

Claims

1. A non-slip gripper of a manipulator, comprising a reinforcement member (3), one side of which is fixedly connected to a second motor (7), characterized in that: The inner wall of the motor 2 (7) is fixedly connected with an internal component (16), and an anti-slip mechanism is provided on one side of the internal component (16). The anti-slip mechanism includes a clamping jaw body (1), an electric push rod (12) and an anti-slip block 2 (20). The clamping jaw body (1) is slidably connected with an internal strip (22), and one side of the internal strip (22) is fixedly connected with a connecting member (2). An auxiliary member (13) is hinged on one side of the connecting member (2), and one side of the auxiliary member (13) is fixedly connected with a gear 3 (14). The gear 3 (14) is rotatably connected to the reinforcing member (3). One side of the clamping jaw body (1) and the connecting member (2) is fixedly connected with a fixed block, and one side of the fixed block is fixedly connected to the electric push rod (12), and one side of the clamping jaw body (1) and the connecting member (2) is fixedly connected with the anti-slip block 2 (20).

2. The anti-slip gripper of a robot according to claim 1, characterized in that: One side of the clamping jaw body (1) is fixedly connected to an anti-sliding block (18), and one side of the anti-sliding block (18) is embedded with a pressure sensor (21).

3. The anti-slip gripper of a robot according to claim 1, characterized in that: One side of the clamp body (1) is engaged with an anti-slip sleeve (19), one side of the clamp body (1) is overlapped with the connecting member (2), one side of the connecting member (2) is hinged with a hinge member (17), and one end of the hinge member (17) is hinged with the built-in member (16).

4. The anti-slip gripper of a robot according to claim 1, characterized in that: The two gears three (14) are meshed and connected, one side of the gear three (14) is meshed with a gear four (15), and one side of the gear four (15) is fixedly connected to the output shaft of the motor two (7).

5. The anti-slip gripper of a robot according to claim 1, characterized in that: The bottom of the reinforcement member (3) is fixedly connected to an L-shaped member (8), the L-shaped member (8) is connected to a rotating disk (11) via bolts, the bottom of the rotating disk (11) is fixedly connected to a gear 1 (9), and one side of the gear 1 (9) is meshed with a gear 2 (10).

6. The anti-slip gripper of a robot according to claim 5, characterized in that: One side of the gear 2 (10) is fixedly connected to the output shaft of the motor 1 (6), and one side of the motor 1 (6) is fixedly connected to the connecting seat (5), and one side of the connecting seat (5) is provided with a mounting hole.

7. The anti-slip gripper of a robot according to claim 6, characterized in that: A curved plate (4) is fixedly connected to one side of the connecting seat (5); the curved plate (4) is semicircular, and the inner wall of the curved plate (4) is rotatably connected to the rotating disk (11).

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