Manipulator clamping device with positioning function

Abstract

The utility model relates to the field of robots, in particular to a manipulator clamping device with a positioning function. The mechanical arm clamping device with the positioning function comprises a mechanical arm, a first installation frame, a two-way lead screw, a first guide rod, a first motor and the like, the first installation frame is installed on the mechanical arm, the two-way lead screw is rotationally connected in the first installation frame, the first guide rod is installed in the first installation frame, and the two-way lead screw is rotationally connected in the first guide rod. A first motor is mounted on the left side of the first mounting frame. In the clamping operation process, movement of the clamping plate can synchronously drive the extrusion plate to move, the extrusion plate exerts pressure on the extrusion block so that the two positioning plates can move inwards, if the position of the workpiece deviates from the center, the positioning plates can move in advance before the clamping plate begins to conduct clamping action, the workpiece is pushed back to the correct position, and then the workpiece is clamped. And it is ensured that the workpiece can be accurately positioned in the center position before being clamped.

Description

Technical Field

[0001] This utility model relates to the field of robotics, and in particular to a robotic gripper with positioning function. Background Technology

[0002] A robotic gripper is a key component used in automated production lines or robotic systems to perform operations such as grasping, handling, and placing objects. It is typically installed at the end of a robotic arm and can have different shapes, sizes, and functions depending on its design and application.

[0003] Existing robotic gripper devices typically rely on clamping plates to clamp workpieces. However, when the workpiece is not positioned accurately or the robotic arm moves in a deviated manner, the traditional clamping method may result in uneven force on the workpiece. This not only affects the gripping accuracy and efficiency but may also cause workpiece damage or other problems on the production line. Furthermore, deviations may occur when placing the workpiece, affecting the accuracy of subsequent processes.

[0004] To address the aforementioned issues, a robotic gripper with positioning functionality is needed. Utility Model Content

[0005] To overcome the drawback of uneven force caused by direct clamping when the workpiece position is inaccurate or the movement of the robot arm is deviated, this utility model provides a robot arm gripping device with positioning function.

[0006] The technical solution of this utility model is as follows: a robotic gripper with positioning function, comprising a robotic arm, a first mounting frame, a bidirectional lead screw, a first guide rod, a first motor, and clamping plates. The first mounting frame is mounted on the robotic arm, and the bidirectional lead screw is rotatably connected inside the first mounting frame. The first guide rod is also mounted inside the first mounting frame. The first motor is mounted on the left side of the first mounting frame, and the output shaft of the first motor passes through the first mounting frame and is fixedly connected to the bidirectional lead screw. Clamping plates are symmetrically threaded on the bidirectional lead screw, and the two clamping plates are slidably connected to the first guide rod. The device also includes a connecting plate, a mounting plate, a connecting rod, a slider, a spring, a second mounting frame, a second guide rod, a positioning plate, a pressing block, and a pressing plate. The first mounting frame has symmetrical connecting plates on its front and rear sides. Each connecting plate has a mounting plate installed on it. Each mounting plate is connected to a connecting rod between itself and two protrusions on the first mounting frame. Each connecting rod has a slider slidably connected to it. Each slider is slidably connected to its corresponding connecting plate. Each slider has a spring connected to its inner side between itself and the two protrusions on the first mounting frame. Each slider has a second mounting frame connected to its bottom. Each second mounting frame has a second guide rod symmetrically connected to it on its left and right sides. Each second guide rod on the same side has a positioning plate slidably connected to it. Each slider has a pressing block connected to it. Each clamping plate has a pressing plate connected to its rear side on the left side and its front side on the right side.

[0007] As a further preferred embodiment, it also includes a threaded rod, a second motor, and a graduated ring. The threaded rod is rotatably connected inside both second mounting frames, and the positioning plate is threadedly connected to the threaded rod. The second motor is installed on the outer side of both second mounting frames, and the output shafts of the two second motors pass through the second mounting frames and are connected to the corresponding threaded rods. The graduated rings are evenly spaced on the two second guide rods.

[0008] As a further preferred option, it also includes a first protective pad, with the first protective pad pasted on the inner side of both positioning plates.

[0009] As a further preferred option, a second protective pad is also included, with the inner sides of both clamping plates having a second protective pad attached.

[0010] As a further preferred option, the front ends of the protrusions on both extrusion plates are rounded.

[0011] As a further preferred option, the extrusion block is triangular.

[0012] The beneficial effects of this utility model are as follows: 1. During the clamping operation, the movement of the clamping plate will synchronously drive the extrusion plate to move, and the extrusion plate will then apply pressure to the extrusion block, causing the two positioning plates to move inward. If the workpiece position deviates from the center, the positioning plate will move before the clamping plate starts the clamping action, pushing the workpiece back to the correct position. This ensures that the workpiece can be accurately positioned in the center position before being clamped, effectively preventing problems such as uneven force, unstable clamping, or workpiece damage caused by initial position deviation. It also improves the accuracy and reliability of the entire clamping process and reduces possible positional errors in subsequent processes.

[0013] 2. By driving the threaded rod to rotate through the second motor, the positioning plate can be adjusted to a suitable position for the workpiece, ensuring the accuracy of positioning and thus achieving precise positioning. Attached Figure Description

[0014] Figure 1 This is a three-dimensional structural diagram of the present invention.

[0015] Figure 2 This is a three-dimensional structural diagram of the first motor, clamping plate, and connecting plate of this utility model.

[0016] Figure 3 This is a three-dimensional structural diagram of the components of this utility model, including the first mounting frame, the bidirectional lead screw, and the first guide rod.

[0017] Figure 4 This is a three-dimensional structural diagram of the mounting plate, connecting rod, and slider of this utility model.

[0018] Figure 5 This is a cross-sectional view of the second mounting frame of this utility model.

[0019] Labels in the diagram: 1-Manipulator, 2-First mounting frame, 3-Two-way lead screw, 4-First guide rod, 5-First motor, 6-Clamping plate, 7-Connecting plate, 8-Mounting plate, 9-Connecting rod, 10-Slider, 1001-Spring, 11-Second mounting frame, 12-Second guide rod, 13-Positioning plate, 14-Extrusion block, 15-Extrusion plate, 16-Threaded rod, 17-Second motor, 18-Scale ring, 19-First protective pad, 20-Second protective pad. Detailed Implementation

[0020] The technical solution will be further described below with reference to specific embodiments. It should be noted that the terms "up," "down," "left," and "right" used in this document refer only to the position of the structure shown in the corresponding drawings. The serial numbers assigned to components in this document, such as "first," "second," etc., are only used to distinguish the described objects and have no sequential or technical meaning. Unless otherwise specified, terms such as "connection" and "linkage" in this application include both direct and indirect connections (linkages).

[0021] Example: A robotic gripper with positioning function, such as Figures 1-5As shown, the system includes a robotic arm 1, a first mounting frame 2, a bidirectional lead screw 3, a first guide rod 4, a first motor 5, a clamping plate 6, a connecting plate 7, a mounting plate 8, a connecting rod 9, a slider 10, a spring 1001, a second mounting frame 11, a second guide rod 12, a positioning plate 13, an extrusion block 14, an extrusion plate 15, a threaded rod 16, a second motor 17, a graduated ring 18, a first protective pad 19, and a second protective pad 20. The robotic arm 1 is mounted on the first mounting frame 2. The bidirectional lead screw 3 is rotatably connected inside the first mounting frame 2. The first guide rod 4 is installed inside the first mounting frame 2. The first motor 5 is mounted on the left side of the first mounting frame 2. Machine 5, the output shaft of the first motor 5 passes through the first mounting frame 2 and is fixedly connected to the bidirectional lead screw 3. The bidirectional lead screw 3 has symmetrically threaded clamping plates 6 for clamping the workpiece. The two clamping plates 6 are slidably connected to the first guide rod 4. Connecting plates 7 are symmetrically connected to the front and rear sides of the first mounting frame 2. Mounting plates 8 are mounted on each of the two connecting plates 7. Connecting rods 9 are connected between each of the two mounting plates 8 and two protrusions on the first mounting frame 2. Sliding sliders 10 are slidably connected to each of the two connecting rods 9. Each of the two sliding sliders 10 is slidably connected to the corresponding connecting plate 7. The inner sides of the two sliding sliders 10 are connected to the two protrusions on the first mounting frame 2. Springs 1001 connect the blocks. A second mounting frame 11 is connected to the bottom of each slider 10. Second guide rods 12 are symmetrically connected inside each of the two second mounting frames 11. Positioning plates 13 are slidably connected to the two second guide rods 12 on the same side, allowing the workpiece to be pushed and positioned. An extrusion block 14 is connected to each slider 10. The extrusion block 14 is triangular, facilitating extrusion by the extrusion plate 15. Extrusion plates 15 are connected to the rear side of the left clamping plate 6 and the front side of the right clamping plate 6. The protrusions on both extrusion plates 15 have rounded front ends, facilitating the extrusion of the extrusion blocks 14. The two second mounting frames 11 are rotatably connected to threaded rods 16. The positioning plate 13 is threadedly connected to the threaded rods 16. The outer sides of the two second mounting frames 11 are each equipped with a second motor 17. The output shafts of the two second motors 17 pass through the second mounting frames 11 and are connected to the corresponding threaded rods 16. The two second guide rods 12 are evenly spaced and inlaid with scale rings 18, which can be used to observe the position of the positioning plate 13. The inner sides of the two positioning plates 13 are each attached with a first protective pad 19, which can protect the workpiece when clamping. The inner sides of the two clamping plates 6 are each attached with a second protective pad 20, which can protect the workpiece when positioning.

[0022] When the robotic arm 1 is needed to grip the workpiece, the operator first starts the second motor 17. The second motor 17 drives the threaded rod 16 to move along the second guide rod 12. After the positioning plate 13 moves to the appropriate position, the two second motors 17 are turned off. Then, the operator starts the robotic arm 1, which moves the first mounting frame 2 to the appropriate position above the workpiece. After the first mounting frame 2 has moved, the robotic arm 1 is turned off, and the first motor 5 is started. The output shaft of the first motor 5 drives the bidirectional lead screw 3 to rotate. The rotation of the bidirectional lead screw 3 causes the two clamping plates 6 to move inward along the first guide rod 4. When the two clamping plates 6 move, they drive the two pressing plates 15 to move. When the two pressing plates 15 move, they press the pressing blocks 14 at the corresponding positions, causing the two pressing blocks 14 to drive the slider 10 to move inward along the connecting rod 9. The spring 1001 is compressed, and the slider 10 drives the connected parts... When a component moves, and a positioning plate 13 comes into contact with the workpiece, it can be pushed inward, causing the workpiece to move to the middle position of the first mounting frame 2, thus achieving the positioning effect. When the two clamping plates 6 and the two positioning plates 13 simultaneously contact the workpiece and clamp it, the first motor 5 is turned off. Then the user starts the robot arm 1 again, which will move the workpiece to the appropriate position for placement. After the robot arm 1 moves the workpiece to the appropriate position, it is turned off, and then the first motor 5 is started again to reverse. The output shaft of the first motor 5 drives the bidirectional lead screw 3 to reverse, causing the two clamping plates 6 to move outward, thus releasing the clamping of the workpiece. At the same time, the pressing plate 15 stops pressing the pressing block 14, and the spring 1001 gradually returns to its original state, driving the slider 10 and related components to reset, thereby releasing the positioning of the workpiece. After the two clamping plates 6 move to the appropriate position, the first motor 5 is turned off.

[0023] The above description is merely a specific embodiment of this utility model, but the protection scope of this utility model is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this utility model should be included within the protection scope of this utility model. Therefore, the protection scope of this utility model should be determined by the scope of the claims.

Claims

1. A robotic gripper with positioning function, comprising a robotic arm (1), a first mounting frame (2), a bidirectional lead screw (3), a first guide rod (4), a first motor (5), and clamping plates (6), wherein the robotic arm (1) is mounted on the first mounting frame (2), the bidirectional lead screw (3) is rotatably connected inside the first mounting frame (2), the first guide rod (4) is mounted inside the first mounting frame (2), the first motor (5) is mounted on the left side of the first mounting frame (2), the output shaft of the first motor (5) passes through the first mounting frame (2) and is fixedly connected to the bidirectional lead screw (3), clamping plates (6) are symmetrically threaded on the bidirectional lead screw (3), and the two clamping plates (6) are slidably connected to the first guide rod (4), characterized in that, It also includes a connecting plate (7), a mounting plate (8), a connecting rod (9), a slider (10), a spring (1001), a second mounting frame (11), a second guide rod (12), a positioning plate (13), an extrusion block (14), and an extrusion plate (15). The first mounting frame (2) is symmetrically fixedly connected to the front and rear sides of the connecting plate (7). The top of each of the two connecting plates (7) is equipped with a mounting plate (8). The two mounting plates (8) are fixedly connected to the two protrusions on the first mounting frame (2) with connecting rods (9). The two connecting rods (9) are slidably connected to the sliders (10). The two sliders (10) are connected to the corresponding... The corresponding connecting plate (7) is slidably fixedly connected. Springs (1001) are provided between the inner sides of the two sliders (10) and the two protrusions on the first mounting frame (2). The bottom of the two sliders (10) is equipped with a second mounting frame (11). The two second mounting frames (11) are symmetrically fixedly connected to the left and right sides. The two second guide rods (12) on the same side at the front and back are slidably connected to a positioning plate (13). The top of the two sliders (10) is connected to a pressing block (14). The rear side of the clamping plate (6) on the left side and the front side of the clamping plate (6) on the right side are both connected to a pressing plate (15).

2. The robotic gripper with positioning function as described in claim 1, characterized in that, It also includes a threaded rod (16), a second motor (17) and a scale ring (18). The threaded rod (16) is rotatably connected inside both second mounting frames (11). The positioning plate (13) is threadedly connected to the threaded rod (16). The second motor (17) is installed on the outer side of both second mounting frames (11). The output shaft of the two second motors (17) passes through the second mounting frame (11) and is fixedly connected to the corresponding threaded rod (16). The scale rings (18) are evenly spaced on the two second guide rods (12).

3. The robotic gripper with positioning function as described in claim 2, characterized in that, It also includes a first protective pad (19), and the first protective pad (19) is pasted on the opposite side of the two positioning plates (13).

4. The robotic gripper with positioning function as described in claim 3, characterized in that, It also includes a second protective pad (20), with the second protective pad (20) pasted on the opposite side of both clamping plates (6).

5. A robotic gripper with positioning function as described in claim 4, characterized in that, The front ends of the protrusions on both extrusion plates (15) are arc-shaped.

6. A robotic gripper with positioning function as described in claim 5, characterized in that, The extrusion block (14) is triangular.

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