Manipulator clamping device

Abstract

The utility model relates to the technical field of mechanical arms, in particular to a mechanical arm clamping device which comprises a mechanical arm connecting part, a transverse connecting rod is fixedly connected to the middle of the mechanical arm connecting part, vertical connecting rods are fixedly connected to the two ends of the transverse connecting rod respectively, and a first clamping jaw is connected to the transverse connecting rod in a sliding mode. A second clamping jaw is connected to the vertical connecting rod in a sliding mode, and sliding grooves are formed in the transverse connecting rod and the vertical connecting rod. The first clamping jaw and the second clamping jaw are in sliding connection with the transverse connecting rod and the vertical connecting rod respectively, the working positions of the first clamping jaw and the second clamping jaw can be changed to adapt to different mold structures, the first supporting rod connected with the first clamping jaw is hinged to the first supporting base, and the first clamping jaw can freely change the clamping position and direction; the problem that special mechanical arm clamping devices need to be customized for new products of different structures is solved, and the production cost is reduced.

Description

Technical Field

[0001] This utility model relates to the field of robotic arm technology, and in particular to a robotic arm gripping device. Background Technology

[0002] In recent years, robotic arms have been widely used in injection molding production. Automated production effectively shortens and stabilizes the production cycle, improves production efficiency, and reduces production costs. However, custom-made robotic gripper devices are typically required to accommodate molds with different structures. For small-batch production, custom-made grippers increase manufacturing costs. Therefore, there is an urgent need for a robotic gripper device for injection molding production that can adapt to different mold structures and freely change its gripping position and orientation. Utility Model Content

[0003] The purpose of this invention is to provide a robotic gripping device that can solve the above-mentioned technical problems.

[0004] This utility model provides a robotic gripper device, including a robotic arm connecting component. A horizontal connecting rod is fixedly connected to the middle of the robotic arm connecting component, and vertical connecting rods are fixedly connected to both ends of the horizontal connecting rod. A first gripper is slidably connected to the horizontal connecting rod, and a second gripper is slidably connected to the vertical connecting rod. Both the horizontal and vertical connecting rods are provided with grooves. A first nut is provided in the groove of the horizontal connecting rod. The shape of the first nut matches the shape of the groove, and the groove is used to restrict the axial movement of the first nut. In addition, the shape of the groove is also used to restrict the rotation of the nut along its own axis. The end of the first gripper is connected to... A first support base is connected to a first support rod hinged to the first support base. The first support rod has a first through hole, through which a screw passes and connects to a first nut, thus fixing the first nut to the first support rod. A second nut is provided in a groove of a vertical connecting rod. The shape of the second nut matches the groove, and the groove restricts the axial movement of the second nut. A second support base is connected to the end of a second gripper. The second support base is fixedly connected to a second support rod, through which a second through hole is provided. The screw passes and connects to a second nut, thus fixing the second nut to the second support rod. The first nut and the second nut are slidably connected in the grooves of the horizontal connecting rod and the vertical connecting rod, respectively, and the grooves restrict the rotation of the first nut and the second nut.

[0005] Preferably, the first support base and the second support base are rotatably connected to the first gripper and the second gripper, respectively.

[0006] Preferably, both the first through hole and the second through hole are elongated structures.

[0007] Preferably, two first through holes are provided parallel to each other on the left and right sides.

[0008] Preferably, two second through holes are provided parallel to each other vertically.

[0009] Preferably, the two vertical connecting rods are parallel to each other and perpendicular to the horizontal connecting rod.

[0010] Preferably, the horizontal connecting rod and the vertical connecting rod are fixedly connected by a connecting block.

[0011] Preferably, the connecting block has a vertical slot on the front and a horizontal slot on the back. The horizontal connecting rod is located in the horizontal slot and is fixedly connected to the connecting block by bolts. The vertical connecting rod is located in the vertical slot and is fixedly connected to the connecting block by bolts.

[0012] Preferably, the direction of the vertical slot is at 90° to the direction of the horizontal slot.

[0013] Preferably, the robotic arm connecting component includes a U-shaped buckle and a fixing rod, which are fixedly connected by hexagonal screws, and the transverse connecting rod is located within the enclosed space of the U-shaped buckle and the fixing rod.

[0014] Beneficial effects:

[0015] The first and second grippers of this invention are slidably connected to the horizontal connecting rod and the vertical connecting rod, respectively, which can change their working positions to adapt to different mold structures. The first support rod connected to the first gripper is hinged to the first support seat, which allows the first gripper to freely change its gripping position and direction. This solves the problem of needing to customize a special robotic gripping device for new products with different structures, thereby reducing production costs. Attached Figure Description

[0016] To more clearly illustrate the specific embodiments of this utility model or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0017] Figure 1 This is a front view schematic diagram of the overall structure of this utility model;

[0018] Figure 2 This is a side view of the overall structure of this utility model;

[0019] Figure 3 This is a top view of the overall structure of the present invention.

[0020] Figure 4 This is a schematic diagram of the U-shaped buckle and the fixing rod in this utility model;

[0021] Figure 5 This is a schematic diagram of the connecting block in this utility model;

[0022] Figure 6 This is a schematic diagram showing the positional relationship between the connecting block and the horizontal connecting rod and the vertical connecting rod in this utility model;

[0023] Figure 7 This is a schematic diagram illustrating the rotatable connection between the second support base and the second gripper in this utility model.

[0024] Explanation of reference numerals in the attached drawings: 1-robotic arm connecting component, 2-horizontal connecting rod, 3-vertical connecting rod, 4-first gripper, 5-second gripper, 6-slide groove, 702-second nut, 801-first support base, 802-second support base, 901-first support rod, 902-second support rod, 1001-first through hole, 1002-second through hole, 11-fixing rod, 12-screw, 13-connecting block, 14-vertical slot, 15-horizontal slot, 16-U-shaped buckle. Detailed Implementation

[0025] The technical solution of this utility model will be clearly and completely described below with reference to the embodiments. Obviously, the described embodiments are only some embodiments of this utility model, not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.

[0026] In the description of this utility model, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this utility model and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model.

[0027] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include one or more of the stated features. In the description of this utility model, "a plurality of" means two or more, unless otherwise explicitly specified. Furthermore, the terms "installed," "connected," and "linked" should be interpreted broadly; for example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0028] Example 1

[0029] A robotic gripper, such as Figure 1-7 As shown, the system includes a robotic arm connecting component 1, with a horizontal connecting rod 2 fixedly connected to the middle of the component 1. The robotic arm connecting component includes a U-shaped buckle 16 and a fixing rod 11, which are fixedly connected by hexagonal screws. The horizontal connecting rod 2 is located within the space enclosed by the U-shaped buckle 16 and the fixing rod 11. Vertical connecting rods 3 are fixedly connected to both ends of the horizontal connecting rod 2, and the two vertical connecting rods 3 are parallel to each other and perpendicular to the horizontal connecting rod 2. A first gripper 4 is slidably connected to the horizontal connecting rod 2, and a second gripper 5 is slidably connected to the vertical connecting rod 3. Both the horizontal connecting rod 2 and the vertical connecting rod 3 are provided with sliding grooves. A first nut is provided in the sliding groove of the horizontal connecting rod 2. The shape of the first nut matches that of the sliding groove 6, and the sliding groove 6 is used to restrict the axial movement of the first nut. A first support seat 801 is connected to the end of the first gripper 4. A first support rod 901 is hinged to the first support seat 801. A first through hole 1001 is provided on the first support rod 901. The screw 12 passes through the first through hole 1001 and connects to the first nut. The first nut is fixedly connected to the first support rod 901; the second nut 702 is provided in the groove 6 of the vertical connecting rod 3. The shape of the second nut 702 matches the groove 6 and the groove 6 is used to restrict the axial movement of the second nut 702. The end of the second gripper 5 is connected to the second support seat 802. The second support seat 802 is fixedly connected to the second support rod 902. The second support rod 902 is provided with a second through hole 1002. The screw 12 passes through the second through hole 1002 and connects to the second nut 702 to fix the second nut 702 to the second support rod 902.

[0030] The first support base 801 and the second support base 802 are rotatably connected to the first gripper 4 and the second gripper 5, respectively. Figure 7As shown. Both the first through hole 1001 and the second through hole 1002 are elongated structures. There are two first through holes 1001 arranged horizontally and horizontally, and two second through holes 1002 arranged vertically and horizontally. By changing the position of the screw 12 in the elongated through holes, the first support rod 901 can be adjusted in the front-to-back position, and the second support rod 902 can be adjusted in the left-to-right position.

[0031] The horizontal connecting rod 2 and the vertical connecting rod 3 are fixedly connected by a connecting block 13. The connecting block 13 has an octagonal structure. The front of the connecting block 13 is provided with a vertical slot 14 and the back is provided with a horizontal slot 15. The direction of the vertical slot 14 is 90° with the direction of the horizontal slot 15. The horizontal connecting rod 2 is located in the horizontal slot 15 and is fixedly connected to the connecting block 13 by bolts. The vertical connecting rod 3 is located in the vertical slot 14 and is fixedly connected to the connecting block 13 by bolts.

[0032] The components mentioned above, such as the rotatable connection between the gripper and the support base, and the hinge connection between the first support base and the first support rod, which are used to adjust the position and orientation of the gripper, are all equipped with electric drive components to realize the rotation of the gripper or the rotation of the hinge. The electric drive components all adopt existing structures and will not be described in detail here.

[0033] Working process: When facing molds of different specifications, the first gripper can freely change its gripping position and direction through the hinge of the first support rod and the first support base. The second gripper can move on the vertical connecting rod by first loosening the screw, and when it reaches the designated position, the second gripper is fixed by tightening the screw. The position of the second gripper can be changed in the above way to suit molds of different specifications.

[0034] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this utility model, and are not intended to limit it. Although the utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this utility model.

Claims

1. A robotic gripping device, characterized in that, The device includes a robotic arm connecting component. A horizontal connecting rod is fixedly connected to the middle of the connecting component. Vertical connecting rods are fixedly connected to both ends of the horizontal connecting rod. A first gripper is slidably connected to the horizontal connecting rod, and a second gripper is slidably connected to the vertical connecting rod. Both the horizontal and vertical connecting rods have grooves. A first nut is provided within the groove of the horizontal connecting rod. The shape of the first nut matches the shape of the groove, and the groove restricts the axial movement of the first nut. A first support seat is connected to the end of the first gripper. A first support rod is hinged to the first support seat. The first support rod has a first through hole, through which a screw passes and connects to the first nut, fixing the first nut to the first support rod. A second nut is provided within the groove of the vertical connecting rod. The shape of the second nut matches the shape of the groove, and the groove restricts the axial movement of the second nut. A second support seat is connected to the end of the second gripper. A second support rod is fixedly connected to the second support seat. A second through hole is provided on the second support rod, through which a screw passes and connects to the second nut, fixing the second nut to the second support rod.

2. The robotic gripper device according to claim 1, characterized in that, The first support base and the second support base are rotatably connected to the first gripper and the second gripper, respectively.

3. The robotic gripper device according to claim 1, characterized in that, Both the first through hole and the second through hole are elongated strip-shaped structures.

4. The robotic gripper according to claim 3, characterized in that, The first through hole has two parallel holes on the left and right.

5. The robotic gripper device according to claim 3, characterized in that, The second through hole is provided in two parallel sections, one vertically and one horizontally.

6. The robotic gripper according to claim 1, characterized in that, The two vertical connecting rods are parallel to each other and perpendicular to the horizontal connecting rod.

7. The robotic gripper device according to claim 1, characterized in that, The horizontal connecting rod and the vertical connecting rod are fixedly connected by a connecting block.

8. The robotic gripper according to claim 7, characterized in that, The connecting block has a vertical slot on the front and a horizontal slot on the back. The horizontal connecting rod is located in the horizontal slot and is fixedly connected to the connecting block by bolts. The vertical connecting rod is located in the vertical slot and is fixedly connected to the connecting block by bolts.

9. The robotic gripper device according to claim 8, characterized in that, The vertical slot is oriented at 90° to the horizontal slot.

10. The robotic gripper according to claim 1, characterized in that, The robotic arm connecting component includes a U-shaped buckle and a fixing rod, which are fixedly connected by hexagonal screws. The transverse connecting rod is located within the enclosed space of the U-shaped buckle and the fixing rod.

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