Manipulator anti-falling mechanism
By using a hydraulically driven mechanical gripper combined with a retaining ring, baffle, magnetic plate, and lubrication device, the problem of slippage caused by rubber sleeve deformation is solved, achieving stable fixation and convenient replacement of the rubber sleeve, and ensuring the gripping stability and lubrication effect of the robotic arm.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- JIANGSU PROVINCE XUZHOU TECHNICIAN INST
- Filing Date
- 2025-05-12
- Publication Date
- 2026-04-17
AI Technical Summary
In existing robotic arm anti-drop mechanisms, the rubber sleeve is prone to deformation and loss of elasticity after prolonged use, which can cause slippage when gripping items and is inconvenient to replace.
A mechanism for preventing the rubber sleeve from falling off was designed, comprising a hydraulic press, a hydraulic rod, an adjusting block, a rotating block, a mechanical claw, and a rubber sleeve. The rubber sleeve is fixed and replaced by a combination of retaining rings, baffles, and magnetic plates. A lubrication device is used to prevent jamming, and bolts are used to fix the rubber sleeve to ensure its stability.
It achieves stable fixation and convenient replacement of the rubber sleeve, avoids slippage caused by rubber sleeve deformation, and ensures smooth operation of the mechanical gripper through a lubrication device.
Smart Images
Figure CN224129833U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the technical field of anti-fall mechanism for robotic arms, and in particular to an anti-fall mechanism for robotic arms. Background Technology
[0002] The anti-slip mechanism of the robotic arm is a rubber component fixed to the surface of the robotic arm. When it is necessary to prevent the robotic arm from slipping when picking up items, the rubber sleeve is put on the surface of the robotic arm to prevent slipping, thereby achieving the goal of preventing the robotic arm from slipping.
[0003] The inventors discovered during routine use of the anti-drop mechanism for robotic arms that the rubber sleeve deforms and loses elasticity after prolonged use on the surface of the robotic arm, which may lead to the item falling off when gripped. Since the rubber sleeve is usually fixed to the surface of the robotic arm with glue, it is inconvenient to replace the rubber sleeve, thus causing problems. Utility Model Content
[0004] The purpose of this utility model is to address the shortcomings of existing technologies by proposing a robotic arm anti-drop mechanism.
[0005] To achieve the above objectives, the present invention adopts the following technical solution: a robotic arm anti-drop mechanism, comprising a frame, a hydraulic press fixedly connected to the side of the frame, a hydraulic rod slidably connected inside the hydraulic press, an adjusting block fixedly connected to one end of the hydraulic rod, a rotating block rotatably connected to the surface of the adjusting block, a robotic claw rotatably connected inside the rotating block, the robotic claw rotating inside the frame, a rubber sleeve provided on the surface of the robotic claw, a replacement device provided on the surface of the robotic claw, a lubrication device provided on the inner wall of the frame, the replacement device comprising a retaining ring fixedly connected to the inner wall of the rubber sleeve, the retaining ring being a deformable rubber ring, an annular groove being formed on the surface of the robotic claw, and the retaining ring being engaged inside the annular groove.
[0006] The effect achieved by the above components is as follows: under the action of the retaining ring, the rubber sleeve can be locked onto the surface of the mechanical claw, thereby achieving a fixing effect. When the mechanical claw needs to be used, the hydraulic press is started, causing the hydraulic rod to extend, which in turn pushes the adjusting block, causing the rotating block to rotate, which in turn causes the mechanical claw to open and clamp the item. Under the action of the rubber sleeve, the item will not slip. The hydraulic rod is retracted, causing the mechanical claw to close and clamp the item.
[0007] Preferably, a baffle is fixedly connected to the surface of the mechanical claw.
[0008] The effect achieved by the above components is that, under the action of the baffle, the rubber sleeve will not be stretched on the surface of the mechanical claw, thus avoiding the deformation of the rubber sleeve.
[0009] Preferably, a magnetic plate is fixedly connected to the surface of the baffle, and an iron sheet is fixedly connected to one end of the rubber sleeve.
[0010] The effect achieved by the above components is that, under the action of the magnetic plate, the rubber sleeve can be fixed to the surface of the baffle, thereby achieving the function of fixing the rubber sleeve.
[0011] Preferably, the surface of the rubber sleeve is threaded with a bolt, one end of which is inserted into the interior of the mechanical claw.
[0012] The aforementioned components achieve the following effects: The bolts secure the rubber sleeve to the surface of the robotic gripper, facilitating replacement. When the rubber sleeve loses elasticity and deforms, the old sleeve is removed, and a new one is fitted onto the robotic gripper. The retaining ring initially secures the rubber sleeve to the gripper's surface. The baffle prevents the sleeve from stretching on the gripper's surface, thus avoiding deformation. Once the sleeve contacts the baffle, the magnetic plate secures it to the baffle's surface, fixing it in place. Finally, the bolts are screwed into the gripper to replace the rubber sleeve, preventing slippage when the gripper is holding materials.
[0013] Preferably, the lubrication device includes a lubrication ring fixedly connected to the surface of the hydraulic rod, a compression ring slidably connected inside the lubrication ring, a compression rod fixedly connected to the side of the compression ring, and a liquid outlet pipe fixedly connected to the bottom of the lubrication ring, with the liquid outlet of the liquid outlet pipe located at the bottom of the mechanical gripper.
[0014] The effect achieved by the above components is that, under the action of the liquid outlet pipe, the mechanical gripper can be lubricated, thus avoiding the phenomenon of the mechanical gripper getting stuck.
[0015] Preferably, a washer, which is a rubber ring, is fixedly connected to the side of the compression ring.
[0016] The effect achieved by the above components is that, under the action of the gasket, the extrusion ring will not directly impact the inner wall of the lubrication ring, thus avoiding the deformation of the extrusion ring.
[0017] Preferably, a spring is fixedly connected to the inner wall of the lubrication ring, and the other end of the spring is fixedly connected to one side of the compression ring.
[0018] The effect achieved by the above components is that, under the action of the elastic potential energy of the spring, the compression ring can be reset when it is not compressed by the compression rod.
[0019] Preferably, a pad is fixedly connected to one end of the extrusion rod, and the pad is a rubber block.
[0020] The aforementioned components achieve the following effects: The pad prevents the squeezing rod from directly contacting the adjusting block, thus avoiding damage to the squeezing rod. When lubrication of the mechanical gripper is required, after the gripper clamps the item, the adjusting block presses against the surface of the squeezing rod. The pad prevents direct contact between the squeezing rod and the adjusting block, again preventing damage. This causes the squeezing rod to push the squeezing ring, spraying the lubricant inside the lubrication ring through the outlet pipe, thus lubricating the mechanical gripper. When the gripper releases the item, the adjusting block separates from the squeezing rod. The elastic potential energy of the spring allows the squeezing ring to reset when not being squeezed by the squeezing rod. The washer prevents the squeezing ring from directly impacting the inner wall of the lubrication ring, avoiding deformation and achieving the desired lubrication effect.
[0021] Compared with the prior art, the advantages and positive effects of this utility model are as follows:
[0022] In this invention, by setting up a replacement device, when the elasticity of the rubber sleeve decreases and it deforms, the old rubber sleeve is removed, and a new rubber sleeve is placed on the surface of the mechanical gripper. Under the action of the retaining ring, the rubber sleeve can be initially locked onto the surface of the mechanical gripper. Under the action of the baffle, the rubber sleeve is prevented from stretching on the surface of the mechanical gripper, thus avoiding deformation. When the rubber sleeve contacts the baffle, under the action of the magnetic plate, the rubber sleeve can be fixed on the surface of the baffle, thereby achieving the function of fixing the rubber sleeve. The bolt is screwed into the inside of the mechanical gripper, thereby achieving the function of replacing the rubber sleeve. This prevents the mechanical gripper from slipping when holding materials, thus solving the problem of inconvenient replacement of rubber sleeves after long-term use due to aging and deformation. Attached Figure Description
[0023] Figure 1 A three-dimensional structural diagram of a robotic arm anti-drop mechanism is provided for this utility model;
[0024] Figure 2 A schematic diagram of a replacement device for a robotic arm anti-drop mechanism is provided for this utility model;
[0025] Figure 3 A partial schematic diagram of a replacement device for a robotic arm anti-drop mechanism is provided for this utility model;
[0026] Figure 4 This invention provides a schematic diagram of a lubrication device for a robotic arm anti-drop mechanism.
[0027] Legend: 1. Frame; 2. Replacement device; 21. Snap ring; 22. Iron sheet; 23. Bolt; 24. Baffle; 25. Magnetic plate; 3. Lubrication device; 31. Lubrication ring; 32. Spring; 33. Liquid outlet pipe; 34. Extrusion rod; 35. Washer; 36. Pad; 4. Mechanical claw; 5. Rubber sleeve; 6. Hydraulic press. Detailed Implementation
[0028] Example 1, such as Figure 1-4 As shown, a robotic arm anti-slip mechanism includes a frame 1. A hydraulic press 6 is fixedly connected to the side of the frame 1. A hydraulic rod is slidably connected inside the hydraulic press 6. An adjusting block is fixedly connected to one end of the hydraulic rod. A rotating block is rotatably connected to the surface of the adjusting block. A robotic claw 4 is rotatably connected inside the rotating block. The robotic claw 4 rotates inside the frame 1. A rubber sleeve 5 is provided on the surface of the robotic claw 4. A replacement device 2 is provided on the surface of the robotic claw 4. A lubrication device 3 is provided on the inner wall of the frame 1. When the robotic claw 4 needs to be used, the hydraulic press 6 is activated, causing the hydraulic rod to extend, which in turn pushes the adjusting block, causing the rotating block to rotate, which in turn causes the robotic claw 4 to open and clamp the item. Under the action of the rubber sleeve 5, the item will not slip. The hydraulic rod is retracted, causing the robotic claw 4 to close and clamp the item.
[0029] Reference Figure 2-3The replacement device 2 includes a retaining ring 21 fixedly connected to the inner wall of the rubber sleeve 5. The retaining ring 21 is a deformable rubber ring. The surface of the mechanical claw 4 has an annular groove, and the retaining ring 21 is engaged inside the annular groove. Under the action of the retaining ring 21, the rubber sleeve 5 can be secured to the surface of the mechanical claw 4, thereby achieving a fixing effect. When the mechanical claw 4 needs to be used, the hydraulic press 6 is activated, causing the hydraulic rod to extend, which in turn pushes the adjusting block, causing the rotating block to rotate, thereby causing the mechanical claw 4 to open and clamp the item. Under the action of the rubber sleeve 5, the item will not slip. The hydraulic rod is retracted, causing the mechanical claw 4 to close and clamp the item. A baffle 24 is fixedly connected to the surface of the mechanical claw 4. Under the action of the baffle 24, the rubber sleeve 5 will not be stretched on the surface of the mechanical claw 4, avoiding deformation of the rubber sleeve 5. A magnetic plate 25 is fixedly connected to the surface of the baffle 24, and an iron plate 22 is fixedly connected to one end of the rubber sleeve 5. Under the action of the magnetic plate 25, the rubber sleeve 5 can be fixed. The surface of the baffle 24 serves to fix the rubber sleeve 5. The surface of the rubber sleeve 5 is threaded with a bolt 23. One end of the bolt 23 is inserted into the interior of the mechanical claw 4. Under the action of the bolt 23, the rubber sleeve 5 can be fixed to the surface of the mechanical claw 4, thus achieving the function of replacement. When the elasticity of the rubber sleeve 5 decreases and it deforms, the old rubber sleeve 5 is removed and the new rubber sleeve 5 is put on the surface of the mechanical claw 4. Under the action of the retaining ring 21, the rubber sleeve 5 can be initially locked onto the surface of the mechanical claw 4. Under the action of the baffle 24, the rubber sleeve 5 will not be stretched on the surface of the mechanical claw 4, thus avoiding the phenomenon of deformation of the rubber sleeve 5. When the rubber sleeve 5 contacts the baffle 24, under the action of the magnetic plate 25, the rubber sleeve 5 can be fixed to the surface of the baffle 24, thus achieving the function of fixing the rubber sleeve 5. The bolt 23 is screwed into the interior of the mechanical claw 4, thus achieving the function of replacing the rubber sleeve 5 and preventing the mechanical claw 4 from slipping when clamping materials.
[0030] Reference Figure 4The lubrication device 3 includes a lubrication ring 31 fixedly connected to the surface of the hydraulic rod. A compression ring is slidably connected inside the lubrication ring 31. A compression rod 34 is fixedly connected to the side of the compression ring. A liquid outlet pipe 33 is fixedly connected to the bottom of the lubrication ring 31. The outlet of the liquid outlet pipe 33 is located at the bottom of the mechanical claw 4. Under the action of the liquid outlet pipe 33, the mechanical claw 4 can be lubricated, preventing the mechanical claw 4 from jamming. A washer 35, a rubber ring, is fixedly connected to the side of the compression ring. Under the action of the washer 35, the compression ring will not directly impact the inner wall of the lubrication ring 31, preventing deformation of the compression ring. A spring 32 is fixedly connected to the inner wall of the lubrication ring 31. The other end of the spring 32 is fixedly connected to one side of the compression ring. Under the action of the elastic potential energy of the spring 32, the compression ring can reset when not compressed by the compression rod 34. A pad 36 is fixedly connected to one end of the compression rod 34. 6 is a rubber block. Under the action of the pad 36, the squeezing rod 34 will not directly contact the adjusting block, thus avoiding damage to the squeezing rod 34. When the mechanical claw 4 needs to be lubricated, after the mechanical claw 4 clamps the item, the adjusting block presses against the surface of the squeezing rod 34. Under the action of the pad 36, the squeezing rod 34 will not directly contact the adjusting block, thus avoiding damage to the squeezing rod 34. This causes the squeezing rod 34 to push the squeezing ring to move, thereby spraying the lubricant inside the lubrication ring 31 through the outlet pipe 33, thus lubricating the mechanical claw 4. When the mechanical claw 4 releases the item, the adjusting block separates from the squeezing rod 34. Under the action of the elastic potential energy of the spring 32, the squeezing ring can reset when it is not squeezed by the squeezing rod 34. Under the action of the washer 35, the squeezing ring will not directly hit the inner wall of the lubrication ring 31, thus avoiding deformation of the squeezing ring, thereby achieving the lubrication effect.
[0031] Working principle: When the robotic arm anti-drop mechanism is needed, and when the robotic gripper 4 is used, the hydraulic press 6 is activated, causing the hydraulic rod to extend, which in turn pushes the adjusting block, causing the rotating block to rotate, thus opening the robotic gripper 4 and clamping the item. Under the action of the rubber sleeve 5, the item will not slip. The hydraulic rod is then retracted, causing the robotic gripper 4 to close and clamp the item. When the elasticity of the rubber sleeve 5 decreases and it deforms, the old rubber sleeve 5 is removed, and a new rubber sleeve 5 is placed on the surface of the robotic gripper 4. Under the action of the retaining ring 21, the rubber sleeve 5 can initially be secured to the surface of the robotic gripper 4. Under the action of the baffle 24, the rubber sleeve 5 will not stretch on the surface of the robotic gripper 4, avoiding deformation. When the rubber sleeve 5 contacts the baffle 24, under the action of the magnetic plate 25, the rubber sleeve 5 is fixed to the surface of the baffle 24, thus achieving the function of fixing the rubber sleeve 5. The bolt 23 is screwed into the inside of the mechanical claw 4, thereby replacing the rubber sleeve 5 and preventing the mechanical claw 4 from slipping when gripping materials. When the mechanical claw 4 needs lubrication, after the mechanical claw 4 clamps the item, the adjusting block presses against the surface of the pressing rod 34. Under the action of the pad 36, the pressing rod 34 does not directly contact the adjusting block, preventing damage to the pressing rod 34. This causes the pressing rod 34 to push the pressing ring to move, thereby spraying the lubricant inside the lubrication ring 31 through the outlet pipe 33 to lubricate the mechanical claw 4. When the mechanical claw 4 releases the item, the adjusting block separates from the pressing rod 34. Under the action of the elastic potential energy of the spring 32, the pressing ring can reset when it is not squeezed by the pressing rod 34. Under the action of the washer 35, the pressing ring does not directly hit the inner wall of the lubrication ring 31, preventing deformation of the pressing ring and thus achieving the lubrication effect.
Claims
1. A robotic arm anti-drop mechanism, comprising a frame (1), a hydraulic press (6) fixedly connected to the side of the frame (1), a hydraulic rod slidably connected inside the hydraulic press (6), an adjusting block fixedly connected to one end of the hydraulic rod, a rotating block rotatably connected to the surface of the adjusting block, and a robotic claw (4) rotatably connected inside the rotating block, the robotic claw (4) rotating inside the frame (1), characterized in that: The surface of the mechanical claw (4) is provided with a rubber sleeve (5), and the surface of the mechanical claw (4) is provided with a replacement device (2). The inner wall of the frame (1) is provided with a lubrication device (3). The replacement device (2) includes a retaining ring (21) fixedly connected to the inner wall of the rubber sleeve (5). The retaining ring (21) is a deformable rubber ring. The surface of the mechanical claw (4) is provided with an annular groove, and the retaining ring (21) is engaged inside the annular groove.
2. The robot fall-off prevention mechanism according to claim 1, characterized by: A baffle (24) is fixedly connected to the surface of the mechanical claw (4).
3. The robot fall prevention mechanism according to claim 2, characterized by: A magnetic plate (25) is fixedly connected to the surface of the baffle (24), and an iron sheet (22) is fixedly connected to one end of the rubber sleeve (5).
4. The robot fall-off prevention mechanism according to claim 3, characterized by: The surface of the rubber sleeve (5) is threaded with a bolt (23), one end of which is inserted into the interior of the mechanical claw (4).
5. The robot fall prevention mechanism according to claim 4, characterized by: The lubrication device (3) includes a lubrication ring (31) fixedly connected to the surface of the hydraulic rod. A compression ring is slidably connected inside the lubrication ring (31). A compression rod (34) is fixedly connected to the side of the compression ring. A liquid outlet pipe (33) is fixedly connected to the bottom of the lubrication ring (31). The liquid outlet of the liquid outlet pipe (33) is located at the bottom of the mechanical claw (4).
6. The robot fall prevention mechanism according to claim 5, characterized by: A washer (35) is fixedly connected to the side of the extrusion ring, and the washer (35) is a rubber ring.
7. The robot fall prevention mechanism according to claim 6, characterized in that: A spring (32) is fixedly connected to the inner wall of the lubrication ring (31), and the other end of the spring (32) is fixedly connected to one side of the compression ring.
8. The robot fall prevention mechanism according to claim 7, characterized by: One end of the extrusion rod (34) is fixedly connected to a pad (36), which is a rubber block.