Manipulator grabbing mechanism

Abstract

The utility model relates to the technical field of manipulators, in particular to a manipulator material grabbing mechanism which comprises a supporting seat, a mechanical arm, a grabbing mechanism and a pressing mechanism, the mechanical arm is fixedly installed on the supporting seat, the grabbing mechanism is fixedly installed on the mechanical arm and used for grabbing materials, and the pressing mechanism is fixedly installed on the grabbing mechanism and used for pressing the materials. The downward pressing mechanism is used for downward pressing and fixing materials grabbed by the grabbing mechanism, the grabbing mechanism comprises a clamping plate, a mounting plate, a lifting mechanism and a moving mechanism, the mounting plate is fixedly mounted on the mechanical arm, the clamping plate is slidably mounted on the mounting plate through the moving plate, and the lifting mechanism is mounted on the clamping plate in a hinged mode. According to the mechanical arm material grabbing mechanism, through the lifting mechanism and the moving mechanism in the grabbing mechanism, materials can be grabbed, and the bottom of the materials is supported and lifted through the lifting plate, so that the materials are prevented from falling off, and the using effect and safety of a mechanical arm are improved.

Description

Technical Field

[0001] This utility model relates to the field of robotic arm technology, specifically to a robotic arm material gripping mechanism. 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 basic structure typically includes an actuator, a drive mechanism, and a control system. With the continuous advancement of technology, the development of robotic arms is showing trends such as high precision, high speed, high flexibility, intelligence, and miniaturization.

[0003] As a key component of a robotic arm, the material gripping mechanism directly affects the gripping performance and applicability of the robotic arm. It typically consists of a hand, a transmission device, and a drive element. The hand is the part that directly contacts the material and performs the gripping action. The transmission device transmits the power from the drive source to the hand, enabling the hand to perform actions such as opening, closing, and rotating. The drive element provides power to the material gripping mechanism.

[0004] Existing robotic arm material handling mechanisms typically grip and pick up materials through the closed-loop action of two grippers. However, since the grippers usually clamp the material from both sides, excessive gripping force can easily cause wear and crushing damage to the material, while insufficient gripping force can cause the material to fall off. This results in reduced effectiveness and safety of the robotic arm material handling mechanism. Utility Model Content

[0005] The purpose of this utility model is to provide a robotic arm material gripping mechanism.

[0006] To achieve this objective, the present invention adopts the following technical solution:

[0007] A robotic arm material gripping mechanism is provided, including a support base, a robotic arm, a gripping mechanism, and a pressing mechanism. The robotic arm is fixedly mounted on the support base, and the gripping mechanism is fixedly mounted on the robotic arm. The gripping mechanism is used to grip materials. The pressing mechanism is fixedly mounted on the gripping mechanism and is used to press down and fix the materials gripped by the gripping mechanism. The gripping mechanism includes a clamping plate, a mounting plate, a lifting mechanism, and a moving mechanism. The mounting plate is fixedly mounted on the robotic arm, and the clamping plate is slidably mounted on the mounting plate via the moving plate. The lifting mechanism is hinged to the clamping plate and is used to lift materials. The moving mechanism is fixedly mounted on the clamping plate and is used to drive the lifting mechanism and the pressing mechanism to move.

[0008] Furthermore, the lifting mechanism includes a lifting plate and a sliding rod. The lifting plate is hinged to the clamping plate, and the sliding rod is connected to the lifting plate through a connecting block. The sliding rod passes through the clamping plate, and the two ends of the connecting block are hinged to the sliding rod and the lifting plate, respectively.

[0009] Furthermore, the lifting mechanism also includes a sliding sleeve, a connecting plate, and a cylindrical block. The sliding sleeve is fixedly installed on the clamping plate and is slidably connected to the sliding rod. The connecting plate is fixedly installed on the sliding rod, and the cylindrical block is fixedly installed on the connecting plate.

[0010] Furthermore, the moving mechanism includes an electric telescopic rod, a support plate, a moving block, a hinge block one, and a hinge block two. The electric telescopic rod is fixedly installed on the clamping plate via the support plate. The moving block is slidably installed on the clamping plate and is fixedly connected to the output end of the electric telescopic rod. The hinge block one is hinged to the moving block via a hinge post one and is also hinged to a cylindrical block one. The hinge block two is hinged to the moving block via a hinge post two.

[0011] Furthermore, the pressing mechanism includes a square rod, a cylindrical rod, a pressure plate, a second cylindrical block, and an adjusting mechanism. The cylindrical rod is fixedly installed on the square rod and passes through the clamping plate. The pressure plate is slidably connected to the cylindrical rod through a sleeve. The second cylindrical block is fixedly installed on the square rod and is hinged to the second hinge block. The adjusting mechanism is fixedly installed on the cylindrical rod and is used to drive the pressure plate to move.

[0012] Furthermore, the adjustment mechanism also includes a housing, a threaded rod, a slider, and a guide rod. The housing is fixedly mounted on the cylindrical rod, the slider is slidably mounted on the housing, the threaded rod is rotatably mounted on the housing and threadedly connected to the slider, the guide rod is fixedly mounted on the housing and passes through the slider, the slider and the pressure plate are connected by a hinge rod, and the two ends of the hinge rod are respectively hinged to the slider and the pressure plate.

[0013] Furthermore, the gripping mechanism also includes a hydraulic cylinder and a fixed block. The hydraulic cylinder is fixedly mounted on the mounting plate, and the fixed block is fixedly mounted on the movable plate. The fixed block is also fixedly connected to the output end of the hydraulic cylinder.

[0014] The beneficial effects of this utility model are as follows: This robotic arm material gripping mechanism, through the lifting and moving mechanisms in the gripping mechanism, can grip materials and support the bottom of the materials through the lifting plate, thereby preventing the materials from falling off and improving the use effect and safety of the robotic arm. In addition, the setting of the pressing mechanism can limit the top of the materials to prevent the materials from shaking or deviating when being gripped and moved, thereby improving the stability of the materials on the lifting plate and further improving the use effect of the robotic arm. Attached Figure Description

[0015] To more clearly illustrate the technical solutions of the embodiments of this utility model, the accompanying drawings used in the embodiments of this utility model will be briefly introduced below.

[0016] Figure 1 This is a three-dimensional structural diagram of the present invention;

[0017] Figure 2 This is a schematic diagram of the main structure of the gripping mechanism of this utility model;

[0018] Figure 3 This is a schematic diagram of the main structure of the clamping plate of this utility model;

[0019] Figure 4 This is a schematic diagram of the main structure of the lifting mechanism, moving mechanism and pressing mechanism of this utility model;

[0020] Figure 5 This is a schematic diagram of the main structure of the sliding rod of this utility model;

[0021] Figure 6 This is a schematic diagram of the disassembled structure of the moving mechanism of this utility model;

[0022] Figure 7 This is a cross-sectional view of the shell structure of this utility model.

[0023] In the diagram: 1. Support base; 2. Robotic arm; 3. Gripping mechanism; 31. Clamping plate; 32. Mounting plate; 33. Moving plate; 34. Hydraulic cylinder; 35. Fixed block; 36. Lifting mechanism; 361. Lifting plate; 362. Sliding rod; 363. Connecting block; 364. Sliding sleeve; 365. Connecting plate; 366. Cylindrical block one; 37. Moving mechanism; 371. Electric telescopic rod; 372. Support plate; 373. Moving block; 374. Hinge block one; 375. Hinge column one; 376. Hinge block two; 377. Hinge column two; 4. Pressing mechanism; 41. Square rod; 42. Cylindrical rod; 43. Sleeve; 44. Pressure plate; 45. Cylindrical block two; 46. Adjusting mechanism; 461. Housing; 462. Threaded rod; 463. Hinge rod; 464. Slider; 465. Guide rod. Detailed Implementation

[0024] The technical solution of this utility model will be further described below with reference to the accompanying drawings and specific embodiments.

[0025] The accompanying drawings are for illustrative purposes only and are schematic diagrams, not actual images. They should not be construed as limiting the scope of this patent. To better illustrate the embodiments of this utility model, some components in the drawings may be omitted, enlarged, or reduced, and do not represent the actual dimensions of the product. It is understandable to those skilled in the art that some well-known structures and their descriptions may be omitted in the drawings.

[0026] Reference Figure 1 and Figure 2 The illustrated robotic arm material handling mechanism includes a support base 1, a robotic arm 2, a gripping mechanism 3, and a pressing mechanism 4. The robotic arm 2 is fixedly mounted on the support base 1, which supports and fixes the robotic arm 2. The gripping mechanism 3 is fixedly mounted on the robotic arm 2 and is used to grip materials, thereby facilitating material transportation and loading. The pressing mechanism 4 is fixedly mounted on the gripping mechanism 3 and is used to press down and fix the materials gripped by the gripping mechanism 3, thereby improving the stability of the materials on the gripping mechanism 3.

[0027] Reference Figure 2 The gripping mechanism 3 includes a clamping plate 31, a mounting plate 32, a lifting mechanism 36, and a moving mechanism 37. The mounting plate 32 is fixedly mounted on the robotic arm 2, and the gripping mechanism 3 is fixedly mounted on the mounting plate 32. The clamping plate 31 is slidably mounted on the mounting plate 32 via the moving plate 33. There are two sets of clamping plates 31 symmetrically distributed. The movement of the moving plate 33 can drive the clamping plates 31 to move, thereby causing the two clamping plates 31 to open or close. The lifting mechanism 36 is hingedly mounted on the clamping plate 31. The lifting mechanism 36 is used to lift the material. The lifting mechanism 36 can support the bottom of the material, thereby preventing the material from falling off the clamping plate 31. The moving mechanism 37 is fixedly mounted on the clamping plate 31. The moving mechanism 37 is used to drive the lifting mechanism 36 and the pressing mechanism 4 to move. The moving mechanism 37 can simultaneously drive the lifting mechanism 36 and the pressing mechanism 4 to move, thereby fixing the upper and lower sides of the material.

[0028] Reference Figures 3 to 5 The lifting mechanism 36 includes a lifting plate 361 and a sliding rod 362. The lifting plate 361 is hinged to the clamping plate 31. The hinge of the lifting plate 361 allows it to flip. The sliding rod 362 is connected to the lifting plate 361 by a connecting block 363 and passes through the clamping plate 31. The movement of the sliding rod 362 can drive the connecting block 363 to move. The two ends of the connecting block 363 are hinged to the sliding rod 362 and the lifting plate 361 respectively. The movement of the connecting block 363 can drive the lifting plate 361 to rotate. When the lifting plate 361 rotates to a horizontal position, it supports the material. When the lifting plate 361 rotates to a vertical position, it releases the material.

[0029] Reference Figure 5The lifting mechanism 36 also includes a sliding sleeve 364, a connecting plate 365, and a cylindrical block 366. The sliding sleeve 364 is fixedly installed on the clamping plate 31 and is slidably connected to the sliding rod 362. The sliding sleeve 364 guides the sliding rod 362, thereby improving the stability of the sliding rod 362 during sliding. The connecting plate 365 is fixedly installed on the sliding rod 362, improving the movement effect of the connecting plate 365 and driving the sliding rod 362 to move. The cylindrical block 366 is fixedly installed on the connecting plate 365, and the movement effect of the cylindrical block 366 can drive the connecting plate 365 to move.

[0030] Reference Figure 4 and Figure 6 The moving mechanism 37 includes an electric telescopic rod 371, a support plate 372, a moving block 373, a first hinge block 374, and a second hinge block 376. The electric telescopic rod 371 is fixedly installed on the clamping plate 31 via the support plate 372. By activating the electric telescopic rod 371, the moving block 373 can be moved. The moving block 373 is slidably installed on the clamping plate 31, and the moving block 373 is fixedly connected to the output end of the electric telescopic rod 371. Through the movement of the moving block 373, the first hinge block 375 and the second hinge block 376 can be moved simultaneously. 7. The hinge block 374 is hinged to the moving block 373 via the hinge post 375, and is also hinged to the cylindrical block 366. The movement of the hinge post 375 causes the hinge block 374 to move the cylindrical block 366, thereby causing the connecting plate 365 to move. The hinge block 376 is hinged to the moving block 373 via the hinge post 377. The movement of the hinge post 377 causes the hinge block 376 to move the cylindrical block 45, thereby causing the square rod 41 to move.

[0031] Reference Figure 3 and Figure 7 The pressing mechanism 4 includes a square rod 41, a cylindrical rod 42, a pressure plate 44, a cylindrical block 45, and an adjusting mechanism 46. The cylindrical rod 42 is fixedly installed on the square rod 41 and passes through the clamping plate 31. The movement of the square rod 41 can drive the cylindrical rod 42 to move, thereby driving the adjusting mechanism 46 to move, and then driving the pressure plate 44 to move. The pressure plate 44 is slidably connected to the cylindrical rod 42 through a sleeve 43. The sliding effect of the sleeve 43 can drive the pressure plate 44 to move. The cylindrical block 45 is fixedly installed on the square rod 41. The movement of the cylindrical block 45 can drive the square rod 41 to move. The adjusting mechanism 46 is fixedly installed on the cylindrical rod 42. The adjusting mechanism 46 is used to drive the pressure plate 44 to move, thereby fine-tuning the position of the pressure plate 44 to adapt to materials of different heights.

[0032] Reference Figure 7The adjusting mechanism 46 also includes a housing 461, a threaded rod 462, a slider 464, and a guide rod 465. The housing 461 is fixedly mounted on the cylindrical rod 42, preventing it from falling off. The slider 464 is slidably mounted on the housing 461, and its sliding action drives the hinge rod 463 to move. The threaded rod 462 is rotatably mounted on the housing 461, and is threadedly connected to the slider 464. The rotation of the threaded rod 462... The guide rod 465 is fixedly installed on the housing 461 and passes through the slider 464. The guide rod 465 guides the slider 464 and prevents the slider 464 from deviating during movement. The slider 464 and the pressure plate 44 are connected by a hinge rod 463. The two ends of the hinge rod 463 are hinged to the slider 464 and the pressure plate 44 respectively. The movement of the hinge rod 463 can drive the pressure plate 44 to move vertically, thereby fine-tuning the initial position of the pressure plate 44.

[0033] Reference Figure 2 The gripping mechanism 3 also includes a hydraulic cylinder 34 and a fixing block 35. The hydraulic cylinder 34 is fixedly installed on the mounting plate 32. By starting the hydraulic cylinder 34, the fixing block 35 can be moved. The fixing block 35 is fixedly installed on the moving plate 33, and the fixing block 35 is fixedly connected to the output end of the hydraulic cylinder 34. The movement of the fixing block 35 can drive the moving plate 33 to move, thereby driving the clamping plate 31 to move.

[0034] This robotic arm's material-grabbing mechanism, through its lifting and moving mechanisms, can grasp materials and support their bottom with a lifting plate, preventing them from falling off and improving the robot's effectiveness and safety. Additionally, a pressing mechanism limits the top of the material, preventing it from swaying or shifting during grasping and moving, thus improving the material's stability on the lifting plate and further enhancing the robot's performance.

[0035] It should be stated that the above-described specific embodiments are merely preferred embodiments of this utility model and the technical principles employed. Those skilled in the art should understand that various modifications, equivalent substitutions, and variations can be made to this utility model. However, such variations, as long as they do not depart from the spirit of this utility model, should be within the protection scope of this utility model. Furthermore, some terminology used in this application specification and claims is not limiting, but merely for ease of description.

Claims

1. A robotic arm material gripping mechanism, characterized in that, The device includes a support base (1), a robotic arm (2), a gripping mechanism (3), and a pressing mechanism (4). The robotic arm (2) is fixedly mounted on the support base (1), and the gripping mechanism (3) is fixedly mounted on the robotic arm (2). The gripping mechanism (3) is used to grip materials. The pressing mechanism (4) is fixedly mounted on the gripping mechanism (3) and is used to press down and fix the materials gripped by the gripping mechanism (3). The gripping mechanism (3) includes a clamping plate (31) and a mounting plate (32). The lifting mechanism (36) and the moving mechanism (37) are provided. The mounting plate (32) is fixedly mounted on the robotic arm (2). The clamping plate (31) is slidably mounted on the mounting plate (32) via the moving plate (33). The lifting mechanism (36) is hingedly mounted on the clamping plate (31). The lifting mechanism (36) is used to lift materials. The moving mechanism (37) is fixedly mounted on the clamping plate (31). The moving mechanism (37) is used to drive the lifting mechanism (36) and the pressing mechanism (4) to move.

2. The robotic arm material gripping mechanism according to claim 1, characterized in that, The lifting mechanism (36) includes a lifting plate (361) and a sliding rod (362). The lifting plate (361) is hinged to the clamping plate (31). The sliding rod (362) is connected to the lifting plate (361) through a connecting block (363). The sliding rod (362) passes through the clamping plate (31). The two ends of the connecting block (363) are respectively hinged to the sliding rod (362) and the lifting plate (361).

3. The robotic arm material gripping mechanism according to claim 2, characterized in that, The lifting mechanism (36) further includes a sliding sleeve (364), a connecting plate (365), and a cylindrical block (366). The sliding sleeve (364) is fixedly installed on the clamping plate (31) and is slidably connected to the sliding rod (362). The connecting plate (365) is fixedly installed on the sliding rod (362), and the cylindrical block (366) is fixedly installed on the connecting plate (365).

4. The robotic arm material gripping mechanism according to claim 1, characterized in that, The moving mechanism (37) includes an electric telescopic rod (371), a support plate (372), a moving block (373), a first hinge block (374), and a second hinge block (376). The electric telescopic rod (371) is fixedly installed on the clamping plate (31) through the support plate (372). The moving block (373) is slidably installed on the clamping plate (31) and is fixedly connected to the output end of the electric telescopic rod (371). The first hinge block (374) is hinged to the moving block (373) through the first hinge post (375) and is hinged to the first cylindrical block (366). The second hinge block (376) is hinged to the moving block (373) through the second hinge post (377).

5. The robotic arm material gripping mechanism according to claim 1, characterized in that, The pressing mechanism (4) includes a square rod (41), a cylindrical rod (42), a pressure plate (44), a second cylindrical block (45), and an adjusting mechanism (46). The cylindrical rod (42) is fixedly installed on the square rod (41) and passes through the clamping plate (31). The pressure plate (44) is slidably connected to the cylindrical rod (42) through a sleeve (43). The second cylindrical block (45) is fixedly installed on the square rod (41) and is hinged to the second hinge block (376). The adjusting mechanism (46) is fixedly installed on the cylindrical rod (42) and is used to drive the pressure plate (44) to move.

6. The robotic arm material gripping mechanism according to claim 5, characterized in that, The adjustment mechanism (46) further includes a housing (461), a threaded rod (462), a slider (464), and a guide rod (465). The housing (461) is fixedly mounted on the cylindrical rod (42). The slider (464) is slidably mounted on the housing (461). The threaded rod (462) is rotatably mounted on the housing (461) and is threadedly connected to the slider (464). The guide rod (465) is fixedly mounted on the housing (461) and passes through the slider (464). The slider (464) is connected to the pressure plate (44) through a hinge rod (463), and both ends of the hinge rod (463) are hinged to the slider (464) and the pressure plate (44) respectively.

7. The robotic arm material gripping mechanism according to claim 1, characterized in that, The gripping mechanism (3) also includes a hydraulic cylinder (34) and a fixing block (35). The hydraulic cylinder (34) is fixedly installed on the mounting plate (32), and the fixing block (35) is fixedly installed on the moving plate (33). The fixing block (35) is fixedly connected to the output end of the hydraulic cylinder (34).

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