Clamping device for manipulator

Abstract

The utility model relates to the technical field of mechanical arms, in particular to a clamping device for a mechanical arm, which comprises a bottom plate, a mounting frame, a clamping component and a driving component, the clamping component changes the motion mode of a clamping claw through the synergistic effect of a first rotating rod, a second rotating rod and a spring, and when the driving component works, the clamping claw is clamped by the clamping component. The first rotating rod and the second rotating rod drive the clamping claw to move, elastic force provided by the spring enables the clamping claw to better adapt to the shape of an object when making contact with the object, compared with a traditional clamping claw only doing arc motion, the clamping claw can be more tightly attached to the surface of the irregular or round object through the design, friction force between the clamping claw and the object is increased, and the clamping claw can be more stably clamped. The clamping device is simple in structure and convenient to use, the slipping phenomenon is effectively reduced, the clamping stability is improved, the springs are arranged, the clamping claws can adapt to the shape of an object, the clamping force can be changed by adjusting the elastic coefficient or the pre-tightening force of the springs, and the adaptability and reliability of the clamping device are further improved.

Description

Technical Field

[0001] This utility model relates to the field of robotic arm technology, specifically to a gripping device for robotic arms. Background Technology

[0002] As is well known, a robotic arm is a multifunctional machine that can automatically position and control objects and can be reprogrammed to change its operation. A robotic arm is mainly composed of three parts: the hand, the motion mechanism, and the control system. The hand is the part used to grasp objects. Depending on the shape, size, weight, material, and operational requirements of the object being grasped, there are various structural forms, such as clamping hands, supporting hands, and suction hands.

[0003] Existing clamping devices generally consist of two clamping jaws that move in an arc. The objects are clamped by rotating the clamping jaws. However, for some irregular or round objects, the clamping jaws on both sides are prone to slipping when they move in an arc towards the object, and the contact area is also very small, which affects the subsequent clamping force. Summary of the Invention

[0004] Technical problems to be solved

[0005] In order to overcome the problem that existing gripping devices for robotic arms are prone to slipping and instability when gripping round or irregular objects, this utility model provides a gripping device for robotic arms that can grip round or irregular objects.

[0006] Technical solution

[0007] To achieve the above objectives, this utility model provides the following technical solution: a gripping device for a robotic arm, comprising:

[0008] Base plate;

[0009] Mounting frame, which is fixedly mounted on the top of the base plate;

[0010] A clamping assembly is mounted on both sides of the mounting frame. The clamping assembly includes a first rotating rod rotatably disposed on both sides of the mounting frame. A clamping claw is rotatably disposed on the top of the first rotating rod. One end of a second rotating rod, corresponding to the number of the first rotating rods, is rotatably disposed on the mounting frame. The other end of the second rotating rod is rotatably disposed with the clamping claw. One end of a spring is rotatably disposed on the first rotating rod, and the other end of the spring is rotatably disposed with the second rotating rod.

[0011] A drive assembly, which is mounted on top of the base plate.

[0012] Preferably, the drive assembly includes a mounting plate, which is fixedly disposed on the top of the base plate.

[0013] Furthermore, a first connecting rod is rotatably provided on both sides of the mounting plate, an auxiliary plate is rotatably provided on the top of each of the first connecting rods, a movable plate is rotatably provided between the auxiliary plates, and a second connecting rod is rotatably provided on both sides of the movable plate.

[0014] Furthermore, both the first connecting rod and the second connecting rod are rotatably configured to rotate with the first rotating rod.

[0015] In a further embodiment, a threaded rod is rotatably mounted on the mounting plate, the threaded rod is rotatably mounted with the movable plate, and a threaded cover is provided on the threaded rod via threads.

[0016] Based on the aforementioned scheme, a push plate is fixedly installed on the top of the threaded cover, one end of the push plate is fixedly installed with the movable plate, and a sliding groove is provided on the mounting plate, with the push plate slidingly installed with the sliding groove.

[0017] Furthermore, based on the aforementioned solution, a fixing ring is fixedly provided on the side of the base plate, a mounting bracket is fixedly provided on the side of the fixing ring, a motor is fixedly provided on the mounting bracket, and the output shaft of the motor is connected to the threaded rod by a key.

[0018] Beneficial effects

[0019] This robotic arm uses a gripping device. The gripping assembly, through the coordinated action of a first rotating rod, a second rotating rod, and a spring, alters the movement of the gripper. When the drive assembly is working, the first and second rotating rods drive the gripper to move. The elastic force provided by the spring allows the gripper to better adapt to the shape of the object when in contact with it. Compared to traditional grippers that only make circular movements, this design allows the gripper to fit more tightly against the surface of irregular or circular objects, increasing friction with the object, effectively reducing slippage, and improving gripping stability. During operation, the gripper's movement is more flexible and adaptable, adjusting the gripping angle and position according to the object's shape. The spring not only helps the gripper adapt to the object's shape but also allows for changes in the gripping force by adjusting the spring constant or preload. This allows for flexible adjustment of the gripping force based on the weight and material properties of different objects, further improving the adaptability and reliability of the gripping device. Attached Figure Description

[0020] Figure 1 This is a side view of the structure of this utility model;

[0021] Figure 2 This is a schematic diagram of the overall front structure of this utility model;

[0022] Figure 3 This utility model Figure 2 A magnified schematic diagram of the local structure at point A;

[0023] Figure 4 This is a schematic diagram of the clamping assembly of this utility model;

[0024] Figure 5 This is a schematic diagram of the structure of the drive component of this utility model;

[0025] Figure 6 This is a schematic diagram of the mounting bracket of this utility model.

[0026] In the diagram: 1. Base plate; 2. Mounting frame; 3. Clamping assembly; 4. First rotating rod; 5. Clamping claw; 6. Second rotating rod; 7. Spring; 8. Drive assembly; 9. Mounting plate; 10. First connecting rod; 11. Auxiliary plate; 12. Moving plate; 13. Second connecting rod; 14. Threaded rod; 15. Threaded cover; 16. Push plate; 17. Sliding groove; 18. Fixing ring; 19. Mounting bracket; 20. Motor. Detailed Implementation

[0027] 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.

[0028] See Figures 1-6 A gripping device for a robotic arm includes a base plate 1, a mounting frame 2, a gripping assembly 3, and a drive assembly 8.

[0029] The base plate 1 serves as the foundation support for the entire clamping device. It is made of high-strength metal materials, such as cast iron or high-quality alloy steel, and provides a stable mounting platform for the mounting frame 2 and other components. The shape and size of the base plate 1 are designed according to the actual application scenario and the installation requirements of the robot. It has specific mounting holes or connection structures to ensure a stable connection with the robot body and to ensure that the device will not shift or shake due to external forces during operation. The mounting frame 2 is fixed to the top of the base plate 1 and is made of welded or bolted metal profiles. It has sufficient strength and rigidity. The structural design of the mounting frame 2 meets the installation requirements of the clamping component 3 and the drive component 8. Its two sides provide installation positions for the clamping component 3. Through precise machining and assembly, it ensures that components such as the first rotating rod 4 can rotate flexibly, while ensuring the relative positional accuracy between the components to achieve precise clamping action.

[0030] The first rotating rod 4 is rotatably mounted on both sides of the mounting frame 2. It is made of high-strength alloy steel and undergoes heat treatment to improve its hardness and wear resistance. The first rotating rod 4 is connected to the mounting frame 2 through bearings to ensure the flexibility and stability of rotation. Its top is rotatably connected to the clamping claw 5 through a pin. When the first rotating rod 4 rotates, it can drive the clamping claw 5 to rotate around the pin, thereby realizing the action of clamping and releasing materials. The length and diameter of the first rotating rod 4 are designed according to the working range and load requirements of the clamping device to ensure that sufficient torque can be provided to drive the clamping claw 5.

[0031] The clamping claw 5 is mounted on the top of the first rotating rod 4. Its shape and structure are designed according to the shape and characteristics of the material being clamped. For example, for block materials, the clamping claw 5 is designed to have a flat clamping surface; for cylindrical materials, the clamping claw 5 is designed to have an arc-shaped clamping surface. The clamping claw 5 is made of high-strength and wear-resistant materials, such as hard alloy or special alloy steel, and the surface is specially treated to add anti-slip textures or coatings to improve the stability and reliability of clamping and prevent the material from slipping during clamping.

[0032] The mounting frame 2 is rotatably equipped with a second rotating rod 6 corresponding to the number of first rotating rods 4. One end of the second rotating rod 6 is connected to the mounting frame 2 via a bearing, and the other end is rotatably connected to the clamping claw 5 via a pin. The second rotating rod 6 plays an auxiliary support and transmission role during the clamping process, and works in conjunction with the first rotating rod 4 to enable the clamping claw 5 to complete the clamping action more smoothly and accurately. The material and processing technology of the second rotating rod 6 are similar to those of the first rotating rod 4 to ensure its strength and rotational flexibility during operation.

[0033] One end of the spring 7 is rotatably mounted on the first rotating rod 4, and the other end of the spring 7 is rotatably mounted on the second rotating rod 6. The spring 7, as an elastic element, is made of high-quality spring steel and has a suitable elastic coefficient. When the clamping device is in the initial state, the elastic force of the spring 7 keeps the first rotating rod 4 and the second rotating rod 6 at a certain angle, thereby keeping the clamping claw 5 in the open state. When the drive assembly 8 applies an external force to rotate the first rotating rod 4, the spring 7 is stretched or compressed, storing elastic potential energy. After the drive assembly 8 removes the external force, the spring 7 releases the elastic potential energy, pushing the first rotating rod 4 and the second rotating rod 6 back to the initial position, causing the clamping claw 5 to reopen, ready for the next clamping operation. The presence of the spring 7 not only provides a restoring force for the clamping action, but also buffers the impact force during the clamping process to a certain extent, protecting the device and the clamped material, and can also adjust the angle of the clamping claw 5.

[0034] First, refer to Figure 5In this embodiment, the drive assembly 8 includes a mounting plate 9, which is made of high-strength metal material and is firmly fixed to the top of the base plate 1 by welding. It provides a stable mounting platform for other components of the drive assembly 8. The first connecting rods 10, which are rotatably arranged on both sides of the mounting plate 9, are made of metal material and are rotatably connected to the mounting plate 9 by bearings to ensure the flexibility of rotation. The top of the first connecting rod 10 is rotatably connected to the auxiliary plate 11 by a pin. A movable plate 12 is rotatably arranged between the auxiliary plates 11. The second connecting rods 13, which are rotatably arranged on both sides of the movable plate 12, are also connected to the movable plate 12 and the first rotating rod 4 by pins. Under the drive of the movable plate 12, the first connecting rod 10 and the second connecting rod 13 convert the linear motion of the movable plate 12 into the rotational motion of the first rotating rod 4. The length and angle of the first connecting rod 10 and the second connecting rod 13 are designed according to the working range and motion requirements of the clamping device to ensure accurate motion conversion.

[0035] Then, refer to Figure 5 In this embodiment, the threaded rod 14 rotatably mounted on the mounting plate 9 is made of alloy steel with a high-precision threaded surface, exhibiting good wear resistance and transmission accuracy. The threaded rod 14 is rotatably connected to the moving plate 12 via bearings, ensuring smooth rotation of the threaded rod 14. The threaded cover 15 engages with the threaded rod 14 via threads. When the threaded rod 14 rotates, the threaded cover 15 moves axially along the threaded rod 14. The threaded cover 15 is made of metal, and its internal threads match the threads of the threaded rod 14, ensuring stable and accurate transmission. The push plate 16 fixed to the top of the threaded cover 15 is a metal plate. One end of the push plate 16 is fixedly connected to the movable plate 12, and the other end is slidably engaged with the sliding groove 17 on the mounting plate 9. The shape and size of the push plate 16 are designed according to the structure of the sliding groove 17 to ensure that the push plate 16 can slide smoothly in the sliding groove 17. The width and depth of the sliding groove 17 are adapted to the size of the push plate 16, providing a good guiding effect for the sliding of the push plate 16. When the threaded cover 15 moves, it will drive the push plate 16 to slide in the sliding groove 17, thereby pushing the movable plate 12 to move.

[0036] Finally, see Figure 6In this embodiment, the fixing ring 18 fixed to the side of the base plate 1 is also made of metal and is connected to the base plate 1 by bolts. The mounting bracket 19 fixed to the side of the fixing ring 18 provides a mounting position for the motor 20. The mounting bracket 19 is welded from metal profiles and has sufficient strength and rigidity to withstand the weight of the motor 20 and the vibration generated during operation. The motor 20 is fixed to the mounting bracket 19 by bolts to ensure that the motor 20 will not be displaced during operation. The motor 20 fixed on the mounting bracket 19 is the power source of the drive assembly 8. The appropriate power and speed of the motor 20 are selected according to the working requirements and load of the clamping device. The output shaft of the motor 20 is connected to the threaded rod 14 by a key. This connection method can reliably transmit the rotational power of the motor 20 to the threaded rod 14 and ensure that there is no slippage during power transmission.

[0037] Working principle:

[0038] The robotic arm uses a gripping device. When in use, the motor 20 on the mounting frame 19 is first started. The output shaft of the motor 20 rotates, driving the threaded rod 14 to rotate via a key connection. Since the threaded cover 15 is threadedly engaged with the threaded rod 14, the threaded cover 15 moves axially along the threaded rod 14. The push plate 16 at the top of the threaded cover 15 is fixed to the moving plate 12, and the push plate 16 slides within the sliding groove 17 of the mounting plate 9. Therefore, when the threaded cover 15 moves, it drives the push plate 16 to slide, thereby pushing the moving plate 12 to move. When the moving plate 12 moves, the second connecting rod 13 rotatably mounted on both sides of it and the first connecting rod 10 rotatably mounted on both sides of the mounting plate 9 move accordingly. Both connecting rod 10 and connecting rod 13 are rotatably connected to the first rotating rod 4. They convert the linear motion of the moving plate 12 into the rotational motion of the first rotating rod 4, causing the first rotating rod 4 to rotate. When the first rotating rod 4 rotates, it drives the clamping claw 5 at the top to move. At the same time, the second rotating rod 6 also rotates. During the rotation of the first rotating rod 4 and the second rotating rod 6, the spring 7 is stretched or compressed. The elastic force of the spring 7 allows the clamping claw 5 to better adapt to the shape of the object being clamped. When the clamping claw 5 contacts an irregular or round object, the elastic force of the spring 7 makes the clamping claw 5 fit tightly against the surface of the object, increasing friction, reducing slippage, and achieving stable clamping.

[0039] After the clamping task is completed, the motor 20 reverses, the threaded rod 14 rotates in the opposite direction, the threaded cover 15 moves in the opposite direction along the threaded rod 14, driving the push plate 16 and the moving plate 12 to move in the opposite direction. The first connecting rod 10 and the second connecting rod 13 drive the first rotating rod 4 to rotate in the opposite direction, the clamping claw 5 releases the clamped object, and at the same time, the spring 7 returns to its initial state to prepare for the next clamping.

[0040] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A gripping device for a robotic arm, characterized in that, include: Base plate (1); Mounting frame (2), which is fixedly mounted on the top of the base plate (1); A clamping assembly (3) is mounted on both sides of the mounting frame (2). The clamping assembly (3) includes a first rotating rod (4), which is rotatably disposed on both sides of the mounting frame (2). A clamping claw (5) is rotatably disposed on the top of the first rotating rod (4). A second rotating rod (6) corresponding to the number of the first rotating rod (4) is rotatably disposed on the mounting frame (2). One end of the second rotating rod (6) is rotatably disposed with the mounting frame (2), and the other end of the second rotating rod (6) is rotatably disposed with the clamping claw (5). One end of a spring (7) is rotatably disposed on the first rotating rod (4), and the other end of the spring (7) is rotatably disposed with the second rotating rod (6). A drive assembly (8) is mounted on top of the base plate (1).

2. The gripping device for a robotic arm according to claim 1, characterized in that, The drive assembly (8) includes a mounting plate (9), which is fixedly mounted on the top of the base plate (1).

3. The gripping device for a robotic arm according to claim 2, characterized in that, The mounting plate (9) is rotatably provided with a first connecting rod (10) on both sides, and an auxiliary plate (11) is rotatably provided on the top of the first connecting rod (10). A movable plate (12) is rotatably provided between the auxiliary plates (11), and a second connecting rod (13) is rotatably provided on both sides of the movable plate (12).

4. The gripping device for a robotic arm according to claim 3, characterized in that, Both the first connecting rod (10) and the second connecting rod (13) are rotatably connected to the first rotating rod (4).

5. The gripping device for a robotic arm according to claim 3, characterized in that, A threaded rod (14) is rotatably provided on the mounting plate (9). The threaded rod (14) is rotatably provided with the moving plate (12). A threaded cover (15) is provided on the threaded rod (14) through a thread.

6. The gripping device for a robotic arm according to claim 5, characterized in that, A push plate (16) is fixedly installed on the top of the threaded cover (15). One end of the push plate (16) is fixedly installed with the moving plate (12). A sliding groove (17) is provided on the mounting plate (9). The push plate (16) and the sliding groove (17) are slidably installed.

7. The gripping device for a robotic arm according to claim 5, characterized in that, A fixing ring (18) is fixedly provided on the side of the base plate (1), and a mounting bracket (19) is fixedly provided on the side of the fixing ring (18). A motor (20) is fixedly provided on the mounting bracket (19), and the output shaft of the motor (20) is connected to the threaded rod (14) by a key.

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