Mechanical arm gripper

Abstract

The utility model discloses a mechanical arm gripper which comprises a mounting plate, one side of the mounting plate is fixedly connected with the free end of a mechanical arm, the other side of the mounting plate is provided with a guide back plate, the guide back plate is provided with a guide groove, one side of the guide back plate is vertically provided with a mounting frame, the inner side of the mounting frame is in sliding fit with a lifting plate, and a suspension plate is fixed to the front surface of the lifting plate. A first transverse shaft is rotationally connected to the suspension plate and fixedly sleeved with a sector gear, a swing plate is fixed to the tail end of the first transverse shaft, and a pressure-bearing rod is fixed to one side of the bottom end of the swing plate and slidably matched with the inner side of the guide groove; a second transverse shaft is rotationally connected to the bottom of the suspension plate, and a driven gear is fixed to the tail end of the second transverse shaft and meshed with the sector gear; a fixing base is fixed to the second transverse shaft, a driving bin is arranged at the lower end of the fixing base, and two clamping plates used for clamping workpieces are arranged at the front end of the driving bin. The mechanical arm gripper can assist a mechanical arm in completing the operation task of quickly overturning and shifting a workpiece in a narrow space, and is simple and stable in structure.

Description

Technical Field

[0001] This utility model belongs to the field of industrial machine technology, and in particular relates to a robotic arm gripper. Background Technology

[0002] With the continuous development of industry and the gradual maturation of related technologies in the field of automation, factories have gradually transformed towards fully automated production. Robotic arms are the most widely used automated mechanical devices in the field of robotics, found in industrial manufacturing, medical treatment, entertainment services, military, semiconductor manufacturing, and space exploration. Although they vary in form, they all share a common characteristic: the ability to receive commands and precisely locate a point in three-dimensional (or two-dimensional) space to perform operations.

[0003] A mechanical gripper is installed at the free end of the robotic arm. Most existing robotic arm grippers only have the function of grasping. In the actual transfer of workpieces, the position of the workpiece on the mechanical gripper is usually adjusted by rotating and folding the robotic arm to achieve the flipping and spatial transfer of the workpiece. However, the rotation and folding of the robotic arm requires a large amount of space and cannot meet the requirements for flipping and moving the workpiece in a narrow space. This requires a more flexible and versatile robotic arm gripper to assist the robotic arm in quickly flipping and moving the workpiece in a narrow space. Utility Model Content

[0004] To address the shortcomings of the existing technology, the present invention aims to provide a robotic arm gripper that assists the robotic arm in quickly flipping and moving workpieces within a confined space. This gripper has a simple and stable structure, low production cost, and can be widely used in industrial production. Furthermore, it can control the clamping plate to move closer to the workpiece and quickly move the workpiece away from its initial position after clamping it.

[0005] To achieve the above objectives, this application adopts the following technical solution:

[0006] A robotic arm gripper is mounted on the free end of the robotic arm. The robotic arm gripper includes a mounting plate. One side of the mounting plate is fixedly connected to the free end of the robotic arm via a flange, and the other side is provided with a guide back plate. The guide back plate has a guide groove, the bottom of which is a vertical part and the top of which is an inclined part.

[0007] A mounting frame is vertically provided on one side of the guide back plate. A liftable lifting plate is slidably fitted inside the mounting frame. A suspension plate is fixed on the front surface of the lifting plate. A first horizontal shaft is rotatably connected to the suspension plate. A sector gear is fixedly sleeved on the first horizontal shaft. A swing plate is fixed at the end of the first horizontal shaft. A pressure rod is fixed on one side of the bottom end of the swing plate. The pressure rod is slidably fitted inside the guide groove.

[0008] The bottom of the suspension plate is rotatably connected to a second horizontal shaft, and a driven gear is fixed at the end of the second horizontal shaft. The driven gear meshes with a sector gear.

[0009] A fixed seat is fixed on the second horizontal axis, and a drive chamber is provided at the lower end of the fixed seat. Two clamping plates for clamping workpieces are provided at the front end of the drive chamber.

[0010] In the above technical solution, the inner side of the mounting frame is provided with two sliding grooves in the vertical direction, and the lifting plate is provided with a slider that matches the sliding grooves. The slider can slide up and down in the sliding grooves.

[0011] A second electric actuator is fixedly installed on the back of the mounting frame. The output end of the second electric actuator is fixedly connected to the bottom of the lifting plate. The lifting plate slides up and down under the thrust of the second electric actuator.

[0012] In the above technical solution, a torsion spring is provided between the suspension plate and the sector gear on the first horizontal axis.

[0013] In the above technical solution, a side plate is provided between the mounting plate and the guide back plate, and a first electric actuator is fixedly installed on the front side of the mounting plate, with the output end of the first electric actuator fixedly connected to the side plate.

[0014] In the above technical solution, a pair of guide rods are provided on the side plate at the positions on both sides of the first electric actuator, and one end of the guide rod slides through the mounting plate.

[0015] In the above technical solution, the mounting plate has a flange mounting end face, and the flange mounting end face is provided with side plates perpendicular to it at both ends. The side plates are provided with edges perpendicular to them, and the edges are provided with through holes that match the guide rod. The guide rod passes through the through holes.

[0016] In the above technical solution, the drive chamber is a hollow plate with one end open, and a transverse plate is slidably fitted inside the drive chamber. A frustum column is fixed on one side of the transverse plate. The top and bottom of the two clamping plates are rotatably connected to the inner wall of the drive chamber through a rotating shaft. A torsion spring is fixed between the bottom of the clamping plate and the bottom wall of the drive chamber. The torsion spring surrounds the outside of the rotating shaft at the bottom of the clamping plate. A rotating column is rotatably connected to one end of the clamping plate located inside the drive chamber. The frustum column is located between the two rotating columns. A third electric actuator is fixed to the bottom wall of the drive chamber. The output end of the third electric actuator is fixedly connected to the transverse plate.

[0017] The beneficial effects of this utility model are as follows:

[0018] 1. The robotic arm gripper of this utility model, after the drive chamber drives the two clamping plates to clamp and fix the workpiece, the second electric push rod pushes the lifting plate to slide vertically downward. The drive chamber and the suspension plate will move vertically downward synchronously with the lifting plate. The pressure rod slides in the guide groove. When the pressure rod slides down along the inclined part of the guide groove, the swing plate and the sector gear swing synchronously with the pressure rod. At this time, the sector gear will drive the driven gear to rotate 90 degrees, so that the workpiece clamped and fixed by the clamping plate moves vertically downward while rotating 90 degrees. It can assist the robotic arm to complete the task of quickly flipping and moving the workpiece in a narrow space. The structure is simple and stable, the production cost is low, and it can be widely used in industrial production.

[0019] 2. The robotic arm gripper of this utility model, through the setting of the first electric push rod and the guide rod, facilitates the control of the small-amplitude horizontal movement of the drive chamber, facilitates the control of the clamping plate to move closer to the workpiece, and quickly drives the workpiece away from the initial position after the clamping plate clamps the workpiece.

[0020] 3. The robotic arm gripper of this utility model pushes the transverse plate to move laterally in the inner cavity of the drive chamber through the third electric push rod, which causes the frustum column to squeeze the rotating column at the end of the clamping plate, causing the two rotating columns to open outward, while the clamping part of the clamping plate swings inward, thereby realizing the rapid clamping and fixing of the workpiece by the clamping plate. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the structure of this utility model when it is installed with the robotic arm;

[0022] Figure 2 This is a structural diagram of the mounting frame, drive compartment, and guide backplate of this utility model during assembly;

[0023] Figure 3 This is a schematic diagram of the structure of the drive chamber and suspension plate of this utility model when they are in conjunction;

[0024] Figure 4 This is a utility model Figure 2A schematic diagram of another structural form;

[0025] Figure 5 This is a utility model Figure 4 A structural diagram from another angle;

[0026] Figure 6 This is a schematic diagram of the internal structure of the drive compartment of this utility model.

[0027] In the diagram: 1. Mounting plate; 2. Mounting frame; 3. Drive compartment; 4. Guide back plate; 5. Side plate; 6. First electric actuator; 7. Guide rod; 8. Lifting plate; 9. Suspension plate; 10. Sector gear; 11. Swing plate; 12. Bearing rod; 13. Guide groove; 14. Torsion spring; 15. Fixed seat; 16. Driven gear; 17. Clamping plate; 18. Slide groove; 19. Slider; 20. Second electric actuator; 21. Transverse plate; 22. Frustum column; 23. Rotating column; 24. Third electric actuator; 25. First transverse axis; 26. Second transverse axis; 27. Robotic arm. Detailed Implementation

[0028] To better illustrate the purpose, technical solution, and advantages of this utility model, it will be further described below with reference to specific embodiments. This utility model can be implemented in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of this utility model to those skilled in the art, who will define this utility model only by the claims.

[0029] In the description of this utility model, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," 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 do not 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. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0030] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" 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; and 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.

[0031] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. Furthermore, for ease of description, only the parts relevant to the utility model are shown in the accompanying drawings.

[0032] refer to Figure 1-6 The robotic arm gripper shown is mounted on the free end of the robotic arm 27. The robotic arm gripper includes a mounting plate 1. One side of the mounting plate 1 is fixedly connected to the free end of the robotic arm 27 via a flange, and the other side is provided with a guide back plate 4. A guide groove 13 is provided on the guide back plate 4. The bottom of the guide groove 13 is a vertical part and the top is an inclined part.

[0033] A mounting frame 2 is vertically provided on one side of the guide back plate 4. A lifting plate 8 that can be raised and lowered is slidably fitted inside the mounting frame 2. A suspension plate 9 is fixed on the front surface of the lifting plate 8. A first horizontal shaft 25 is rotatably connected to the suspension plate 9. A sector gear 10 is fixedly sleeved on the first horizontal shaft 25. A swing plate 11 is fixed at the end of the first horizontal shaft 25. A pressure rod 12 is fixed on one side of the bottom end of the swing plate 11. The pressure rod 12 is slidably fitted inside the guide groove 13.

[0034] The bottom of the suspension plate 9 is rotatably connected to a second horizontal shaft 26, and a driven gear 16 is fixed at the end of the second horizontal shaft 26. The driven gear 16 meshes with the sector gear 10.

[0035] A fixed seat 15 is fixed on the second horizontal axis 26. A drive chamber 3 is provided at the lower end of the fixed seat 15. Two clamping plates 17 for clamping workpieces are provided at the front end of the drive chamber 3.

[0036] A second electric actuator 20 is fixedly installed on the back of the mounting frame 2. The output end of the second electric actuator 20 is fixedly connected to the bottom of the lifting plate 8. The lifting plate 8 slides up and down under the thrust of the second electric actuator 20.

[0037] During installation, the free end of the robotic arm 27 is fixedly connected to the flange on the end face of the mounting plate 1. In actual operation, the robotic arm 27 delivers the clamping plate 17 to both sides of the workpiece. The drive chamber 3 controls the two clamping plates 17 to clamp and fix the workpiece from both sides. Then, the robotic arm 27 moves the clamping plates 17 and the workpiece, removing them from their initial position. Subsequently, the second electric actuator 20 is activated, and its output pushes the lifting plate 8 vertically downwards. The lifting plate 8, the suspension plate 9, and the drive chamber 3 move downwards synchronously. The pressure rod 12 slides down along the guide groove 13. When the pressure rod 12 passes the guide... When the guide groove 13 is inclined, under the guidance of the guide groove 13, the pressure rod 12 will drive the swing plate 11 and the sector gear 10 to swing counterclockwise. The sector gear 10 will drive the driven gear 16 to rotate clockwise. The fixed seat 15 will rotate synchronously with the driven gear 16. When the pressure rod 12 slides into the vertical part of the guide groove 13, the driven gear 16 will rotate exactly 90 degrees, so that the drive chamber 3 and the workpiece held by the clamping plate 17 will rotate 90 degrees around the second horizontal axis 26 of the fixed seat 15, realizing the flipping of the workpiece. When the pressure rod 12 slides into the bottom of the guide groove 13, the workpiece will descend to the bottom. This process can be referred to Figure 4 As shown, the drive chamber 3 then controls the clamping plate 17 to open outward, completing the synchronous operation of lowering, transferring and flipping the workpiece.

[0038] In order to enable the lifting plate 8 to slide stably and vertically in front of the mounting frame 2, in this embodiment, two sliding grooves 18 are provided on the inner side of the mounting frame 2 in the vertical direction, and the lifting plate 8 is provided with a slider 19 that matches the sliding grooves 18. The slider 19 can slide up and down in the sliding grooves 18, so that the lifting plate 8 can slide stably and vertically in the inner side of the mounting frame 2.

[0039] To further improve the stability of the bearing rod 12 when sliding inside the guide groove 13, in this embodiment, a torsion spring 14 is provided between the upper suspension plate 9 of the first horizontal shaft 25 and the sector gear 10. The torsion spring 14 surrounds the outside of the first horizontal shaft 25. The purpose of the torsion spring 14 is to provide a torsional force to the sector gear 10, so that the outer wall of the bearing rod 12 always slides against the side wall of the guide groove 13, avoiding slight vibration of the bearing rod 12 inside the guide groove 13, which helps to improve the stability of the sector gear 10 and avoids slight shaking when the clamping plate 17 transfers the workpiece.

[0040] To control the small-amplitude horizontal movement of the drive chamber 3, in this embodiment, a side plate 5 is provided between the mounting plate 1 and the guide back plate 4. A first electric push rod 6 is fixedly mounted on the front side of the mounting plate 1, and the output end of the first electric push rod 6 is fixedly connected to the side plate 5. A pair of guide rods 7 are provided on the side plate 5 on both sides of the first electric push rod 6, with one end of the guide rod 7 sliding through the mounting plate 1. By activating the first electric push rod 6, the side plate 5 can be pushed to move horizontally by a small amplitude, which facilitates the control of the clamping plate 17 to move closer to the workpiece. After the clamping plate 17 clamps the workpiece, it can quickly move the workpiece away from the initial position. This operation of controlling the small-amplitude horizontal movement of the clamping plate 17 can be completed without using the robotic arm 27, which can improve the transfer efficiency of small workpieces.

[0041] As one embodiment, the structure of the mounting plate 1 is as follows: the mounting plate 1 has a flange mounting end face, and the flange mounting end face is provided with side plates perpendicular to it at both ends. The side plates are provided with edges perpendicular to them, and the edges are provided with through holes that match the guide rod 7. The guide rod 7 passes through the through holes.

[0042] In order to enable the drive chamber 3 to control the two clamping plates 17 to clamp the workpiece, in this embodiment, the drive chamber 3 is a hollow plate with one end open, and a transverse plate 21 is slidably fitted in the inner cavity of the drive chamber 3. A frustum column 22 is fixed on one side of the transverse plate 21. The top and bottom of the two clamping plates 17 are rotatably connected to the inner wall of the drive chamber 3 through a rotating shaft. A torsion spring 14 is also fixed between the bottom of the clamping plate 17 and the inner bottom wall of the drive chamber 3. The torsion spring 14 surrounds the outside of the rotating shaft at the bottom of the clamping plate 17. A rotating column 23 is rotatably connected to one end of the clamping plate 17 located inside the drive chamber 3. The frustum column 22 is located between the two rotating columns 23. A third electric push rod 24 is fixed to the inner bottom wall of the drive chamber 3. The output end of the third electric push rod 24 is fixedly connected to the transverse plate 21. The torsion spring 14 installed between the bottom of the clamping plate 17 and the inner bottom wall of the drive chamber 3 can generate a torsional force on the clamping plate 17, so that the outer wall of the rotating column 23 is always in contact with the outer wall of the frustum column 22. When the third electric push rod 24 pushes the transverse plate 21 to move laterally, the frustum column 22 can open the two rotating columns 23, causing the clamping part of the clamping plate 17 to swing inward, thereby realizing the quick clamping and fixing of the workpiece by the clamping plate 17. When the third electric push rod 24 drives the transverse plate 21 to retract, the torsional force applied by the torsion spring 14 on the clamping plate 17 will cause the clamping part of the two clamping plates 17 to swing outward, realizing the clamping and placement of the workpiece by the two clamping plates 17.

[0043] Obviously, the above embodiments are merely illustrative examples for clear explanation and are not intended to limit the implementation. Those skilled in the art will recognize that other variations or modifications can be made based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations here. However, obvious variations or modifications derived therefrom are still within the scope of protection of this invention.

Claims

1. A robotic arm gripper, said robotic arm gripper being mounted on the free end of a robotic arm (27), characterized in that: The robotic arm gripper includes a mounting plate (1). One side of the mounting plate (1) is fixedly connected to the free end of the robotic arm (27) via a flange, and the other side is provided with a guide back plate (4). The guide back plate (4) is provided with a guide groove (13). The bottom of the guide groove (13) is a vertical part, and the top is an inclined part. The guide back plate (4) is vertically provided with a mounting frame (2) on one side. The mounting frame (2) is slidably fitted with a lifting plate (8). The front surface of the lifting plate (8) is fixed with a suspension plate (9). A first horizontal shaft (25) is rotatably connected to the suspension plate (9). A sector gear (10) is fixedly sleeved on the first horizontal shaft (25). A swing plate (11) is fixed at the end of the first horizontal shaft (25). A pressure rod (12) is fixed on one side of the bottom end of the swing plate (11). The pressure rod (12) is slidably fitted inside the guide groove (13). The bottom of the suspension plate (9) is rotatably connected to a second horizontal shaft (26), and a driven gear (16) is fixed at the end of the second horizontal shaft (26). The driven gear (16) meshes with a sector gear (10). A fixed seat (15) is fixed on the second horizontal axis (26). The lower end of the fixed seat (15) is provided with a drive chamber (3). The front end of the drive chamber (3) is provided with two clamping plates (17) for clamping the workpiece.

2. The robotic arm gripper according to claim 1, characterized in that: The mounting frame (2) has two vertical grooves (18) on its inner side, and the lifting plate (8) has a slider (19) that matches the grooves (18). The slider (19) can slide up and down in the grooves (18). The second electric push rod (20) is fixedly installed on the back of the mounting frame (2). The output end of the second electric push rod (20) is fixedly connected to the bottom of the lifting plate (8). The lifting plate (8) slides up and down under the thrust of the second electric push rod (20).

3. The robotic arm gripper according to claim 1, characterized in that: A torsion spring (14) is provided between the suspension plate (9) and the sector gear (10) on the first horizontal shaft (25).

4. The robotic arm gripper according to claim 1, characterized in that: A side plate (5) is provided between the mounting plate (1) and the guide back plate (4). A first electric push rod (6) is fixedly installed on the front side of the mounting plate (1). The output end of the first electric push rod (6) is fixedly connected to the side plate (5).

5. The robotic arm gripper according to claim 4, characterized in that: A pair of guide rods (7) are provided on the side plate (5) at the positions on both sides of the first electric push rod (6), and one end of the guide rod (7) slides through the mounting plate (1).

6. The robotic arm gripper according to claim 5, characterized in that: The mounting plate (1) has a flange mounting end face, and the flange mounting end face is provided with side plates perpendicular to it at both ends. The side plates are provided with edges perpendicular to them, and the edges are provided with through holes that match the guide rod (7). The guide rod (7) passes through the through holes.

7. The robotic arm gripper according to claim 1, characterized in that: The drive chamber (3) is a hollow plate with one end open, and a transverse plate (21) is slidably fitted in the inner cavity of the drive chamber (3). A frustum column (22) is fixed on one side of the transverse plate (21). The top and bottom of the two clamping plates (17) are rotatably connected to the inner wall of the drive chamber (3) through a rotating shaft. A torsion spring (14) is fixed between the bottom of the clamping plate (17) and the inner bottom wall of the drive chamber (3). The torsion spring (14) surrounds the outside of the rotating shaft at the bottom of the clamping plate (17). A rotating column (23) is rotatably connected to one end of the clamping plate (17) located inside the drive chamber (3). The frustum column (22) is located between the two rotating columns (23). A third electric push rod (24) is fixed to the inner bottom wall of the drive chamber (3). The output end of the third electric push rod (24) is fixedly connected to the transverse plate (21).

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