Dual-mode mechanical arm clamp

Abstract

The utility model discloses a dual-mode mechanical arm clamp which comprises a clamp installation base, a flange used for being connected with a mechanical arm is fixedly installed on the top of the clamp installation base, four channels are formed in the bottom of the clamp installation base, and each channel in the bottom of the clamp installation base is provided with a pressing plate. One end of the pressing plate is fixedly connected with a fixed gripper, a first air cylinder is fixedly installed on the pressing plate, and the output end of the first air cylinder is fixedly connected with a movable gripper. Four bearing seats are fixedly installed on the clamp installation seat, a movable rod is fixedly installed between every two adjacent bearing seats in the front-back direction, and claw arms are fixedly installed at the two ends of each movable rod. According to the utility model, two grabbing modes are provided, so that two different objects can be grabbed, the process and equipment for replacing the clamp are reduced, and the working efficiency of the clamp is improved.

Description

Technical Field

[0001] This utility model relates to the field of robotic arm grippers, and more specifically, to a dual-mode robotic arm gripper. Background Technology

[0002] The robotic gripper is a core component of the robot's end effector, directly responsible for grasping, holding, or manipulating target objects. Its design must comprehensively consider the object's characteristics (shape, material, weight), the working environment (accuracy, speed, contact force), and task requirements (assembly, sorting, handling, etc.).

[0003] In the automated production of metal (iron) easy-open lids, the handling of these lids often uses robotic arm grippers. Most current robotic arm grippers can only grip a single type of object, such as metal easy-open lids. While single-mode robotic arm grippers (i.e. grippers with only a single gripping or operating method) can work efficiently in specific scenarios, their inherent limitations significantly affect flexible production, adaptability to complex tasks, and overall system efficiency. For example, the trays used to hold the easy-open lids often need to be handled manually or additional robots need to be added. Utility Model Content

[0004] In view of the problems existing in the prior art, the purpose of this utility model is to provide a dual-mode robotic arm gripper to solve the problems in the background technology.

[0005] To achieve the above objectives, the present invention adopts the following technical solution;

[0006] A dual-mode robotic arm gripper includes a gripper mounting base. A flange for connecting to a robotic arm is fixedly mounted on the top of the gripper mounting base. The bottom of the gripper mounting base is provided with four channels. A pressure plate is installed in each channel at the bottom of the gripper mounting base. A fixed gripper is fixedly connected to one end of the pressure plate. A first cylinder is fixedly mounted on the pressure plate. A movable gripper is fixedly connected to the output end of the first cylinder.

[0007] Four bearing seats are fixedly installed on the fixture mounting base. A movable rod is fixedly installed between two adjacent bearing seats. A claw arm is fixedly installed at both ends of the movable rod. A third cylinder is installed on the fixture mounting base. The output end of the third cylinder is connected to the movable rod on the left side. A connecting rod is hinged between the two claw arms on the front side. The hinge point between the left end of the connecting rod and the claw arm is located below the connection point between the claw arm and the movable rod. The hinge point between the right end of the connecting rod and the claw arm is located above the connection point between the claw arm and the movable rod.

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

[0009] The bottom of the pressure plate is provided with a V-shaped groove.

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

[0011] Two guide rods are fixedly installed on the pressure plate. The top end of each guide rod is slidably connected to the fixture mounting base. A bolt is threaded onto the top of each guide rod to prevent the top end of the guide rod from disengaging from the fixture mounting base channel. A spring is sleeved on each guide rod. The top and bottom ends of the spring contact the fixture mounting base and the pressure plate, respectively. A displacement sensor is fixedly installed at the bottom of the fixture mounting base. The displacement sensor is located on one side of the top end of the guide rod. The displacement sensor is used to detect displacement data and upload it to the robotic arm control terminal when the guide rod moves upward relative to the fixture mounting base, thereby controlling the robotic arm to stop working and triggering an alarm.

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

[0013] Magnets are inserted through the pressure plate, and a second cylinder is fixedly installed on the top of the magnet. The second cylinder is fixedly installed on the bottom of the clamp mounting base.

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

[0015] The fixed gripper is L-shaped and is fixedly installed on the pressure plate by bolts.

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

[0017] Protective pads are fixedly installed on the opposite side of both the fixed gripper and the movable gripper.

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

[0019] A circular cylinder is fixedly installed on both the left and right sides of the clamp mounting base, and a pressure block is fixedly installed at the bottom of each of the two circular cylinders.

[0020] Compared with existing technologies, the advantages of this utility model are:

[0021] This solution provides two gripping modes, enabling gripping of two different objects, reducing the need for changing fixtures and equipment, and thus improving the efficiency of the fixtures. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the structure of this utility model;

[0023] Figure 2 This is a cross-sectional view of the internal structure of the pressure plate of this utility model;

[0024] Figure 3 This is a schematic diagram of the claw arm of this utility model in the open state;

[0025] Figure 4 This is a schematic diagram of the inverted structure of this utility model.

[0026] Explanation of the labels in the diagram:

[0027] 1. Fixture mounting base; 2. Pressure plate; 3. Fixed gripper; 4. First cylinder; 5. Movable gripper; 6. Magnet; 7. Bearing seat; 8. Movable rod; 9. Claw arm; 10. Third cylinder; 11. Connecting rod; 12. Guide rod; 13. Spring; 14. Second cylinder; 15. Displacement sensor; 16. Circular cylinder. Detailed Implementation

[0028] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present utility model;

[0029] Please see Figure 1-4 In this utility model, a dual-mode robotic arm gripper includes a gripper mounting base 1. A flange for connecting to the robotic arm is fixedly installed on the top of the gripper mounting base 1. The bottom of the gripper mounting base 1 is provided with four channels. Each channel at the bottom of the gripper mounting base 1 is equipped with a pressure plate 2. A fixed gripper 3 is fixedly connected to one end of the pressure plate 2. A first cylinder 4 is fixedly installed on the pressure plate 2. A movable gripper 5 is fixedly connected to the output end of the first cylinder 4. Four bearing seats 7 are fixedly installed on the gripper mounting base 1. A movable rod 8 is fixedly installed between two adjacent bearing seats 7. Both ends of the movable rod 8 are fixedly installed with claw arms 9. A third cylinder 10 is installed on the gripper mounting base 1. The output end of the third cylinder 10 is connected to the movable rod 8 on the left side. A connecting rod 11 is hinged between the two claw arms 9 on the front side. The hinge point between the left end of the connecting rod 11 and the claw arm 9 is located below the connection point between the claw arm 9 and the movable rod 8. The hinge point between the right end of the connecting rod 11 and the claw arm 9 is located above the connection point between the claw arm 9 and the movable rod 8.

[0030] In this invention, the flange mounts the clamping base 1 onto the robot's robotic arm. By controlling the extension and retraction of the first cylinder 4, the movable gripper 5 is moved. When the robotic arm moves the pressure plate 2 above the workpiece and adjusts the movable gripper 5 and the fixed gripper 3 to be positioned at opposite ends of the workpiece, the workpiece is clamped by shortening the distance between the movable gripper 5 and the fixed gripper 3. The third cylinder 10 rotates the movable rod 8 on the left side, causing the two claw arms 9 on the left to open outward. Since the two claw arms 9 on the front are connected by a connecting rod 11, when the left claw arm 9 opens outward, it drives the right claw arm 9 to open outward simultaneously. Thus, one third cylinder 10 drives four claw arms 9 to open and close synchronously. The four claw arms 9 can grasp the pallet. When not grasping the pallet, the left and right claw arms 9 are staggered to avoid affecting the grasping of the workpiece. This solution can provide two grasping modes, thus enabling grasping of two different objects, reducing the process and equipment of changing clamps, thereby improving the working efficiency of the clamp.

[0031] Please see Figure 4 Wherein: the bottom of the pressure plate 2 is provided with a V-shaped groove.

[0032] In this invention, the V-shaped groove slope can guide the workpiece on both sides when the pressure plate 2 contacts the workpiece, so that the workpiece is centered at the bottom of the pressure plate 2, thereby positioning it and facilitating the alignment of the movable gripper 5 and the fixed gripper 3 with the two ends of the workpiece for clamping.

[0033] Please see Figure 1 and Figure 2 The system includes: two guide rods 12 fixedly installed on the pressure plate 2; the top of the guide rod 12 is slidably connected to the fixture mounting base 1; a bolt is threaded onto the top of the guide rod 12 to prevent the top of the guide rod 12 from disengaging from the channel of the fixture mounting base 1; a spring 13 is sleeved on the guide rod 12; the top and bottom of the spring 13 are in contact with the fixture mounting base 1 and the pressure plate 2, respectively; a displacement sensor 15 is fixedly installed at the bottom of the fixture mounting base 1; the displacement sensor 15 is located on one side of the top of the guide rod 12; the displacement sensor 15 is used to detect displacement data and upload it to the robotic arm control terminal when the guide rod 12 moves upward relative to the fixture mounting base 1, thereby controlling the robotic arm to stop working and triggering an alarm.

[0034] In this utility model, after a collision occurs when the pressure plate 2 is pressed down, the pressure plate 2 is subjected to a reaction force and rises relative to the clamp mounting base 1. The top of the guide rod 12 rises and compresses the spring 13. When the displacement sensor 15 detects a change in distance value, it indicates that the pressure plate 2 has collided with other objects. The displacement data is detected and uploaded to the robotic arm control terminal, which controls the robotic arm to stop working and sounds an alarm.

[0035] The guide rod 12 and spring 13 on each pressure plate 2 of the four channels exist independently, so that the clamping mechanism on the four channels can work in a staggered manner, and can be flexibly adjusted for clamping up to four workpieces.

[0036] Please see Figure 1-4 In this case, a magnet 6 is inserted through the pressure plate 2, and a second cylinder 14 is fixedly installed on the top of the magnet 6. The second cylinder 14 is fixedly installed on the bottom of the clamp mounting base 1.

[0037] In this invention, for round iron workpieces, such as easy-open lids, the magnet 6 attracts the workpiece, causing it to deflect to the inside of the V-shaped groove to assist in positioning. At the same time, according to the clamping and positioning requirements, the second cylinder 14 drives the magnet 6 to rise and fall, controlling the distance between the magnet 6 and the bottom of the pressure plate 2, adjusting the magnetic field range of the magnet 6 on the workpiece, and thus adjusting the magnetic force. This makes it more adjustable and more flexible to use.

[0038] Please see Figure 1-4 The fixed gripper 3 is L-shaped and is fixedly installed on the pressure plate 2 by bolts.

[0039] In this invention, the L-shaped fixing gripper 3 not only facilitates its installation but also improves the stability of the fixing gripper 3 installed on the pressure plate 2.

[0040] Please see Figure 1-4 Among them, protective pads are fixedly installed on the opposite side of both the fixed gripper 3 and the movable gripper 5.

[0041] In this invention, the protective pad prevents the fixed gripper 3 from directly contacting the workpiece, such as the surface of a metal easy-open cover, which could cause scratches or excessive deformation on the workpiece surface, thus protecting the workpiece.

[0042] Please see Figure 1 , 3 4, wherein: a circular cylinder 16 is fixedly installed on both the left and right sides of the clamp mounting base 1, and a pressure block is fixedly installed at the bottom of both circular cylinders 16.

[0043] In this utility model, when the pallet is clamped and fixed by the four claw arms, due to the structural shape of the claw arms 9, in order to avoid the pallet from vibrating up and down, the bottom pressure block is driven by the circular cylinders 16 on both sides to press down and contact the pallet, and the claw arms 9 further clamp and stabilize the pallet, preventing the pallet from vibrating or slipping, and improving the safety of pallet-type workpieces during turnover.

[0044] The above description is merely a preferred embodiment of this utility model; however, the protection scope of this utility model is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the technical scope disclosed in this utility model, based on the technical solution and its improved concept, should be included within the protection scope of this utility model.

Claims

1. A dual-mode robotic arm gripper, comprising a gripper mounting base (1), characterized in that: The top of the clamp mounting base (1) is fixedly mounted with a flange for connecting to the robotic arm. The bottom of the clamp mounting base (1) is provided with four channels. Each channel at the bottom of the clamp mounting base (1) is equipped with a pressure plate (2). One end of the pressure plate (2) is fixedly connected to a fixed gripper (3). A first cylinder (4) is fixedly mounted on the pressure plate (2). The output end of the first cylinder (4) is fixedly connected to a movable gripper (5). Four bearing seats (7) are fixedly installed on the fixture mounting base (1). A movable rod (8) is fixedly installed between two adjacent bearing seats (7). A claw arm (9) is fixedly installed at both ends of the movable rod (8). A third cylinder (10) is installed on the fixture mounting base (1). The output end of the third cylinder (10) is connected to the movable rod (8) on the left. A connecting rod (11) is hinged between the two claw arms (9) on the front. The hinge point between the left end of the connecting rod (11) and the claw arm (9) is located below the connection point between the claw arm (9) and the movable rod (8). The hinge point between the right end of the connecting rod (11) and the claw arm (9) is located above the connection point between the claw arm (9) and the movable rod (8).

2. The dual-mode robotic arm gripper according to claim 1, characterized in that: The bottom of the pressure plate (2) is provided with a V-shaped groove.

3. The dual-mode robotic arm gripper according to claim 1, characterized in that: Two guide rods (12) are fixedly installed on the pressure plate (2). The top end of the guide rod (12) is slidably connected to the fixture mounting base (1). The top of the guide rod (12) is threaded with a bolt, which is used to prevent the top end of the guide rod (12) from disengaging from the channel of the fixture mounting base (1). A spring (13) is sleeved on the guide rod (12). The top and bottom ends of the spring (13) are in contact with the fixture mounting base (1) and the pressure plate (2) respectively. A displacement sensor (15) is fixedly installed at the bottom of the fixture mounting base (1). The displacement sensor (15) is located on one side of the top end of the guide rod (12). The displacement sensor (15) is used to detect displacement data and upload it to the robotic arm control terminal when the guide rod (12) moves upward relative to the fixture mounting base (1) and causes displacement, thereby controlling the robotic arm to stop working and triggering an alarm.

4. The dual-mode robotic arm gripper according to claim 1, characterized in that: A magnet (6) is inserted through the pressure plate (2), and a second cylinder (14) is fixedly installed on the top of the magnet (6). The second cylinder (14) is fixedly installed on the bottom of the clamp mounting base (1).

5. The dual-mode robotic arm gripper according to claim 1, characterized in that: The fixed gripper (3) is L-shaped and is fixedly installed on the pressure plate (2) by bolts.

6. The dual-mode robotic arm gripper according to claim 1, characterized in that: Protective pads are fixedly installed on the opposite side of both the fixed gripper (3) and the movable gripper (5).

7. The dual-mode robotic arm gripper according to claim 1, characterized in that: A circular cylinder (16) is fixedly installed on both the left and right sides of the clamp mounting base (1), and a pressure block is fixedly installed at the bottom of each of the two circular cylinders (16).

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