Manipulator clamping assembly

Abstract

The utility model relates to the technical field of manipulators, and discloses a manipulator clamping assembly which comprises a fixing ring, the inner wall of the fixing ring is rotationally connected with a rotating block, the inner wall of the rotating block is provided with a plurality of limiting assemblies used for limiting position movement of a clamping structure, the tops of the limiting assemblies are fixedly connected with a connecting plate, and the connecting plate is fixedly connected with the rotating block. The top of the connecting plate is fixedly connected with a protection assembly for external protection of the grabbing structure, the inner wall of the protection assembly is slidably connected with a sliding plate, the inner wall of the sliding plate is provided with a plurality of groove holes, the inner walls of the groove holes are slidably connected with sliding blocks, and the exteriors of the sliding blocks are fixedly connected with second springs. According to the utility model, the plurality of sliding blocks can slide to a certain degree when being in contact with the surface of an object, and the reset of the spring II drives the sliding blocks to continuously contact with the surface of the object, so that the surface of the claw body can form a grabbing surface suitable for different objects, and the impact force to the object during clamping can be reduced.

Description

Technical Field

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

[0002] A robotic arm is an automated operating device that can mimic certain movements and functions of a human hand and arm to grasp, move objects, or operate tools according to a fixed program. Its functions include improving production efficiency, reducing costs, and improving the working environment.

[0003] A robotic gripper assembly is a device used to grasp and manipulate objects. It typically consists of grippers, a drive system, and a control system. Its working principle is to use the drive system to provide power and use a mechanical structure to open and close the grippers, thereby achieving the gripping and release of objects. It is widely used in industrial production and other fields.

[0004] In existing technologies, when a robotic gripper assembly grips an object, the hard robotic arm generates friction against the object's surface, which can lead to wear and scratches, affecting the object's appearance and precision. Excessive friction can also generate heat, damaging the object's surface and even causing localized deformation, thus reducing product quality. Therefore, a robotic gripper assembly is proposed to solve the above problems. Utility Model Content

[0005] To overcome the above shortcomings, this utility model provides a robotic gripper assembly, which aims to improve the problem that the friction between the hard robotic gripper and the object surface during gripping in the prior art easily leads to wear, scratches, deformation and overheating of the object.

[0006] To achieve the above objectives, the present invention adopts the following technical solution:

[0007] A robotic gripper assembly includes a fixed ring, a rotating block rotatably connected to the inner wall of the fixed ring, and multiple limiting components for limiting the positional movement of a gripping structure on the inner wall of the rotating block. A connecting plate is fixedly connected to the top of the limiting components, and a protective component for external protection of the gripping structure is fixedly connected to the top of the connecting plate. A sliding plate is slidably connected to the inner wall of the protective component, and multiple slots are formed in the inner wall of the sliding plate. A sliding block is slidably connected to the inner wall of the slots. A second spring is fixedly connected to the outside of the sliding block, and the other end of the second spring is fixedly connected to the inner wall of the protective component. A limiting ring is fixedly connected to the outside of the sliding block, and multiple first springs are fixedly connected to the outside of the limiting ring. The other ends of the multiple first springs are fixedly connected to the inner wall of the sliding plate.

[0008] As a further description of the above technical solution:

[0009] The protective component includes a claw body, the bottom of which is fixedly connected to the top of the connecting plate, and a claw tip fixedly connected to the top of the claw body.

[0010] As a further description of the above technical solution:

[0011] The limiting component includes multiple limiting holes, which are formed on the inner wall of the rotating block, and each of the inner walls of the multiple limiting holes is slidably connected to a limiting rod.

[0012] As a further description of the above technical solution:

[0013] The outer side of the slide plate is slidably connected to the inner wall of the claw body, and the outer side of the limiting ring is in contact with the inner wall of the slide plate.

[0014] As a further description of the above technical solution:

[0015] The inner wall of the claw body is provided with multiple slots, and the other end of the second spring is fixedly connected to the inner wall of the slot.

[0016] As a further description of the above technical solution:

[0017] The bottom of the connecting plate is fixedly connected to the top of the limiting rod, and a sliding pad is fixedly connected to the other end of the limiting rod.

[0018] As a further description of the above technical solution:

[0019] The inner wall of the fixed ring is provided with multiple sliding grooves, and a sliding rod is slidably connected to the inner wall of the sliding groove.

[0020] As a further description of the above technical solution:

[0021] A limit block is fixedly connected to the bottom of the sliding rod, and the other end of the sliding rod is fixedly connected to the bottom of the connecting plate.

[0022] This utility model has the following beneficial effects:

[0023] 1. In this utility model, multiple sliding blocks can slide to a certain extent when they contact the surface of an object, thereby causing the second spring to deform. The reset of the second spring causes the sliding blocks to continue to contact the surface of the object, so that the surface of the claw can form a gripping surface suitable for different objects, which can reduce the impact force on the object during clamping and reduce the risk of wear and scratches on the object surface.

[0024] 2. In this utility model, the outer side of the sliding rod slides along the inner wall of the groove, and the limiting block prevents the sliding rod from disengaging due to positional changes, thus providing stable support and following for the positional changes of the limiting rod. This ensures the stability of the gripping structure driven by the connecting plate when it changes position, adds a limit to the gripping path of the robotic gripper assembly, and can precisely control the range of motion of the robotic claw to prevent it from overtraveling and damaging objects or equipment. Attached Figure Description

[0025] Figure 1 This is a perspective view of a robotic gripper assembly proposed in this utility model;

[0026] Figure 2 This is a schematic diagram of the structure of a gripping component of a robotic arm according to the present invention;

[0027] Figure 3 This is a schematic diagram of the structure of a buffer component of a robotic gripper assembly proposed in this utility model;

[0028] Figure 4 This is a schematic diagram of the positioning component of a robotic gripper assembly proposed in this utility model;

[0029] Figure 5 for Figure 3 Enlarged view of point A in the middle;

[0030] Figure 6 for Figure 3 Enlarged view of point B in the middle.

[0031] Legend:

[0032] 1. Fixed ring; 2. Rotating block; 3. Slide groove; 4. Limiting hole; 5. Sliding rod; 6. Limiting block; 7. Connecting plate; 8. Limiting rod; 9. Sliding pad; 10. Claw body; 11. Claw tip; 12. Slide plate; 13. Sliding block; 14. Limiting ring; 15. Spring 1; 16. Spring 2; 17. Slot hole; 18. Groove. Detailed Implementation

[0033] 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.

[0034] Reference Figure 1 , Figure 2 and Figure 3This utility model provides an embodiment of a robotic gripper assembly, including a fixed ring 1 for positioning the moving part of the gripper assembly and supporting the overall structure. A rotating block 2 is rotatably connected to the inner wall of the fixed ring 1, and the rotating block 2 transmits driving force. The inner wall of the rotating block 2 has multiple limiting components for limiting the positional movement of the gripping structure. Each limiting component includes multiple limiting holes 4, which are located on the inner wall of the rotating block 2. Changes in the position of the rotating block 2 can cause changes in the position of the multiple limiting holes 4. Limiting rods 8 are slidably connected to the inner walls of each of the multiple limiting holes 4, and changes in the position of the multiple limiting holes 4 can cause changes in the position of the limiting rods 8.

[0035] A connecting plate 7 is fixedly connected to the top of the limiting assembly, limiting the movement of the connecting plate 7 and maintaining its positional stability during movement. The bottom of the connecting plate 7 is fixedly connected to the top of the limiting rod 8, and the positional change of the limiting rod 8 causes the connecting plate 7 to move accordingly. A sliding pad 9 is fixedly connected to the other end of the limiting rod 8, which limits the movement of the limiting rod 8, preventing it from detaching from the rotating block 2. Multiple sliding grooves 3 are formed on the inner wall of the fixing ring 1, and a sliding rod 5 is slidably connected to the inner wall of each groove 3, allowing the sliding rod 5 to move along the groove 3. A limiting block 6 is fixedly connected to the bottom of the sliding rod 5, limiting its movement. The other end of the sliding rod 5 is fixedly connected to the bottom of the connecting plate 7, and the positional change of the connecting plate 7 causes the sliding rod 5 to move accordingly.

[0036] Reference Figure 3 , Figure 5 and Figure 6 A protective assembly for the gripping structure is fixedly connected to the top of the connecting plate 7. This protective assembly includes a claw body 10, the bottom of which is fixedly connected to the top of the connecting plate 7, allowing the claw body 10 to move with the position of the connecting plate 7. Claw tips 11 are fixedly connected to the top of the claw body 10, forming an external protective layer to prevent the object from easily slipping out when gripping it. A sliding plate 12 is slidably connected to the inner wall of the protective assembly, its outer surface slidably connected to the inner wall of the claw body 10. The claw body 10 limits the sliding position of the sliding plate 12. Multiple slots 18 are formed on the inner wall of the sliding plate 12, and sliding blocks 13 are slidably connected to the inner wall of each slot. This allows the sliding blocks 13 to move along the slots 18, making their movement more precise. A second spring 16 is fixedly connected to the outside of the sliding block 13. The position change of the sliding block 13 causes the second spring 16 to deform. The reset of the second spring 16 can drive the sliding block 13 to reset its position.

[0037] The other end of spring 16 is fixedly connected to the inner wall of the protective component. The protective component fixes the other end of spring 16 in a fixed position, preventing spring 16 from easily shifting during deformation. A limiting ring 14 is fixedly connected to the outside of the sliding block 13. Changes in the position of the sliding block 13 cause changes in the position of the limiting ring 14. The outside of the limiting ring 14 contacts the inner wall of the slide plate 12, allowing the slide plate 12 to move to a certain extent when the limiting ring 14 moves. Multiple springs 15 are fixedly connected to the outside of the limiting ring 14. Changes in the position of the limiting ring 14 cause deformation of the springs 15. The other ends of the multiple springs 15 are fixedly connected to the inner wall of the slide plate 12. The reset of the springs 15 causes the limiting ring 14 to move closer to the slide plate 12. The inner wall of the claw body 10 is provided with multiple slots 17. The other end of the second spring 16 is fixedly connected to the inner wall of the slot 17. The slot 17 has the function of fixing the position of the other end of the second spring 16, so that the second spring 16 keeps one end of the position stable during the movement.

[0038] Working principle: When multiple claws 10 simultaneously grasp an object, multiple sliding blocks 13 can slide to a certain extent when in contact with the object surface, causing the second spring 16 to deform. The reset of the second spring 16 causes the sliding blocks 13 to continue to contact the object surface, and the movement of the sliding blocks 13 can cause the first spring 15 to slide the slide plate 12 to a certain extent, so that the surface of the claw 10 can form a gripping surface suitable for different objects. After reset, it adds a buffer structure to the mechanical claw of the robotic gripper assembly, which can reduce the impact force on the object during gripping, reduce the risk of wear and scratches on the object surface, prevent excessive heat generated due to excessive friction from damaging the object, and help improve product quality and gripping stability.

[0039] The robotic arm drive structure enables multiple limiting holes 4 to rotate simultaneously when the rotating block 2 rotates, causing multiple limiting rods 8 to change position accordingly. The sliding pad 9 prevents the limiting rods 8 from detaching from the structure during position changes. At the other end, due to the connecting plate 7, the outer side of the sliding rod 5 slides along the inner wall of the sliding groove 3. The limiting block 6 prevents the sliding rod 5 from detaching during position changes, providing stable support and following for the position changes of the limiting rods 8. This ensures the stability of the gripping structure driven by the connecting plate 7 during position changes. Adding a limit to the gripping path of the robotic arm's gripping assembly allows for precise control of the robotic claw's movement range, preventing it from overtraveling and damaging objects or equipment. It ensures accurate gripping position, improves work efficiency and quality, guarantees safe and stable production processes, and enhances the reliability and practicality of the robotic arm structure.

[0040] Finally, it should be noted that the above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Although the present utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A robotic gripper assembly, comprising a retaining ring (1), characterized in that: The inner wall of the fixed ring (1) is rotatably connected to a rotating block (2). The inner wall of the rotating block (2) is provided with a plurality of limiting components for limiting the position movement of the clamping structure. The top of the limiting component is fixedly connected to a connecting plate (7). The top of the connecting plate (7) is fixedly connected to a protective component for the external protection of the gripping structure. The inner wall of the protective component is slidably connected to a sliding plate (12). The inner wall of the sliding plate (12) is provided with a plurality of slots (18). The inner wall of the slots (18) is slidably connected to a sliding block (13). The outer side of the sliding block (13) is fixedly connected to a second spring (16). The other end of the second spring (16) is fixedly connected to the inner wall of the protective component. The outer side of the sliding block (13) is fixedly connected to a limiting ring (14). The outer side of the limiting ring (14) is fixedly connected to a plurality of first springs (15). The other end of the plurality of first springs (15) is fixedly connected to the inner wall of the sliding plate (12).

2. The robotic gripper assembly according to claim 1, characterized in that: The protective component includes a claw body (10), the bottom of which is fixedly connected to the top of the connecting plate (7), and a claw tip (11) is fixedly connected to the top of the claw body (10).

3. The robotic gripper assembly according to claim 2, characterized in that: The limiting component includes multiple limiting holes (4), which are formed on the inner wall of the rotating block (2), and each of the multiple limiting holes (4) is slidably connected to a limiting rod (8).

4. A robotic gripper assembly according to claim 3, characterized in that: The outer side of the slide plate (12) is slidably connected to the inner wall of the claw body (10), and the outer side of the limiting ring (14) is in contact with the inner wall of the slide plate (12).

5. A robotic gripper assembly according to claim 4, characterized in that: The inner wall of the claw body (10) is provided with a plurality of slots (17), and the other end of the second spring (16) is fixedly connected to the inner wall of the slots (17).

6. A robotic gripper assembly according to claim 5, characterized in that: The bottom of the connecting plate (7) is fixedly connected to the top of the limiting rod (8), and the other end of the limiting rod (8) is fixedly connected to a sliding pad (9).

7. A robotic gripper assembly according to claim 6, characterized in that: The inner wall of the fixed ring (1) is provided with multiple sliding grooves (3), and a sliding rod (5) is slidably connected to the inner wall of the sliding groove (3).

8. A robotic gripper assembly according to claim 7, characterized in that: The bottom of the sliding rod (5) is fixedly connected to a limiting block (6), and the other end of the sliding rod (5) is fixedly connected to the bottom of the connecting plate (7).

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