Multifunctional mechanical arm tail end clamp

Abstract

The utility model discloses a multifunctional mechanical arm tail end clamp, and particularly relates to the technical field of mechanical arms, which comprises a mounting seat, a connecting flange is fixedly arranged at the top of the mounting seat, a fixing frame is fixedly arranged on one side of the mounting seat, a T-shaped block is slidably arranged on the inner wall of the fixing frame, and an adsorption mechanism is arranged on one side of the T-shaped block. The adsorption mechanism comprises a fixed ring fixedly arranged on one side of the T-shaped block, a movable disc is slidably arranged in the fixed ring, a mounting frame is fixedly arranged on one side of the movable disc, a vacuum suction cup is fixedly arranged on one side of the mounting frame, a vacuum pipe is arranged on one side of the vacuum suction cup in a penetrating mode, and an electromagnetic valve is arranged on one side of the vacuum pipe. The position of the adsorption mechanism can be flexibly adjusted, the adsorption mechanism can adapt to objects to be adsorbed at different positions, negative pressure can be rapidly formed, the objects can be efficiently adsorbed, the overall stability is ensured, angle adjustment of the adsorbed objects is achieved, and diversified operation requirements are met.

Description

Technical Field

[0001] This utility model relates to the field of robotic arm technology, and more specifically, to a multifunctional robotic arm end effector. Background Technology

[0002] In order to improve the production efficiency of some mechanical parts manufacturing, robotic arms are often used to move parts from one workstation to another. In the actual use of robotic arms, grippers are usually installed at the end of the robotic arm to grasp parts or materials, thereby realizing the automation of enterprise processing.

[0003] Most existing robotic arm end effectors have straight-plate clamping plates. In practical applications, when gripping roller-shaped or spherical parts, the parts are prone to slipping, affecting the stability of gripping the parts and the working efficiency of the robotic arm.

[0004] A search revealed Chinese patent CN218428411U, which discloses a robotic arm end effector. This structure uses connecting flanges, bolts, and nuts to achieve a fixed connection of the end effector to the end of the robotic arm. The sliding of a limiting clamping plate enables the gripping of parts, while a guide groove guides and limits the movement of the limiting clamping plate. The cooperation of the clamping plate stabilizing frame and elastic connecting parts improves the stability of the limiting clamping plate during sliding and the operational stability of the end effector during use. This enhances the stability of the end effector and the working efficiency of the robotic arm, further ensuring the company's production and processing progress. The design of the limiting fixing parts...

[0005] This design makes it easier to replace the clamp adjustment frame and improves the flexibility of the end effector of the robotic arm.

[0006] However, in actual use, when encountering smooth non-metallic objects such as glass or plastic sheets, this structure still relies on limiting auxiliary parts to grasp such objects. It is difficult to grasp workpieces of different shapes of non-metallic objects. The limiting auxiliary parts cannot provide enough friction to prevent the workpiece from slipping. If vibration occurs during the handling process, the workpiece can easily fall off the fixture, causing damage to the workpiece. Summary of the Invention

[0007] In order to overcome the above-mentioned defects of the prior art, the present invention provides a multifunctional robotic arm end effector to solve the problems mentioned in the background art.

[0008] To achieve the above objectives, this utility model provides the following technical solution:

[0009] A multifunctional robotic arm end effector includes a mounting base, a connecting flange fixedly disposed on the top of the mounting base, a fixing frame fixedly disposed on one side of the mounting base, a T-shaped block slidably disposed on the inner wall of the fixing frame, and an adsorption mechanism disposed on one side of the T-shaped block.

[0010] The adsorption mechanism includes a fixed ring fixedly disposed on one side of the T-shaped block, a movable disk slidably disposed inside the fixed ring, a mounting frame fixedly disposed on one side of the movable disk, a vacuum suction cup fixedly disposed on one side of the mounting frame, a vacuum tube extending through one side of the vacuum suction cup, a solenoid valve disposed on one side of the vacuum tube, a vacuum pump fixedly disposed on one side of the mounting frame, and the output end of the vacuum pump connected to the vacuum tube.

[0011] By adopting the above technical solution: the clamp is quickly fixed to the connecting flange and the robotic arm, ensuring that the fixture is installed firmly. Moreover, the T-shaped block slides within the fixed frame, which can flexibly adjust the position of the adsorption mechanism to adapt to objects to be adsorbed in different positions. It can also quickly form negative pressure, efficiently adsorb objects, and ensure overall stability.

[0012] As a further description of the above technical solution: a disassembly mechanism is provided on one side of the mounting frame. The disassembly mechanism includes two sliding grooves formed on the surface of the mounting frame. A slider is slidably arranged inside each of the two sliding grooves. The cross-section of the slider is T-shaped. An auxiliary limiting strip is fixedly arranged on one side of the slider. The surface of the auxiliary limiting strip is provided with a rubber layer. Multiple guide grooves are formed on the surface of the mounting frame. A guide frame is slidably arranged inside each of the multiple guide grooves. A limiting plate is fixedly arranged on one side of the guide frame. Threaded holes are formed on the surfaces of the mounting frame and the limiting plate. Bolts are threaded into the internal threads of the threaded holes.

[0013] By adopting the above technical solution, the auxiliary limit strip can be quickly removed through the combination of slide groove and slider, reducing maintenance time and cost. The design of guide groove, guide frame, limit plate and bolts makes it easy to adjust the position of the auxiliary limit strip, adapt to objects of different shapes and sizes, and improve the versatility of the fixture.

[0014] As a further description of the above technical solution: a small stepper motor is fixedly installed inside the fixed ring, and a rotating shaft is fixedly installed at the output end of the small stepper motor. One end of the rotating shaft is connected to the movable disk. A middle partition is fixedly installed inside the fixed frame, and electric telescopic rods are fixedly installed on both sides of the middle partition. One end of the electric telescopic rod is connected to the surface of the T-shaped block.

[0015] By adopting the above technical solution, a small stepper motor drives the rotating shaft, which in turn rotates the movable disk, enabling precise angle adjustment of the vacuum suction cup and the adsorbed object. This meets the needs of complex assembly or placement, achieves precise control of angle and position, improves operational accuracy, and ensures product quality and production efficiency.

[0016] The technical effects and advantages of this utility model are as follows:

[0017] By incorporating an adsorption mechanism, its design is more flexible compared to existing technologies. The T-shaped block is moved by an electric telescopic rod, allowing the adsorption mechanism to be flexibly adjusted to easily adapt to objects in different positions, greatly expanding the working range of the clamp. Secondly, the combination of vacuum suction cup, vacuum pump, and solenoid valve can quickly create a negative pressure environment between the suction cup and the object surface, generating strong adsorption force and stably gripping the object. In addition, the T-shaped block moves during its movement, which in turn moves the mounting frame, which in turn moves the auxiliary limiting strip. The rubber layer on the surface contacts the object surface and clamps it, allowing it to better fit the surface of objects of different shapes and positions, improving the reliability of adsorption, ensuring the long-term stable operation of the adsorption mechanism, and enhancing the overall practicality and reliability of the clamp.

[0018] By setting up a disassembly mechanism, compared with existing technologies, the disassembly operation of the auxiliary limit strip is well-organized and operable through the ingenious cooperation of components such as bolts, limit plates, guide grooves and guide frames. Operators can easily release the limit and move and replace components, reducing maintenance difficulty and making operation convenient and quick. The small stepper motor is cleverly built into the fixed ring and works in conjunction with the movable plate, mounting frame and vacuum suction cup, bringing significant advantages to the fixture. It can accurately drive the rotating shaft to rotate, thereby driving related components to adjust the angle of the adsorbed object and meet diverse operational needs. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the overall structure of this utility model.

[0020] Figure 2 This is a schematic diagram of the overall front view of the present invention.

[0021] Figure 3 This is a schematic diagram of the adsorption mechanism of this utility model.

[0022] Figure 4 This is a schematic diagram of the disassembly structure of the disassembly mechanism of this utility model.

[0023] Figure 5 This is a cross-sectional structural diagram of the disassembly mechanism of this utility model.

[0024] Figure 6 This is a schematic diagram of the overall bottom view of the present invention.

[0025] The attached diagram is labeled as follows: 1. Mounting base; 2. Connecting flange; 3. Fixing frame; 4. T-block; 5. Fixing ring; 6. Movable disc; 7. Mounting frame; 8. Vacuum suction cup; 9. Vacuum tube; 10. Solenoid valve; 11. Vacuum pump; 12. Slide groove; 13. Slider; 14. Auxiliary limit strip; 15. Rubber layer; 16. Guide groove; 17. Guide frame; 18. Limiting plate; 19. Bolt; 20. Small stepper motor; 21. Rotating shaft; 22. Middle partition plate; 23. Electric telescopic rod. Detailed Implementation

[0026] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0027] The embodiments disclosed in this application are as follows: Figure 1-6 The multifunctional robotic arm end effector shown includes a mounting base 1, a connecting flange 2 fixedly mounted on the top of the mounting base 1, a fixing frame 3 fixedly mounted on one side of the mounting base 1, a T-shaped block 4 slidably mounted on the inner wall of the fixing frame 3, and an adsorption mechanism mounted on one side of the T-shaped block 4.

[0028] The adsorption mechanism includes a fixed ring 5 fixedly mounted on one side of the T-shaped block 4. A movable disk 6 is slidably mounted inside the fixed ring 5. A mounting frame 7 is fixedly mounted on one side of the movable disk 6. A vacuum suction cup 8 is fixedly mounted on one side of the mounting frame 7. A vacuum tube 9 is passed through one side of the vacuum suction cup 8. A solenoid valve 10 is mounted on one side of the vacuum tube 9. A vacuum pump 11 is fixedly mounted on one side of the mounting frame 7. The output end of the vacuum pump 11 is connected to the vacuum tube 9. Activating the electric telescopic rods 23 on both sides of the partition 22 moves the T-shaped block 4, allowing it to slide within the fixed frame 3. Since the adsorption mechanism is located on one side of the T-shaped block 4, when the electric telescopic rods 23 extend or retract, they will... The entire adsorption mechanism moves to adjust the position of the vacuum suction cup 8 relative to the external robotic arm, facilitating the adsorption operation on objects in different positions. When the T-shaped block 4 reaches one side of the object to be adsorbed, the vacuum suction cup 8 adheres to the surface of the object. The vacuum pump 11 starts and extracts the air from the vacuum suction cup 8 through the vacuum tube 9, creating a negative pressure environment between the vacuum suction cup 8 and the surface of the object. The solenoid valve 10 can control the gas flow in the vacuum tube 9. As the vacuum level increases, the vacuum suction cup 8 will tightly adsorb the surface of the object. Since the vacuum tube 9 is installed through one side of the vacuum suction cup 8, the air in the vacuum tube 9 is continuously extracted, thereby generating sufficient adsorption force to grasp the object.

[0029] To ensure the stability of adsorption, the T-shaped block 4 moves along with the mounting frame 7, which in turn moves the auxiliary limiting strip 14. The rubber layer 15 on the surface contacts the object surface and clamps it, allowing it to better fit the object surface of different shapes and positions, thus improving the reliability of adsorption.

[0030] Reference Figure 2-4 As shown, a disassembly mechanism is provided on one side of the mounting frame 7. The disassembly mechanism includes two sliding grooves 12 formed on the surface of the mounting frame 7. A slider 13 is slidably disposed inside each of the two sliding grooves 12. The cross-section of the slider 13 is T-shaped. An auxiliary limiting strip 14 is fixedly disposed on one side of the slider 13. The surface of the auxiliary limiting strip 14 is provided with a rubber layer 15. Multiple guide grooves 16 are formed on the surface of the mounting frame 7. A guide frame 17 is slidably disposed inside each of the multiple guide grooves 16. A limiting plate 18 is fixedly disposed on one side of the guide frame 17. The surfaces of the mounting frame 7 and the limiting plate 18 are all... A threaded hole is provided, and a bolt 19 is connected to the threaded hole. When the auxiliary limiting strip 14 needs to be replaced, the operator first rotates the bolt 19 in the opposite direction to make the bolt 19 exit from the inside of the threaded hole, so that the limiting plate 18 is released from the mounting frame 7. Then, the guide frame 17 is moved to move inside the guide groove 16, thereby moving the guide frame 17 to the side away from the slide groove 12. Then, the slider 13 can be moved to exit inside the slide groove 12, thereby removing the auxiliary limiting strip 14 on one side of the slider 13 for replacement.

[0031] Reference Figure 5-6 As shown, a small stepper motor 20 is fixedly installed inside the fixed ring 5. A rotating shaft 21 is fixedly installed at the output end of the small stepper motor 20. One end of the rotating shaft 21 is connected to the movable disk 6. A middle partition 22 is fixedly installed inside the fixed frame 3. Electric telescopic rods 23 are fixedly installed on both sides of the middle partition 22. One end of the electric telescopic rod 23 is connected to the surface of the T-shaped block 4. The small stepper motor 20 is installed inside the fixed ring 5, and its output shaft 21 is connected to the movable disk 6. When it is necessary to adjust the angle of the object, the small stepper motor 20 can drive the rotating shaft 21 to rotate, thereby driving the movable disk 6 to rotate inside the fixed ring 5. The movable disk drives the mounting frame 7 and the vacuum suction cup 8 to rotate together, realizing the angle adjustment of the adsorbed object within a certain range to meet different operational needs.

[0032] Working principle of this utility model:

[0033] This utility model is a multifunctional end effector for a robotic arm. When in use, the end effector is connected to an external robotic arm via a connecting flange 2 on the top of the mounting base 1. The connecting flange 2 can be used to securely fix the clamp to the end of the external robotic arm with bolts and nuts, so that the external robotic arm can drive this device to perform various operations.

[0034] The electric telescopic rods 23 on both sides of the partition 22 are activated to move the T-shaped block 4, which can slide within the fixed frame 3. Since the adsorption mechanism is located on one side of the T-shaped block 4, when the electric telescopic rod 23 extends or retracts, it will drive the adsorption mechanism to move as a whole, adjusting the position of the vacuum suction cup 8 relative to the external robotic arm, so as to facilitate adsorption operations on objects in different positions. When the T-shaped block 4 reaches the side of the object to be adsorbed, the vacuum suction cup 8 adheres to the surface of the object. The vacuum pump 11 is activated, and the air in the vacuum suction cup 8 is extracted through the vacuum tube 9, forming a negative pressure environment between the vacuum suction cup 8 and the surface of the object. The solenoid valve 10 can control the gas flow in the vacuum tube 9. As the vacuum level increases, the vacuum suction cup 8 will tightly adsorb the surface of the object. Since the vacuum tube 9 is provided through one side of the vacuum suction cup 8, the air in the vacuum tube 9 is continuously extracted, thereby generating sufficient adsorption force to grab the object.

[0035] To ensure the stability of adsorption, the T-shaped block 4 moves along with the mounting frame 7, which in turn moves the auxiliary limiting strip 14. The rubber layer 15 on the surface contacts the object surface and clamps it, allowing it to better fit the object surface of different shapes and positions, thus improving the reliability of adsorption.

[0036] A small stepper motor 20 is installed inside the fixed ring 5. Its output shaft 21 is connected to the movable disk 6. When the angle of the object needs to be adjusted, the small stepper motor 20 can drive the shaft 21 to rotate, thereby causing the movable disk 6 to rotate inside the fixed ring 5. The movable disk drives the mounting frame 7 and the vacuum suction cup 8 to rotate together, so as to realize the angle adjustment of the adsorbed object within a certain range and meet different operation requirements.

[0037] When the auxiliary limiting strip 14 needs to be replaced, the operator first rotates the bolt 19 in the opposite direction to pull the bolt 19 out of the threaded hole, so that the limiting plate 18 is released from the mounting frame 7. Then, the guide frame 17 is moved to move inside the guide groove 16, thereby moving the guide frame 17 to the side away from the slide groove 12. Then, the slider 13 can be moved to pull out inside the slide groove 12, thereby removing the auxiliary limiting strip 14 on one side of the slider 13 for replacement.

[0038] The above are all preferred embodiments of this application, and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made in accordance with the structure, shape and principle of this application should be covered within the scope of protection of this application.

Claims

1. A multifunctional mechanical arm end clamp comprising a mounting seat (1), characterized in that: The top of the mounting seat (1) is fixedly provided with a connecting flange (2), one side of the mounting seat (1) is fixedly provided with a fixed frame (3), the inner wall of the fixed frame (3) is slidably provided with a T-shaped block (4), one side of the T-shaped block (4) is provided with a suction mechanism; The suction mechanism comprises a fixed ring (5) fixedly arranged on one side of the T-shaped block (4), the inside of the fixed ring (5) is slidably provided with a movable disc (6), one side of the movable disc (6) is fixedly provided with a mounting frame (7), one side of the mounting frame (7) is fixedly provided with a vacuum chuck (8), one side of the vacuum chuck (8) is throughly provided with a vacuum pipe (9), one side of the vacuum pipe (9) is provided with a solenoid valve (10), one side of the mounting frame (7) is fixedly provided with a vacuum pump (11), the output end of the vacuum pump (11) is connected with the vacuum pipe (9); One side of the mounting frame (7) is provided with a dismounting mechanism, the dismounting mechanism comprises two sliding grooves (12) opened on the surface of the mounting frame (7), the inside of the two sliding grooves (12) is slidably provided with a sliding block (13), the cross section of the sliding block (13) is T-shaped; One side of the sliding block (13) is fixedly provided with an auxiliary limiting strip (14), the surface of the auxiliary limiting strip (14) is provided with a rubber layer (15); The surface of the mounting frame (7) is provided with a plurality of guide grooves (16), the inside of the plurality of guide grooves (16) is slidably provided with a guide frame (17), one side of the guide frame (17) is fixedly provided with a limiting plate (18), the surface of the mounting frame (7) and the limiting plate (18) is provided with a threaded hole, the inside of the threaded hole is threadedly connected with a bolt (19).

2. The multi-functional robotic arm end effector of claim 1, wherein: The inside of the fixed ring (5) is fixedly provided with a small stepping motor (20), the output end of the small stepping motor (20) is fixedly provided with a rotating shaft (21), one end of the rotating shaft (21) is connected with the movable disc (6).

3. The multi-functional robotic arm end effector of claim 1, wherein: The inside of the fixed frame (3) is fixedly provided with a partition plate (22), the two sides of the partition plate (22) are fixedly provided with an electric telescopic rod (23), one end of the electric telescopic rod (23) is connected with the surface of the T-shaped block (4). The inside of the fixed frame (3) is fixedly provided with a partition plate (22), the two sides of the partition plate (22) are fixedly provided with an electric telescopic rod (23), one end of the electric telescopic rod (23) is connected with the surface of the T-shaped block (4).

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