Clamping device of mechanical arm

Abstract

The utility model discloses a mechanical arm clamping device which comprises a mechanical arm body, a clamping seat is arranged at the front end of the mechanical arm body, a rotating sleeve seat is arranged on the inner side of the clamping seat and rotationally connected with the clamping seat, a fixing seat is fixedly arranged on the inner side of the rotating sleeve seat, and two connecting rods are rotationally connected to the top end of the fixing seat. The other ends of the two connecting rods are rotationally connected with clamping heads correspondingly, the clamping heads are further rotationally connected with swing rods, two protruding blocks are fixedly arranged on the inner side of the fixing base, the other ends of the swing rods are rotationally connected with the protruding blocks, a threaded block is further arranged on the inner side of the fixing base, and the two ends of the threaded block are rotationally connected with adjusting rods correspondingly. The other end of the adjusting rod is rotationally connected with one side of the swing rod, a threaded rod is arranged on the threaded block in a penetrating mode, a driving mechanism is arranged at the tail end of the rotating sleeve seat, and the driving mechanism is connected with the threaded rod so as to drive the threaded rod to rotate. The clamping device has the advantages of being reasonable in structure, high in clamping efficiency and good in flexibility.

Description

Technical Field

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

[0002] Robotic arms are programmed to coordinate with their grippers, allowing the grippers at the arm's end to grasp workpieces and move them to the next stage of production. This improves production efficiency, reduces manual labor, and lowers production costs. Traditional robotic arms often use pneumatic grippers to apply force to the workpiece. However, when these pneumatic devices malfunction, the gripping assembly fails to grasp the workpiece. Furthermore, pneumatic gripping lacks precise control over clamping force, making the workpiece surface susceptible to damage. This presents a solution to these problems. Utility Model Content

[0003] The purpose of this invention is to provide a gripping device for a robotic arm, which has the advantages of high gripping efficiency and good flexibility.

[0004] The above-mentioned technical objective of this utility model is achieved through the following technical solution:

[0005] A gripping device for a robotic arm includes a robotic arm body. A gripping seat is located at the front end of the robotic arm body. A rotating sleeve is located inside the gripping seat and is rotatably connected to the gripping seat. A fixed seat is fixed inside the rotating sleeve. Two connecting rods are rotatably connected to the top of the fixed seat. Grippers are rotatably connected to the other ends of the two connecting rods. A swing rod is rotatably connected to the gripper. Two protrusions are fixed inside the fixed seat, and the other ends of the swing rods are rotatably connected to the protrusions. A threaded block is also located inside the fixed seat. Adjusting rods are rotatably connected to both ends of the threaded block, and the other ends of the adjusting rods are rotatably connected to one side of the swing rod. A threaded rod passes through the threaded block. A driving mechanism is located at the rear end of the rotating sleeve and is connected to the threaded rod to drive the threaded rod to rotate.

[0006] Preferably, a first motor is installed on one side of the rotating sleeve, and short shafts are fixed on both sides of the rotating sleeve. The other ends of the short shafts are rotatably connected to the inner side of the clamping seat, and the output shaft of the first motor passes through the clamping seat and is fixedly connected to one end of the short shaft.

[0007] Preferably, the driving mechanism includes a worm gear and a worm, which mesh with each other. A drive box is fixedly provided at the tail end of the rotating sleeve, and the worm gear and worm are disposed inside the drive box. A second motor is installed on one side of the drive box. The output shaft of the second motor passes through the drive box and is fixedly connected to one end of the worm. A rotatable shaft passes through the drive box, and the worm gear is fixed on the shaft. One end of the shaft passes through the rotating sleeve and a fixed seat and is fixedly connected to one end of the threaded rod.

[0008] Preferably, each of the two gripping heads has a gripping groove on one side, and an anti-slip pad is provided on the inner side of the gripping groove, and the anti-slip pad is elastic.

[0009] The beneficial effects of this utility model are as follows:

[0010] 1. The drive mechanism can rotate the threaded rod, causing the threaded block to move back and forth along the threaded rod. When the threaded block moves forward, it pushes the two adjusting rods to swing, increasing the angle between them. This causes the two swinging rods to rotate and adjust, moving them away from each other, ultimately separating the two gripping heads. At this point, the connecting rod swings outward. Conversely, when the threaded block moves backward, the angle between the two adjusting rods decreases, pulling the two swinging rods closer together. This causes the two gripping heads to move closer together, and the connecting rod swings inward. Ultimately, the distance between the two gripping heads can be adjusted. Therefore, objects can be gripped using the two gripping heads, enabling the robotic arm to grip and transport objects.

[0011] 2. The rotation of the first motor can drive the short shaft to rotate, which in turn drives the rotating sleeve to rotate. Therefore, the angle of the object clamping can be adjusted by adjusting the angle of the rotating sleeve, which can further improve the flexibility of the device. The clamping groove can better clamp and fix the object, and the anti-slip pad can prevent the clamped object from sliding and falling off. At the same time, it can prevent the object from being damaged due to excessive clamping force. Attached Figure Description

[0012] Figure 1 This is a schematic diagram of the structure of an embodiment;

[0013] Figure 2 This is a partial structural diagram of an embodiment.

[0014] Reference numerals: 1. Main body of robotic arm; 2. Gripping seat; 3. Rotating sleeve; 4. Fixed seat; 5. Connecting rod; 6. Gripping head; 7. Swinging rod; 8. Protrusion; 9. Threaded block; 10. Adjusting rod; 11. Threaded rod; 12. Drive mechanism; 13. First motor; 14. Short shaft; 15. Worm gear; 16. Worm; 17. Drive box; 18. Second motor; 19. Rotating shaft; 20. Gripping groove; 21. Anti-slip pad. Detailed Implementation

[0015] The following description is merely a preferred embodiment of this utility model, and the scope of protection is not limited to this embodiment. All technical solutions falling within the scope of this utility model's concept should be protected. Identical components are represented by the same reference numerals. It should be noted that the terms "front," "rear," "left," "right," "up," and "down" used in the following description refer to directions in the accompanying drawings, while the terms "bottom" and "top," "inner" and "outer" refer to directions toward or away from the geometric center of a specific component.

[0016] like Figures 1 to 2 As shown, a gripping device for a robotic arm includes a robotic arm body 1. A gripping seat 2 is provided at the front end of the robotic arm body 1. A rotating sleeve 3 is provided on the inner side of the gripping seat 2 and is rotatably connected to the gripping seat 2. A fixed seat 4 is fixed on the inner side of the rotating sleeve 3. A threaded rod 11 is passed through the threaded block 9. A driving mechanism 12 is provided at the tail end of the rotating sleeve 3 and is connected to the threaded rod 11 to drive the threaded rod 11 to rotate. The threaded rod 11 can be driven to rotate through the driving mechanism 12, thereby allowing the threaded block 9 to move back and forth along the threaded rod 11. A threaded block 9 is also provided on the inner side of the fixed base 4. Adjusting rods 10 are rotatably connected to both ends of the threaded block 9, and the other end of the adjusting rods 10 is rotatably connected to one side of the swing rod 7. Two connecting rods 5 are rotatably connected to the top of the fixed base 4, and clamping heads 6 are rotatably connected to the other ends of the two connecting rods 5. A swing rod 7 is rotatably connected to the clamping heads 6. Two protrusions 8 are fixed on the inner side of the fixed base 4, and the other end of the swing rod 7 is rotatably connected to the protrusions 8. When the threaded block 9 moves forward, it can push the two adjusting rods 10 to swing, thereby increasing the angle between the two adjusting rods 10. The two swing rods 7 are rotated and adjusted to move them away from each other, eventually causing the two gripping heads 6 to separate. At this time, the connecting rod 5 swings outward. Conversely, when the threaded block 9 moves backward, the angle between the two adjusting rods 10 decreases, and the two swing rods 7 are pulled closer together, thereby causing the two gripping heads 6 to move closer together. At this time, the connecting rod 5 swings inward, ultimately adjusting the distance between the two gripping heads 6. Therefore, the two gripping heads 6 can be used to grip objects, and the robotic arm can be used to grip and transfer objects.

[0017] A first motor 13 is installed on one side of the rotating sleeve 3. Short shafts 14 are fixed on both sides of the rotating sleeve 3, and the other end of the short shafts 14 is rotatably connected to the inner side of the gripping seat 2. The output shaft of the first motor 13 passes through the gripping seat 2 and is fixedly connected to one end of the short shafts 14. The rotation of the first motor 13 can drive the short shafts 14 to rotate, thereby driving the rotating sleeve 3 to rotate. Therefore, the angle of the object gripping can be adjusted by adjusting the angle of the rotating sleeve 3, which can further improve the flexibility of the device.

[0018] The drive mechanism 12 includes a worm gear 15 and a worm 16, which mesh with each other. A drive box 17 is fixedly installed at the tail end of the rotating sleeve 3, and the worm gear 15 and the worm 16 are located inside the drive box 17. A second motor 18 is installed on one side of the drive box 17. The output shaft of the second motor 18 passes through the drive box 17 and is fixedly connected to one end of the worm 16. The rotation of the drive motor can drive the worm 16 to rotate, thereby driving the worm gear 15 to rotate. A rotatable shaft 19 passes through the drive box 17, and the worm gear 15 is fixedly installed on the shaft 19. One end of the shaft 19 passes through the rotating sleeve 3 and the fixed seat 4 and is fixedly connected to one end of the threaded rod 11. The rotation of the worm gear 15 can drive the shaft 19 to rotate, and finally the shaft 19 can drive the threaded rod 11 to rotate.

[0019] Each of the two gripping heads 6 has a gripping groove 20 on one side. The inner side of the gripping groove 20 is provided with an anti-slip pad 21, which is elastic. The gripping groove 20 can better hold and fix the object, and the anti-slip pad 21 can prevent the gripped object from sliding and falling off. At the same time, it can prevent the object from being damaged due to excessive clamping force.

[0020] The specific embodiments described above further illustrate the technical problems, technical solutions, and beneficial effects of this utility model. It should be understood that the above descriptions are merely specific embodiments of this utility model and are not intended to limit this utility model. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

Claims

1. A gripping device of a robot arm, characterized in that, The system includes a robotic arm body (1), with a gripping seat (2) at its front end. A rotating sleeve (3) is provided on the inner side of the gripping seat (2), and the rotating sleeve (3) is rotatably connected to the gripping seat (2). A fixed seat (4) is fixedly provided on the inner side of the rotating sleeve (3). Two connecting rods (5) are rotatably connected to the top of the fixed seat (4), and gripping heads (6) are rotatably connected to the other ends of the two connecting rods (5). A swing rod (7) is also rotatably connected to the gripping head (6). Two swing rods (7) are fixedly provided on the inner side of the fixed seat (4). A protrusion (8) is provided on the inner side of the fixed seat (4), and an adjusting rod (10) is rotatably connected to the two ends of the threaded block (9). The other end of the adjusting rod (10) is rotatably connected to one side of the swing rod (7). A threaded rod (11) is passed through the threaded block (9). A driving mechanism (12) is provided at the tail end of the rotating sleeve (3), and the driving mechanism (12) is connected to the threaded rod (11) to drive the threaded rod (11) to rotate.

2. The gripping device of a robot arm according to claim 1, characterized in that, A first motor (13) is installed on one side of the rotating sleeve (3). Short shafts (14) are fixed on both sides of the rotating sleeve (3), and the other end of the short shafts (14) is rotatably connected to the inner side of the clamping seat (2). The output shaft of the first motor (13) passes through the clamping seat (2) and is fixedly connected to one end of the short shaft (14).

3. The gripping device of a robot arm according to claim 2, characterized in that The drive mechanism (12) includes a worm wheel (15) and a worm (16), and the worm wheel (15) and the worm (16) mesh with each other. The tail end of the rotating sleeve (3) is fixedly provided with a drive box (17), and the worm wheel (15) and the worm (16) are arranged inside the drive box (17). A second motor (18) is installed on one side of the drive box (17). The output shaft of the second motor (18) passes through the drive box (17) and is fixedly connected to one end of the worm (16). A rotatable shaft (19) passes through the drive box (17), and the worm wheel (15) is fixedly mounted on the shaft (19). One end of the shaft (19) passes through the rotating sleeve (3) and the fixed seat (4) and is fixedly connected to one end of the threaded rod (11).

4. The gripping device of a robot arm according to claim 3, characterized in that Each of the two gripping heads (6) has a gripping groove (20) on one side, and an anti-slip pad (21) is provided on the inner side of the gripping groove (20), and the anti-slip pad (21) is elastic.

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