Multifunctional material grabbing mechanical arm

Abstract

The utility model discloses a multifunctional material grabbing mechanical arm which comprises a mechanical arm body and further comprises a two-finger clamping jaw and a material box, the two-finger clamping jaw is installed at the executing end of the mechanical arm body, wedge-shaped silica gel is arranged on the opposite end faces of the two clamping jaws of the two-finger clamping jaw, and the material box is used for containing materials. The two sides of the material box are each provided with a wedge-shaped structure matched with the wedge-shaped silica gel. According to the utility model, the wedge-shaped silica gel is arranged on the clamping jaw of the two-finger clamping jaw, and an object to be clamped is elastically clamped by utilizing the material elasticity characteristic of the silica gel, so that the phenomenon that the object is damaged due to clamping can be effectively avoided.

Description

Technical Field

[0001] This utility model relates to the technical field of material gripping devices, and in particular to a multifunctional material gripping robotic arm. Background Technology

[0002] In modern industrial production, the rapid development of automation and intelligent technologies is profoundly changing traditional production models. Among these technologies, gripping robotic arms, as efficient and precise automated equipment, play an indispensable role in many production processes such as material handling, assembly, and sorting. Their automatic gripping devices can stably clamp and flexibly transfer workpieces, significantly improving production efficiency, reducing labor costs, and effectively avoiding errors and safety risks that may arise from manual operation, thus becoming a vital force driving the process of industrial automation.

[0003] However, most gripping robotic arms currently on the market use a direct, rigid contact between the grippers and the material when grasping it. While this gripping mechanism is simple in structure and direct in control, it reveals significant limitations when dealing with materials that are sensitive to force or have easily damaged surfaces. During rigid gripping, improper control of the direct force between the grippers and the material can easily lead to scratches, deformation, or even breakage of the material surface. This not only affects the product's appearance but may also cause irreversible damage to its functionality, thereby increasing production costs and scrap rates. Utility Model Content

[0004] In view of the above-mentioned problems of existing gripping arms, the present invention aims to provide a multifunctional material gripping robotic arm.

[0005] The specific technical solution is as follows:

[0006] A multifunctional material gripping robotic arm includes a main body and further includes:

[0007] Two-finger gripper, the two-finger gripper is installed on the execution end of the main body of the robotic arm, and the opposite end faces of the two grippers of the two-finger gripper are both covered with wedge-shaped silicone.

[0008] A material box for holding materials, wherein both sides of the material box have wedge-shaped structures adapted to the wedge-shaped silicone.

[0009] As a further improvement and optimization of this solution, the wedge structure is a wedge-shaped groove.

[0010] As a further improvement and optimization of this solution, the wedge-shaped silicone includes: a clamping part and a wedge-shaped part, the clamping part being connected to the jaws, and the wedge-shaped part being connected to the bottom side of the clamping part and adapted to the wedge-shaped groove.

[0011] As a further improvement and optimization of this solution, the clamping part and the wedge-shaped part are an integrated structure.

[0012] As a further improvement and optimization of this solution, the wedge-shaped groove is provided on the bottom side of the material box.

[0013] As a further improvement and optimization of this solution, the two-finger gripper is a pneumatic two-finger gripper or an electric two-finger gripper.

[0014] As a further improvement and optimization of this solution, the main body of the robotic arm is a SCARA robot.

[0015] As a further improvement and optimization of this solution, the main body of the robotic arm has a cable bracket.

[0016] The positive effects of the above technical solution compared with the existing technology are:

[0017] (1) In this utility model, by setting a wedge-shaped silicone on the gripper of the two-finger gripper, the elastic properties of the silicone material are used to elastically grip the object to be gripped, which can effectively avoid damage to the object during gripping.

[0018] (2) In this utility model, the material is placed in the material box and the material box is elastically gripped by two fingers to achieve the gripping action of the material. The material box can prevent different types of materials from being used and improve applicability. On the other hand, the material box of uniform specifications is easy to stack, transport and store, saving laboratory space and simplifying the operation process of sample division, weighing and other procedures.

[0019] (3) In this utility model, by setting a wedge structure on the material box that is compatible with the wedge silicone, the gripping stability of the two-finger gripper on the material box can be effectively improved. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the structure of a multifunctional material gripping robotic arm according to the present invention;

[0021] Figure 2 This is a schematic diagram of the two-finger gripper of a multifunctional material gripping robotic arm according to the present invention.

[0022] Figure 3 This is a schematic diagram of the wedge-shaped silicone structure of a multifunctional material gripping robotic arm according to the present invention;

[0023] Figure 4 This is a schematic diagram of the material box structure of a multifunctional material gripping robotic arm according to the present invention;

[0024] In the attached diagram: 1. Main body of the robotic arm; 2. Two-finger gripper; 3. Material box; 4. Cable bracket; 5. Motion trajectory; 6. Wedge-shaped silicone; 31. Wedge structure; 61. Gripping part; 62. Wedge part. Detailed Implementation

[0025] The technical solution of this utility model will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this utility model. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this utility model.

[0026] In the description of this utility model, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0027] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0028] Figure 1 This is a schematic diagram of the structure of a multifunctional material gripping robotic arm according to the present invention; Figure 2 This is a schematic diagram of the two-finger gripper of a multifunctional material gripping robotic arm according to the present invention. Figure 3 This is a schematic diagram of the wedge-shaped silicone structure of a multifunctional material gripping robotic arm according to the present invention; Figure 4 This is a schematic diagram of the material box structure of a multifunctional material gripping robotic arm according to this utility model. Figure 1-4As shown, a preferred embodiment of a multifunctional material gripping robotic arm is illustrated, including a robotic arm body 1, a two-finger gripper 2, and a material box 3. The two-finger gripper 2 is installed on the execution end of the robotic arm body 1, and the opposite end faces of the two grippers of the two-finger gripper 2 are provided with wedge-shaped silicone 6. The material box 3 is used to place materials, and both sides of the material box 3 are provided with wedge-shaped structures 31 that are adapted to the wedge-shaped silicone 6.

[0029] In this embodiment, a wedge-shaped silicone 6 is provided on the gripper of the two-finger gripper 2. The elastic properties of the silicone material are used to elastically grip the object to be gripped, which can effectively avoid damage to the object during gripping.

[0030] In this embodiment, the material is placed in the material box 3, and the two-finger gripper 2 is used to elastically grip the material box 3 to achieve the gripping action of the material. The material box 3 can prevent different types of materials from being handled, thus improving applicability. On the other hand, the uniform material box 3 is easy to stack, transport and store, saving laboratory space, and simplifying the operation process such as sample division and weighing.

[0031] In this embodiment, by setting a wedge-shaped structure 31 on the material box 3 that is compatible with the wedge-shaped silicone 6, the gripping stability of the two-finger gripper 2 on the material box 3 can be effectively improved.

[0032] Furthermore, as a preferred embodiment, the wedge structure 31 is a wedge-shaped groove.

[0033] Furthermore, as a preferred embodiment, the wedge-shaped silicone 6 includes: a clamping part 61 and a wedge-shaped part 62. The clamping part 61 is connected to the gripper, and the wedge-shaped part 62 is connected to the bottom side of the clamping part 61 and is adapted to the wedge-shaped groove. When gripping the material box 3, the two clamping parts 61 respectively elastically clamp the two side walls of the material box 3, and the two wedge-shaped parts 62 respectively limit the movement of the two wedge-shaped grooves, thereby achieving the gripping stability of the material box 3.

[0034] Furthermore, as a preferred embodiment, the clamping part 61 and the wedge-shaped part 62 are an integrated structure.

[0035] Furthermore, as a preferred embodiment, the wedge-shaped groove is provided on the bottom side of the material box 3.

[0036] Furthermore, as a preferred embodiment, the two-finger gripper 2 is a pneumatic two-finger gripper 2 or an electric two-finger gripper 2.

[0037] Furthermore, as a preferred embodiment, the main body 1 of the robotic arm is a SCARA robot.

[0038] Furthermore, as a preferred embodiment, the robotic arm body 1 has a cable bracket 4.

[0039] Based on the above, this utility model also has the following embodiments:

[0040] The main body 1 of the robotic arm can grasp the material box 3 through the two-finger gripper 2 and move in a circumferential direction, forming a circumferential motion trajectory 5. Human-machine collaboration is safe. The trajectory planning limits the speed / acceleration and reserves an emergency stop area to ensure safety when sharing space with people. By utilizing optimal control theory, the motion time is shortened and the production cycle is improved.

[0041] The above description is only a preferred embodiment of the present utility model and does not limit the implementation method and protection scope of the present utility model. Those skilled in the art should realize that all solutions obtained by equivalent substitutions and obvious changes made based on the description and illustrations of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A multifunctional material gripping robotic arm, comprising a robotic arm body, characterized in that, Also includes: Two-finger gripper, the two-finger gripper is installed on the execution end of the main body of the robotic arm, and the opposite end faces of the two grippers of the two-finger gripper are both covered with wedge-shaped silicone. A material box for holding materials, wherein both sides of the material box have wedge-shaped structures adapted to the wedge-shaped silicone.

2. The multifunctional material gripping robotic arm according to claim 1, characterized in that, The wedge structure is a wedge-shaped groove.

3. The multifunctional material gripping robotic arm according to claim 2, characterized in that, The wedge-shaped silicone includes a clamping part and a wedge-shaped part. The clamping part is connected to the jaws, and the wedge-shaped part is connected to the bottom side of the clamping part and is adapted to fit the wedge-shaped groove.

4. The multifunctional material gripping robotic arm according to claim 3, characterized in that, The clamping part and the wedge-shaped part are an integrated structure.

5. The multifunctional material gripping robotic arm according to claim 3, characterized in that, The wedge-shaped groove is located on the bottom side of the material box.

6. The multifunctional material gripping robotic arm according to claim 1, characterized in that, The two-finger gripper is either a pneumatic two-finger gripper or an electric two-finger gripper.

7. The multifunctional material gripping robotic arm according to claim 1, characterized in that, The main body of the robotic arm is a SCARA robot.

8. The multifunctional material gripping robotic arm according to claim 1, characterized in that, The main body of the robotic arm has a cable support.

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