Multifunctional tail end mechanical gripper

Abstract

The utility model relates to the technical field of industrial production, and discloses a multifunctional tail end mechanical gripper which comprises a mechanical hand base and a clamping assembly, an installation disc is rotatably installed on the mechanical hand base, a first motor is fixedly installed on the mechanical hand base, and a second motor is fixedly installed on the clamping assembly. A protective cover and a second motor are fixedly mounted at the other end, away from the manipulator base, of the mounting disc, and a first moving arm is arranged on the outer surface of the protective cover. According to the multifunctional tail end mechanical gripper, stable linear motion of the moving block is guaranteed through cooperation of the lead screw and the limiting rod, the push rod drives the clamp to rotate to clamp an object, friction force is increased through anti-skid lines on the clamp, and the situation that the object is clamped in a multi-point mode through the fixing block, the push rod, the first connecting block, the clamping sleeve, the clamp and the second connecting block which are distributed annularly can be effectively avoided; the grabbing stability and reliability are improved, irregular or large-size objects can be handled, inclination or damage of the objects is avoided, the objects are prevented from sliding off easily in the clamping process, and the application range is expanded.

Description

Technical Field

[0001] The utility model relates to the technical field of industrial production, in particular to a multifunctional end mechanical gripper. Background Art

[0002] In the field of modern industrial production, with the continuous improvement of the degree of automation, the requirements for the accuracy and efficiency of operations such as material handling and assembly are becoming increasingly stringent. When faced with high-intensity and high-precision tasks, traditional manual operation methods have problems such as high labor intensity, low efficiency and prone to human errors. In order to meet high-intensity and large-scale production tasks, robots are often used to cooperate with production.

[0003] In the assembly production lines of the automotive manufacturing industry, it is necessary to grasp parts of various shapes, ranging from small screws to large body frame components, as well as high-temperature and high-pressure environments, such as material grasping in steel smelters; some are environments with corrosive gases or liquids, such as some links in chemical production, and some are dust-free workshops with extremely high cleanliness requirements, such as electronic chip manufacturing, which all use robots to cooperate with production.

[0004] Chinese utility model patent announcement number: CN219768302U, discloses: a multifunctional terminal mechanical gripper, which realizes the rapid replacement of different types of positioning parts through the cooperation between the clamping hand, the base body and the straight rod, and solves the problem that the existing mechanical gripper needs to use a specific type of wrench for disassembly when replacing the positioning parts, which prolongs the working time and reduces the work efficiency in actual operation. However, although the multifunctional terminal mechanical gripper can realize the rapid disassembly and assembly of the mechanical gripper, it is clamped only by two claws, which can easily cause the objects to slip during the clamping process, and its grasping stability and reliability are poor. Summary of the Invention

[0005] The technical problem to be solved by the present invention is to provide a multifunctional end-machine gripper, which can effectively solve the problem that although the existing technology can realize the rapid disassembly and assembly of the mechanical gripper, it is only clamped by two claws, which may easily cause it to slip during the interlayer process and result in poor stability and reliability of its gripping.

[0006] The technical solution adopted by the present invention is: a multifunctional end-manipulator gripper, including a manipulator base and a clamping assembly, a mounting plate is rotatably mounted on the manipulator base, a motor 1 is fixedly mounted on the manipulator base, a protective cover and a motor 2 are fixedly mounted on the other end of the mounting plate away from the manipulator base, a first moving arm is provided on the outer surface of the protective cover, a connecting sleeve 1 is fixedly mounted on the other end of the first moving arm away from the motor 2, a second moving arm is rotatably mounted on the other end of the connecting sleeve 1 away from the first moving arm, and a motor 3 fixedly mounted on the outer surface of the second moving arm and fixedly mounted to the connecting sleeve 1.

[0007] Preferably, the clamping assembly includes a motor four and a clamping seat, a limit rod is fixedly installed on the outer surface of the motor four, a screw rod is fixedly installed on the output shaft of the motor four, the outer surface of the screw rod is threadedly connected to a moving block that is slidably connected to the limit rod, a fixed block is fixedly installed on the outer surface of the moving block, a push rod is fixedly installed on the other end of the fixed block away from the moving block, and the outer surface of the push rod is rotatably connected to the connecting block one.

[0008] Through the above technical solution, the limit rod cooperates with the screw rod, so that the moving block can achieve stable linear motion when the screw rod rotates, avoiding its deviation or shaking, and can push the push rod to move in the horizontal direction.

[0009] Preferably, the other end of the connecting block 1 away from the push rod is rotatably mounted with a clamp, a clamp is fixedly mounted inside the clamp, the outer surface of the clamp is provided with anti-slip grooves, and the end of the clamp connected to the clamp seat is rotatably mounted with a connecting block 2.

[0010] Through the above technical solution, when the push rod moves in the horizontal direction, the connecting block can drive the clamp to rotate, so that the movement of the clamp can achieve the clamping of the object, and the anti-slip grooves can greatly increase the friction between the clamped object and the clamped object, ensuring that the object will not slip easily during the clamping process, thereby improving the stability and reliability of the clamping.

[0011] Preferably, the fixed block, push rod, connecting block one, ferrule, clamp and connecting block two are all provided in equal numbers of six, and the six fixed blocks, push rod, connecting block one, ferrule, clamp and connecting block two are distributed in a ring shape about the center line of the clamp seat.

[0012] Through the above technical solution, by setting up six identical components and distributing them in a ring, multi-point clamping of objects can be achieved, which improves the stability and uniformity of grasping. Especially for objects with irregular shapes or large sizes, uniform clamping force can be applied from multiple directions to avoid tilting or damage of objects due to uneven force, thereby expanding the scope of application of the mechanical gripper.

[0013] Preferably, the output shaft of the second motor and the first movable arm are fixedly installed, and the protective cover is located on the outer surface of the second motor.

[0014] Through the above technical solution, the output shaft of motor 2 is fixedly installed on the first movable arm, so that motor 2 can directly drive the first movable arm to move, reducing the transmission links and realizing the angle change of the first movable arm. Combined with the protective cover, motor 2 can effectively protect from interference from the external environment, such as dust, debris, etc.

[0015] Preferably, a connecting shaft is rotatably mounted on the other end of the second movable arm away from the motor three, and a connecting arm is fixedly mounted on the other end of the connecting shaft away from the second movable arm.

[0016] The aforementioned technical solution, combined with the pivoting design of the second movable arm and the connecting shaft, provides greater freedom of movement for the gripper. This pivoting connection allows the connecting arm to move within a certain angular range relative to the second movable arm, increasing the gripper's spatial flexibility and enabling better position adjustment to accommodate objects in varying locations.

[0017] Preferably, a rotating shaft is rotatably mounted on the other end of the connecting arm away from the connecting shaft, a connecting sleeve 2 is fixedly mounted on the outer surface of the rotating shaft, and a clamping assembly is fixedly mounted on the other end of the connecting sleeve 2.

[0018] Through the above technical solution, the rotational connection between the connecting arm and the rotating shaft enables the clamping assembly to adjust its posture within a larger angle range, further improving the flexibility and adaptability of the robotic gripper and improving the practicality of the overall robotic gripper.

[0019] Compared with the existing technology, the present invention provides a multifunctional end-end mechanical gripper with the following beneficial effects:

[0020] 1. This multifunctional end-end mechanical gripper ensures the stable linear motion of the moving block through the cooperation of the screw rod and the limit rod. The push rod drives the clamp to rotate to clamp the object. The anti-slip grooves on the clamp increase the friction force, which can effectively prevent the six circularly distributed fixed blocks, push rod, connecting block 1, clamping sleeve, clamp and connecting block 2 from achieving multi-point clamping of the object. This improves the grasping stability and reliability, can handle irregular or large-sized objects, avoids their tilting or damage, and the objects are prone to slipping during the clamping process, thus expanding the scope of application.

[0021] 2. This multifunctional end-cap robotic gripper uses motor 2 to drive the first movable arm to reduce transmission links and achieve angle change. The protective cover protects motor 2, and the rotating installation design of the second movable arm and the connecting shaft, and the connecting arm and the rotating shaft provides more degrees of freedom for the movement of the robotic gripper, so that the connecting arm and the clamping assembly can move within a certain angle range, increasing the flexibility of the robotic gripper in space, and can better adjust the position and posture to adapt to the grasping needs of objects in different positions and shapes, thereby improving the practicality of the overall robotic gripper. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 This is a schematic diagram of the three-dimensional structure of the utility model Figure 1 ;

[0023] Figure 2 This is a schematic diagram of the three-dimensional structure of the utility model Figure 2 ;

[0024] Figure 3 This is a schematic diagram of the three-dimensional structure of the utility model in the second state;

[0025] Figure 4 This is a schematic diagram of the installation structure of the connecting arm and the rotating shaft of the utility model;

[0026] Figure 5 This is a schematic diagram of the three-dimensional structure of the clamping assembly of the utility model Figure 1 ;

[0027] Figure 6 This is a schematic diagram of the three-dimensional structure of the clamping assembly of the utility model Figure 2 .

[0028] Among them: 1. Robot base; 2. Mounting plate; 3. Motor 1; 4. Protective cover; 5. Motor 2; 6. First moving arm; 7. Connecting sleeve 1; 8. Motor 3; 9. Second moving arm; 10. Connecting shaft; 11. Connecting arm; 12. Rotating shaft; 13. Connecting sleeve 2; 14. Clamping assembly; 1401. Motor 4; 1402. Limit rod; 1403. Screw; 1404. Moving block; 1405. Fixed block; 1406. Push rod; 1407. Connecting block 1; 1408. Clamping sleeve; 1409. Clamp; 1410. Anti-slip groove; 1411. Clamp seat; 1412. Connecting block 2. DETAILED DESCRIPTION

[0029] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0030] Example 1: Figure 1-6 As shown, the utility model provides a multifunctional end-manipulator gripper, including a manipulator base 1 and a clamping assembly 14, a mounting plate 2 is rotatably mounted on the manipulator base 1, a motor 3 is fixedly mounted on the manipulator base 1, a protective cover 4 and a motor 2 5 are fixedly mounted on the other end of the mounting plate 2 away from the manipulator base 1, a first moving arm 6 is provided on the outer surface of the protective cover 4, a connecting sleeve 1 7 is fixedly mounted on the other end of the first moving arm 6 away from the motor 2 5, a second moving arm 9 is rotatably mounted on the other end of the connecting sleeve 7 away from the first moving arm 6, and a motor 3 8 fixedly mounted to the connecting sleeve 1 7 is fixedly mounted on the outer surface of the second moving arm 9.

[0031] Specifically, the clamping assembly 14 includes a motor 4 1401 and a clamping seat 1411. A limiting rod 1402 is fixedly installed on the outer surface of the motor 4 1401. A screw rod 1403 is fixedly installed on the output shaft of the motor 4 1401. The outer surface of the screw rod 1403 is threadedly connected to a moving block 1404 that is slidably connected to the limiting rod 1402. A fixed block 1405 is fixedly installed on the outer surface of the moving block 1404. A push rod 1406 is fixedly installed on the other end of the fixed block 1405 away from the moving block 1404. The outer surface of the push rod 1406 is rotatably connected to a connecting block 1407. The advantage is that through the cooperation of the limiting rod 1402 and the screw rod 1403, the moving block 1404 can achieve stable linear motion when the screw rod 1403 rotates, avoiding its offset or shaking, and can push the push rod 1406 to move in the horizontal direction.

[0032] Specifically, a sleeve 1408 is rotatably installed on the other end of the connecting block 1407 away from the push rod 1406, and a clamp 1409 is fixedly installed inside the clamp 1408. The outer surface of the clamp 1409 is provided with anti-slip grooves 1410, and one end of the clamp 1409 connected to the clamp seat 1411 is rotatably installed with a connecting block 2 1412. The advantage is that when the push rod 1406 moves in the horizontal direction, the connecting block 1407 can drive the clamp 1409 to rotate, so that the movement of the clamp 1409 can achieve clamping of the object, and the anti-slip grooves 1410 can greatly increase the friction between the clamped object and the clamped object, ensuring that the object will not slip easily during the clamping process, thereby improving the stability and reliability of the clamping.

[0033] Specifically, six identical fixed blocks 1405, push rods 1406, connecting blocks 1407, sleeves 1408, clamps 1409 and connecting blocks 2 1412 are provided, and the six fixed blocks 1405, push rods 1406, connecting blocks 1407, sleeves 1408, clamps 1409 and connecting blocks 2 1412 are distributed in a ring shape about the center line of the clamping seat 1411. The advantage is that by providing six identical components and distributing them in a ring shape, multi-point clamping of the object can be achieved, thereby improving the stability and uniformity of the grasping, especially for objects of irregular shapes or larger sizes, it is possible to apply uniform clamping force from multiple directions, thereby preventing the object from tilting or being damaged due to uneven force, and expanding the scope of application of the mechanical gripper.

[0034] Example 2: Figure 2-6 As shown, it is an improvement to the previous embodiment.

[0035] Specifically, the output shaft of motor 2 5 and the first movable arm 6 are fixedly installed, and the protective cover 4 is located on the outer surface of motor 2 5. The advantage is that the output shaft of motor 2 5 and the first movable arm 6 are fixedly installed, so that motor 2 5 can directly drive the first movable arm 6 to move, reducing the transmission link and realizing the angle change of the first movable arm 6. In combination with the protective cover 4, motor 2 5 can be effectively protected from interference from the external environment, such as dust, debris, etc.

[0036] Specifically, a connecting shaft 10 is rotatably mounted on the end of the second movable arm 9, away from the motor 3 8. A connecting arm 11 is fixedly mounted on the end of the connecting shaft 10, away from the second movable arm 9. Advantageously, the rotatable mounting design of the second movable arm 9 and the connecting shaft 10 provides greater freedom of movement for the gripper. This rotatable connection allows the connecting arm 11 to move within a certain angular range relative to the second movable arm 9, increasing the gripper's spatial flexibility and enabling better adjustment to accommodate objects in varying positions.

[0037] Specifically, a rotating shaft 12 is rotatably installed on the other end of the connecting arm 11 away from the connecting shaft 10, a connecting sleeve 2 13 is fixedly installed on the outer surface of the rotating shaft 12, and a clamping assembly 14 is fixedly installed on the other end of the connecting sleeve 2 13. The advantage is that the rotational connection between the connecting arm 11 and the rotating shaft 12 enables the clamping assembly 14 to adjust its posture within a larger angle range, further improving the flexibility and adaptability of the robotic gripper and improving the practicality of the overall robotic arm.

[0038] Working principle: When in use, the limit rod 1402 cooperates with the screw rod 1403 to enable the moving block 1404 to achieve stable linear motion when the screw rod 1403 rotates, avoiding its deviation or shaking, and can push the push rod 1406 to move in the horizontal direction. When the push rod 1406 moves in the horizontal direction, the connecting block 1407 can drive the clamp 1409 to rotate, so that the movement of the clamp 1409 can achieve the clamping of the object, and the anti-slip groove 1410 can greatly increase the friction between the clamped object and the clamped object, ensuring that the object will not slip easily during the clamping process, thereby improving the stability and reliability of the grip. By setting six identical components and distributing them in a ring, The invention can achieve multi-point gripping of objects, improving the stability and uniformity of gripping. Especially for objects of irregular shapes or large sizes, it can apply uniform gripping force from multiple directions, preventing objects from tilting or being damaged due to uneven force, and expanding the scope of application of the mechanical gripper. The output shaft of the motor 2 5 is fixedly mounted to the first movable arm 6, so that the motor 2 5 can directly drive the first movable arm 6 to move, reducing the transmission link and realizing the angle change of the first movable arm 6. In combination with the protective cover 4, it can effectively protect the motor 2 5 from external interference such as dust and debris. The rotatable mounting design of the second movable arm 9 and the connecting shaft 10 provides more degrees of freedom for the movement of the mechanical gripper. This rotational connection method allows the connecting arm 11 to move within a certain angle range relative to the second movable arm 9, increasing the flexibility of the mechanical gripper in space and enabling better adjustment of the position to meet the needs of grasping objects in different positions. The rotational connection between the connecting arm 11 and the rotating shaft 12 allows the clamping assembly 14 to adjust its posture within a wider angle range, further improving the flexibility and adaptability of the mechanical gripper and improving the practicality of the overall mechanical gripper.

[0039] Although the embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and variations may be made to these embodiments without departing from the principles and spirit of the present invention, and the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A multifunctional end-end mechanical gripper, comprising a mechanical gripper base (1) and a clamping assembly (14), characterized in that: A mounting plate (2) is rotatably mounted on the manipulator base (1), a motor 1 (3) is fixedly mounted on the manipulator base (1), a protective cover (4) and a motor 2 (5) are fixedly mounted on the other end of the mounting plate (2) away from the manipulator base (1), a first moving arm (6) is provided on the outer surface of the protective cover (4), a connecting sleeve 1 (7) is fixedly mounted on the other end of the first moving arm (6) away from the motor 2 (5), a second moving arm (9) is rotatably mounted on the other end of the connecting sleeve 1 (7) away from the first moving arm (6), and a motor 3 (8) fixedly mounted on the outer surface of the second moving arm (9) is fixedly mounted on the connecting sleeve 1 (7).

2. The multifunctional end-end mechanical gripper according to claim 1, characterized in that: The clamping assembly (14) comprises a motor four (1401) and a clamping seat (1411), a limiting rod (1402) is fixedly mounted on the outer surface of the motor four (1401), a screw rod (1403) is fixedly mounted on the output shaft of the motor four (1401), the outer surface of the screw rod (1403) is threadedly connected to a moving block (1404) which is slidably connected to the limiting rod (1402), a fixed block (1405) is fixedly mounted on the outer surface of the moving block (1404), a push rod (1406) is fixedly mounted on the other end of the fixed block (1405) away from the moving block (1404), and the outer surface of the push rod (1406) is rotatably connected to a connecting block one (1407).

3. The multifunctional end-end mechanical gripper according to claim 2, characterized in that: The other end of the connecting block (1407) away from the push rod (1406) is rotatably mounted with a clamping sleeve (1408), the interior of the clamping sleeve (1408) is fixedly mounted with a clamping clip (1409), the outer surface of the clamping clip (1409) is provided with anti-slip grooves (1410), and the end of the clamping clip (1409) connected to the clamping seat (1411) is rotatably mounted with a connecting block (1412).

4. The multifunctional end-end mechanical gripper according to claim 3, characterized in that: The fixed block (1405), the push rod (1406), the connecting block one (1407), the clamping sleeve (1408), the clamping clip (1409) and the connecting block two (1412) are all provided in the same number, and the six fixed blocks (1405), the push rod (1406), the connecting block one (1407), the clamping sleeve (1408), the clamping clip (1409) and the connecting block two (1412) are distributed in a ring shape about the center line of the clamp seat (1411).

5. The multifunctional end-end mechanical gripper according to claim 1, characterized in that: The output shaft of the second motor (5) and the first movable arm (6) are fixedly installed, and the protective cover (4) is located on the outer surface of the second motor (5).

6. The multifunctional end-end mechanical gripper according to claim 1, characterized in that: The other end of the second movable arm (9) away from the motor three (8) is rotatably mounted with a connecting shaft (10), and the other end of the connecting shaft (10) away from the second movable arm (9) is fixedly mounted with a connecting arm (11).

7. The multifunctional end-end mechanical gripper according to claim 6, characterized in that: The other end of the connecting arm (11) away from the connecting shaft (10) is rotatably mounted with a rotating shaft (12), the outer surface of the rotating shaft (12) is fixedly mounted with a second connecting sleeve (13), and the other end of the second connecting sleeve (13) is fixedly mounted with a clamping assembly (14).

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