Inner support type clamp for manipulator

Abstract

The utility model discloses an inner support type clamp for a manipulator, and belongs to the technical field of industrial automatic grippers. The inner supporting type clamp comprises a supporting arm, a clamping jaw assembly and a buffering assembly, the clamping jaw assembly is installed at one end of the supporting arm, and the buffering assembly comprises a magnetic conductive plate, an upper magnet, a lower magnet and a return electromagnet. The upper magnet and the lower magnet are symmetrically attracted to the upper surface and the lower surface of the magnetic conductive plate through the magnetic attraction effect, and the clamping jaw assembly is fixedly connected with the lower magnet. And the return electromagnet is fixedly mounted on the magnetic conductive plate and is used for adsorbing the upper magnet for resetting after being electrified. According to the scheme, the upper magnet, the lower magnet and the return electromagnet are additionally arranged, the upper magnet attracts the lower magnet, the upper magnet and the lower magnet synchronously move relative to the magnetic conductive plate, buffering in multiple directions can be achieved when a workpiece is grabbed, and therefore adaptability is improved; and the upper magnet is attracted to return through the return electromagnet, so that the accuracy of initial positioning of the upper magnet is ensured.

Description

Technical Field

[0001] This utility model relates to the field of industrial automation gripper technology, and more specifically, to an internal support gripper for a robotic arm. Background Technology

[0002] Industrial automation plays a vital role in modern manufacturing, and grippers, as an important component of automation systems, are crucial for improving production efficiency and product quality through enhanced performance and functionality. In traditional industrial automation, the precise picking up of grippers relies heavily on sophisticated sensors and mechanical positioning structures. However, with the increasing diversity of workpieces to be gripped, the requirements for sensors and positioning structures are constantly rising, making it difficult to simply, accurately, and efficiently adapt to scenarios requiring precise identification and orientation control of various material positions.

[0003] Machine vision has emerged and developed rapidly. Its simple hardware structure and high adaptability have made it the preferred choice for precise pose recognition of irregularly shaped workpieces. However, its accuracy is highly dependent on parameters such as camera characteristics, light source, algorithm control, and the surrounding environment. In some situations, such as complex backgrounds, the accuracy of machine vision may be adversely affected. Machine vision is often used in conjunction with the grippers of robotic arms to achieve precise material handling. When the accuracy of machine vision is limited, the buffering effect of the grippers becomes particularly important to reduce damage to the workpiece.

[0004] Traditional grippers typically buffer along the workpiece's gripping direction or along its height. This is achieved by incorporating buffer components, usually springs and guide rails, to prevent excessive gripping of the workpiece surface. For example, Chinese patent application number 2022227250871 discloses a robot gripper with a gripping buffer structure. The gripping arms are equipped with a buffer mechanism, which includes mounting blocks fixed to opposite sides of the two gripping arms. Each mounting block has a placement groove on its opposite side. Springs are fixed to the opposite side walls of the two placement grooves. Support plates are fixed to the opposite sides of the two springs, and the support plates are slidably connected inside the placement grooves. Connecting rods are fixed to the opposite sides of the two support plates. One end of each connecting rod extends through and to the outside of the placement groove. Clamping plates are fixed to the opposite ends of each connecting rod. Anti-slip pads are fixed to the opposite sides of each clamping plate.

[0005] However, the existing gripper's buffer assembly has a single buffer direction, resulting in low adaptability and a relatively complex structure. Utility Model Content

[0006] To address the problem of limited adaptability caused by the single-direction buffering in existing clamping devices, this invention provides an internally supported clamping device for robotic arms. This solution adds an upper magnet, a lower magnet, and a return electromagnet, allowing the upper magnet to attract the lower magnet and both to move synchronously relative to the magnetic guide plate. When gripping a workpiece, this clamping device can achieve buffering in multiple directions, thereby improving its adaptability. The return electromagnet is used to attract the upper magnet back to its original position, ensuring the accuracy of the upper magnet's initial positioning.

[0007] To achieve the above objectives, the technical solution provided by this utility model is as follows:

[0008] This utility model discloses an internal support gripper for a robotic arm, comprising a support arm, a gripper assembly, and a buffer assembly. The gripper assembly is mounted on one end of the support arm. The buffer assembly includes a magnetic plate, an upper magnet, a lower magnet, and a return electromagnet. The magnetic plate is horizontally mounted on one end of the support arm. The upper and lower magnets are symmetrically attracted to the upper and lower surfaces of the magnetic plate by magnetic attraction, and the gripper assembly is fixedly connected to the lower magnet. The return electromagnet is fixedly mounted on the magnetic plate and is used to attract the upper magnet for resetting after being energized.

[0009] Furthermore, there are two upper magnets, two lower magnets, and two return electromagnets. The two return electromagnets are spaced apart on the magnetic plate, and the two lower magnets are connected to the same gripper assembly.

[0010] Furthermore, the top view projection of the return electromagnet is the same as the outer contour of the top view projection of the upper magnet.

[0011] Furthermore, at least one of the upper and lower magnets is an electromagnet.

[0012] Furthermore, the upper and lower magnets have the same cross-section, and both are circular or ring-shaped magnets.

[0013] Furthermore, the return electromagnet is a ring magnet, and its upper surface is flush with the lower surface of the lower magnet.

[0014] Furthermore, the upper surface of the magnetic plate is provided with an annular groove for fixing and installing the return electromagnet.

[0015] Furthermore, it also includes a first connecting plate for connecting the magnetic plate and the support arm. The first connecting plate has a cavity for the lower magnet to slide relative to the magnetic plate. The first connecting plate is used to support the periphery of the lower surface of the magnetic plate.

[0016] Furthermore, a limiting plate is provided on the upper surface of the magnetic guide plate. The limiting plate has a cavity corresponding to the first connecting plate and is sleeved on the outside of the upper magnet. The cavity is used for the upper magnet to slide relative to the magnetic guide plate.

[0017] Furthermore, the gripper assembly includes a movable cylinder, the cylinder body of which is fixedly mounted on the lower magnet. The movable cylinder drives the two connecting clamping rods to move relative to each other, and an elastic pad is mounted on the opposite outer side of the two connecting clamping rods.

[0018] Compared with the prior art, the technical solution provided by this utility model has the following advantages:

[0019] (1) This utility model optimizes the design of the buffer assembly. Specifically, by symmetrically adsorbing the upper and lower magnets onto the upper and lower surfaces of the magnetic plate through magnetic attraction, the gripper assembly can slide along either the upper or lower surface of the magnetic plate. This buffering method not only ensures the stability of the adsorption force but also increases the sliding distance. In addition, when the return electromagnet is energized, it attracts the upper magnet to move closer to the return electromagnet, thereby realizing the return of the upper magnet and ensuring the consistency of the initial position of the upper magnet.

[0020] (2) The present invention further optimizes the design of the upper magnet and the lower magnet, so that the cross-sections of the two are the same, thereby facilitating the alignment of their axes. In addition, the outer contour of the return electromagnet and the upper magnet in top view projection are the same, so that when the return electromagnet attracts the upper magnet to return to its position, it is easy to achieve coaxial setting of the two.

[0021] (3) This utility model further adds a limiting plate. Specifically, the limiting plate has a corresponding cavity to prevent the upper magnet from falling off the magnetic guide plate when it slides, thus limiting the sliding trajectory of the upper magnet. Moreover, the first connecting plate has a cavity corresponding to the limiting plate to further limit the movement trajectory of the lower magnet. In addition, the first connecting plate is used to support the lower surface of the magnetic guide plate from all sides, increasing the stability of the magnetic guide plate support. Attached Figure Description

[0022] Figure 1 This is a three-dimensional structural diagram of an embodiment of the present utility model.

[0023] Figure 2 This is a cross-sectional schematic diagram of a partial structure of an embodiment of the present utility model.

[0024] Figure 3 for Figure 2 A magnified schematic diagram of a local structure.

[0025] Figure 4 for Figure 1 A schematic diagram of the left-side view structure.

[0026] Figure 5 for Figure 1 A top-view structural diagram.

[0027] Label Explanation:

[0028] 1. Support arm;

[0029] 2. First connecting plate;

[0030] 3. Magnetic plate;

[0031] 4. Add a magnet;

[0032] 5. Lower the magnet;

[0033] 6. Return electromagnet;

[0034] 7. Limit plate;

[0035] 8. Moving cylinder;

[0036] 9. Connecting clamp rod;

[0037] 10. Elastic pad;

[0038] 11. Sensors;

[0039] 12. Second connecting plate;

[0040] 13. Third connecting plate. Detailed Implementation

[0041] To further understand the content of this utility model, a detailed description of this utility model will be provided in conjunction with the accompanying drawings and embodiments.

[0042] The structures, proportions, and sizes illustrated in the accompanying drawings are merely for illustrative purposes and to aid those skilled in the art in understanding and reading the invention. They are not intended to limit the scope of the invention and therefore have no substantial technical significance. Any modifications to the structure, changes in proportions, or adjustments to size, without affecting the effectiveness and purpose of the invention, should still fall within the scope of the technical content disclosed in this utility model. Furthermore, terms such as "upper," "lower," "left," "right," and "middle" used in this specification are merely for clarity and not intended to limit the scope of implementation. Changes or adjustments to their relative relationships, without substantially altering the technical content, should also be considered within the scope of the invention's implementation.

[0043] This embodiment provides an internal support gripper for a robotic arm, reference... Figures 1-5 As shown, the device includes a support arm 1, a gripper assembly, and at least one buffer assembly. The gripper assembly is installed at one end of the support arm 1. The buffer assembly includes a magnetic plate 3, an upper magnet 4, a lower magnet 5, and a return electromagnet 6. The magnetic plate 3 is horizontally installed on the support arm 1. The upper magnet 4 and the lower magnet 5 are symmetrically attracted to the upper and lower surfaces of the magnetic plate 3 by magnetic attraction, and the gripper assembly is fixedly connected to the lower magnet 5. The return electromagnet 6 is fixedly installed on the magnetic plate 3 and is used to attract the upper magnet 4 for resetting after being energized.

[0044] The support arm 1 is fixedly installed at the end of the robot arm. The robot arm drives the support arm 1 and its components to move, thereby moving the gripper to the position to be grasped.

[0045] Among them, the adjacent surfaces of the upper magnet 4 and the lower magnet 5 are opposite magnetic poles to achieve the attraction between the two; the upper magnet 4 and the lower magnet 5 can slide synchronously along the upper and lower surfaces of the magnetic plate 3.

[0046] When the impact force of the gripper assembly on the workpiece exceeds the maximum frictional force between the lower magnet 5 and the magnetic guide plate 3, the lower magnet 5 drives the gripper assembly to slide relative to the magnetic guide plate 3. This effectively prevents excessive impact force between the workpiece and the gripper assembly, thereby reducing the impact force and achieving a buffering effect. This buffering method allows the gripper assembly to slide in any direction along the upper or lower surface of the magnetic guide plate 3, that is, the buffering direction is any direction within the plane, rather than sliding along a preset single straight line.

[0047] When a robotic arm uses its end effector to grasp a workpiece, the workpiece can be placed in various positions, such as within a rectangular open frame, especially at the corners or edges of the frame. The inner walls of the frame are typically rectangular cavities, with adjacent inner walls perpendicular to each other. If the buffer direction is unidirectional, i.e., parallel to one of the inner walls A, the gripper may collide with the other inner wall B; where inner walls A and B are adjacent and parallel.

[0048] If the upper magnet 4 is fixedly mounted on the magnetic guide plate 3, and the lower magnet 5 is slidably mounted relative to the magnetic guide plate 3 and used to connect the gripper assembly, the purpose of buffering in any direction in the plane can also be achieved. However, in the aforementioned method, during the buffering process, the lower magnet 5 moves away from the upper magnet 4, reducing the attraction force between them, which is detrimental to the stability of the gripper assembly's attraction and limits the sliding distance. In addition, it may cause the lower magnet 5 to be attracted by the upper magnet 4 and reset prematurely, resulting in a collision between the workpiece and the material frame. By symmetrically adsorbing the upper magnet 4 and the lower magnet 5 onto the upper and lower surfaces of the magnetic guide plate 3 through magnetic attraction, and by adding a return electromagnet 6, not only can the stability of the attraction force be guaranteed, but the sliding distance can also be increased. By energizing the return electromagnet 6, the upper magnet 4 is attracted to reset, ensuring the consistency of the initial position of the upper magnet 4.

[0049] The working principle of the return electromagnet 6 is as follows: Normally, the return electromagnet 6 is in a state without current, in which state it has no magnetism or very weak magnetism. When the upper magnet 4 slides relative to the magnetic plate 3, the magnetism of the return electromagnet 6 is insufficient to restrict the movement of the upper magnet 4. When the return electromagnet 6 is energized, in this state its magnetism is stronger, attracting the upper magnet 4 towards the return electromagnet 6, thereby achieving the return of the upper magnet 4 and the lower magnet 5 to their original positions.

[0050] Among them, reference Figure 3 As shown, a wire groove is provided on the side of the magnetic plate 3, and the wire is connected to the return electromagnet 6 through the wire groove to energize it.

[0051] To improve the stability of the sliding of the upper magnet 4 and the lower magnet 5 relative to the magnetic plate 3, the number of the upper magnet 4, the lower magnet 5, and the return electromagnet 6 can be set to two or more. Preferably, the number of the upper magnet 4, the lower magnet 5, and the return electromagnet 6 are all set to two, with the two return electromagnets 6 spaced apart on the magnetic plate 3, and the two lower magnets 5 connected to the same gripper assembly.

[0052] By connecting the two lower magnets 5 to the same gripper assembly, the attraction force on the gripper assembly is increased. Furthermore, since both lower magnets 5 are mounted on the same gripper assembly, the relative position between the two lower magnets 5 can be defined.

[0053] As a further preferred arrangement of the return electromagnet 6, the top view projection of the return electromagnet 6 is the same as the outer contour of the top view projection of the upper magnet 4, thereby achieving coaxial arrangement of the two.

[0054] In some embodiments, at least one of the upper magnet 4 and the lower magnet 5 is an electromagnet, thereby facilitating the control of its magnetic strength or magnetic field distribution by means of current intensity. Specifically, the electromagnet is made of a nickel-iron alloy.

[0055] During the gripping process, the magnetic strength is specifically controlled as follows: The robotic arm moves the support arm 1 and its upper components to the position of the workpiece to be gripped. Before the gripper assembly stably holds the workpiece, the current in the upper magnet 4 or lower magnet 5 is A1. After the gripper assembly stably holds the workpiece, the current in the upper magnet 4 or lower magnet 5 is A2, which is greater than A1, thus increasing its magnetic strength to increase the attraction force and thus stably lift the workpiece. Simultaneously, during the contact between the gripper assembly and the workpiece, the attraction force between the upper magnet 4 and lower magnet 5 is less than the attraction force after the workpiece is lifted, allowing the upper magnet 4 or lower magnet 5 to slide along the upper and lower surfaces of the magnetic guide plate 3 for better cushioning.

[0056] More specifically, a lubricant is provided between the upper magnet 4 and the upper surface of the magnetic guide plate 3 to reduce the friction between the upper magnet 4 and the magnetic guide plate 3, so as to facilitate the sliding of the upper magnet 4 relative to the magnetic guide plate 3.

[0057] Preferably, the upper magnet 4 and the lower magnet 5 have the same cross-section, and both are circular or ring-shaped magnets, which facilitates the alignment of their axes. Furthermore, the upper magnet 4 and the lower magnet 5 can have different heights.

[0058] In a preferred embodiment of the return electromagnet 6, the return electromagnet 6 is a ring magnet, the upper surface of which is flush with the lower surface of the magnetic plate 3. Furthermore, the return electromagnet 6 is made of a nickel-iron alloy.

[0059] Specifically, the number of return electromagnets 6 is set to two, and the two return electromagnets 6 are symmetrically arranged about the center of the magnetic plate 3.

[0060] More specifically, the upper surface of the magnetic plate 3 is provided with an annular groove for fixing and installing the return electromagnet 6, thereby facilitating the installation of the return electromagnet 6.

[0061] As a preferred embodiment of the magnetic plate 3, it is made of 1J50 high permeability magnetic alloy.

[0062] As an extension, it also includes a first connecting plate 2 for connecting the magnetic plate 3 and the support arm 1. The first connecting plate 2 has a cavity for the lower magnet 5 to slide relative to the magnetic plate 3. The first connecting plate 2 is used to support the lower surface of the magnetic plate 3 around its perimeter, increasing the stability of the support for the magnetic plate 3. The lower magnet 5 passes through the cavity in the first connecting plate 2 and can slide relative to the magnetic plate 3 within it. The first connecting plate 2 also serves to limit the sliding trajectory of the lower magnet 5.

[0063] Specifically, the first connecting plate 2 is an L-shaped connecting plate, which consists of a connecting vertical plate and a connecting horizontal plate. The connecting vertical plate is installed on the support arm 1, and the magnetic guide plate 3 is set on the upper surface of the connecting horizontal plate. The connecting horizontal plate 202 has a cavity for the lower magnet 5 to pass through and slide relative to the magnetic guide plate 3.

[0064] To limit the sliding trajectory of the upper magnet 4 relative to the magnetic guide plate 3, a limiting plate 7 is also provided on the upper surface of the magnetic guide plate 3. The limiting ring plate 7 has a cavity corresponding to the first connecting plate 2 and is sleeved on the outside of the upper magnet 4. The cavity can be used for the upper magnet 4 to slide relative to the magnetic guide plate 3. In use, the upper magnet 4 passes through the cavity in the limiting plate 7 and can slide relative to the magnetic guide plate 3 within it.

[0065] It should be understood that multiple upper magnets 4 can share the same sliding cavity, or each upper magnet 4 can be provided with its own cavity. This can be achieved by providing multiple spaced cavities for the upper magnets 4 to slide on the limiting plate 7. Multiple lower magnets 5 can share the same sliding cavity, or each lower magnet 5 can be provided with its own cavity. This can be achieved by providing multiple spaced cavities for the lower magnets 5 to slide on the first connecting plate 2.

[0066] As a further preferred embodiment of any of the above, the gripper assembly includes a movable cylinder 8, the cylinder body of which is fixedly mounted on the lower magnet 5. The movable cylinder 8 drives the two connecting clamping rods 9 to move relative to each other. The moving direction of the movable cylinder 8 is parallel to the upper or lower surface of the magnetic guide plate 3. The elastic pad 10 is installed on the opposite outer side of the two connecting clamping rods 9.

[0067] Specifically, it also includes a third connecting plate 13 for connecting the movable cylinder 8 and the lower magnet 5. The third connecting plate 13 is composed of a horizontal plate and an L-shaped plate connected together, wherein the horizontal plate is fixedly connected to the lower magnet 5, and the movable cylinder 8 is installed at the bend of the L-shaped plate.

[0068] More specifically, the movable cylinder 8 is preferably a dual-axis cylinder, and further, it can be selected as a TDX dual-axis double-acting cylinder. Preferably, the two connecting rods 9 are L-shaped, with their upper ends mounted on the output end of the movable cylinder 8 and their lower ends facing the middle of the dual-axis cylinder.

[0069] The elastic pad 10 is installed on the outer sides of the two connecting clamping rods 9 on opposite sides. The elastic pad 10 contacts the annular inner wall of the workpiece to be clamped, meaning the gripper assembly is an internally supported gripper. The elastic pad 10 also provides cushioning, reducing the impact force transmitted to the lower magnet 5. When gripping an annular workpiece, the elastic pad 10 is preferably a fluororubber silicone pad, reducing pressure damage to the workpiece and increasing friction. More preferably, the fluororubber silicone pad is treated with wear resistance and roughening to increase friction with the workpiece and extend its service life. Furthermore, since the moving direction of the moving cylinder 8 is parallel to the upper or lower surface of the magnetic plate 3, friction between the elastic pad 10 and the material is reduced, further improving the durability of the elastic pad.

[0070] As an extension, a sensor 11 and a second connecting plate 12 are also included. The sensor 11 is mounted on the support arm 1 via the second connecting plate 12 and is positioned close to the gripper assembly. The sensor 11 is a contact sensor capable of accurately sensing the position of the workpiece to be gripped. (Reference) Figure 4 As shown, it is set vertically, and the specific sensing process is as follows: by contacting the upper surface of the workpiece to be grasped, its distance in the vertical direction is accurately sensed.

[0071] As an extension option, the support arm 1 is preferably made of aluminum profile, which is convenient to use as an installation base, has relatively high precision, and is easy to process into the required size.

[0072] The specific operation process of the manipulator using the internal support gripper is as follows: When the gripper assembly is driven by the manipulator body, it moves to the approximate center position of the workpiece to be gripped. Under the drive of the moving cylinder 8, the two connecting gripper rods 9 in the gripper assembly move away from each other, and the elastic pad 10 contacts the inner wall of the workpiece. When the impact force between the workpiece and the elastic pad 10 is large, the impact force is transmitted to the lower magnet 5. The lower magnet 5 slides relative to the magnetic guide plate 3, thereby realizing the movement of the gripper assembly and attracting the upper magnet 4 to move synchronously.

[0073] The present invention and its embodiments have been described above illustratively. This description is not restrictive, and the figures shown are only one embodiment of the present invention; the actual structure is not limited thereto. Therefore, if those skilled in the art are inspired by this description and design similar structures and embodiments without departing from the inventive spirit of the present invention, such designs should fall within the protection scope of the present invention.

Claims

1. A support-type gripper for a robotic arm, comprising a support arm (1), a gripper assembly, and a buffer assembly, wherein the gripper assembly is mounted on one end of the support arm (1), characterized in that, The buffer assembly includes a magnetic plate (3), an upper magnet (4), a lower magnet (5), and a return electromagnet (6), wherein: The magnetic plate (3) is horizontally installed at one end of the support arm (1). The upper magnet (4) and the lower magnet (5) are symmetrically attracted to the upper and lower surfaces of the magnetic plate (3) by magnetic attraction. The gripper assembly is fixedly connected to the lower magnet (5). The return electromagnet (6) is fixedly installed on the magnetic plate (3). The return electromagnet (6) is used to attract the upper magnet (4) for resetting after being energized.

2. The internal support gripper for a robotic arm according to claim 1, characterized in that, The number of the upper magnet (4), lower magnet (5) and return electromagnet (6) are all provided in pairs. The two return electromagnets (6) are distributed at intervals on the magnetic plate (3), and the two lower magnets (5) are connected to the same gripper assembly.

3. The internal support gripper for a robotic arm according to claim 1, characterized in that, The top view projection of the return electromagnet (6) is the same as the outer contour of the top view projection of the upper magnet (4).

4. The internal support gripper for a robotic arm according to any one of claims 1-3, characterized in that, At least one of the upper magnet (4) and the lower magnet (5) is an electromagnet.

5. The internal support gripper for a robotic arm according to claim 4, characterized in that, The upper magnet (4) and the lower magnet (5) have the same cross-section, and both are circular magnets and ring magnets.

6. The internal support gripper for a robotic arm according to any one of claims 1-3, characterized in that, The return electromagnet (6) is a ring magnet, and its upper surface is flush with the lower surface of the upper magnet (4).

7. The internal support gripper for a robotic arm according to claim 6, characterized in that, The upper surface of the magnetic plate (3) is provided with an annular groove for fixing and installing the return electromagnet (6).

8. The internal support gripper for a robotic arm according to any one of claims 1-3, characterized in that, It also includes a first connecting plate (2) for connecting the magnetic plate (3) and the support arm (1). The first connecting plate (2) has a cavity for the lower magnet (5) to slide relative to the magnetic plate (3). The first connecting plate (2) is used to support the lower surface of the magnetic plate (3) around its perimeter.

9. The internal support gripper for a robotic arm according to claim 8, characterized in that, The upper surface of the magnetic guide plate (3) is also provided with a limiting plate (7). The limiting plate (7) is provided with a cavity corresponding to the first connecting plate (2) and is sleeved on the outside of the upper magnet (4). The cavity is used for the upper magnet (4) to slide relative to the magnetic guide plate (3).

10. The internal support gripper for a robotic arm according to claim 9, characterized in that, The gripper assembly includes a movable cylinder (8), the cylinder body of which is fixedly mounted on the lower magnet (5). The movable cylinder (8) drives two connecting clamp rods (9) to move relative to each other, and an elastic pad (10) is installed on the opposite outer side of the two connecting clamp rods (9).

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