Manipulator stable in clamping

Abstract

The utility model belongs to the technical field of manipulators, and particularly relates to a stable-clamping manipulator which comprises a manipulator body, a connecting arm and a manipulator claw, the upper end and the lower end of the manipulator claw are rotationally connected with extension plates through torsion spring rotating shafts respectively, and an upper sliding groove and a lower sliding groove are formed in the side wall of the manipulator claw. An unfolding assembly is installed in the sliding groove and comprises a sliding seat and a plurality of clamping grooves, a plurality of clamping columns are fixedly connected to one end of the sliding seat, the clamping grooves are formed in the surface of the extending plate, and one ends of the clamping columns penetrate through the mechanical paw and extend into the clamping grooves; the side wall of the sliding seat is fixedly connected with a limiting spring; the clamping columns are inserted into the clamping grooves, so that the extending plates are fixed in an inserted mode, unfolding and fixing of the extending plates are achieved, the extending plates are perpendicular to the mechanical gripper, the contact area between the extending plates and an object is increased, and the effect of improving stability is achieved.

Description

Technical Field

[0001] This utility model relates to the field of robotic arm technology, specifically a robotic arm with stable clamping. Background Technology

[0002] A robotic arm is an automated operating device that can mimic certain movements and functions of a human hand and arm to grasp, move objects, or operate tools according to a fixed program. Its characteristic is that it can be programmed to complete various expected tasks, and its structure and performance combine the advantages of both humans and machines.

[0003] When existing robotic arms grasp large objects, the small contact area between the robotic arm's gripper and the object being grasped causes the object to easily tilt to either side during the grasping process, resulting in unstable gripping by the robotic arm. Alternatively, the small contact area also results in a small force-bearing area on the object, causing damage to the gripped area.

[0004] The existing Chinese patent with publication number CN218557140U discloses a stable gripping robotic hand, including: a robotic hand body, with a connecting arm at one end and a robotic gripper at the end of the connecting arm away from the robotic hand body; an extension plate, one end of which is inserted into the inside of a storage slot, the storage slot being formed on the upper end face of the robotic gripper; and a connecting rod, one end of which is fixedly connected to one side of the extension plate. The beneficial effects are: when it is necessary to grip large objects, the extension plate can be pulled out from the inside of the storage slot, increasing the contact area between the robotic gripper and the gripped object, thereby achieving stable gripping. During the gripping process, the rubber gasket can reduce the gripping force on the gripped object and prevent wear on the object surface.

[0005] Regarding the above-mentioned and existing related technologies, the inventors believe that the following defects often exist: when the device pulls out the extension plate, the gripping surfaces of the robotic gripper and the extension plate are not on the same vertical plane, which makes it impossible for the extension plate to fit well against the surface of the object for gripping, and improvements are needed; therefore, a robotic gripper with stable gripping is proposed to address the above problems. Utility Model Content

[0006] To overcome the shortcomings of existing technologies and solve the aforementioned technical problems, this utility model proposes a stable clamping robotic arm.

[0007] The technical solution adopted by this utility model to solve its technical problem is as follows: The present utility model provides a stable clamping robot, including a robot body, a connecting arm, and a robot gripper. The upper and lower ends of the robot gripper are respectively rotatably connected to extension plates via torsion spring shafts. The side wall of the robot gripper has two upper and lower sliding grooves. An unfolding assembly is installed inside the sliding groove. The unfolding assembly includes a sliding seat and several slots. The sliding seat is slidably installed inside the sliding groove. One end of the sliding seat is fixedly connected to several locking pins. The slots are opened on the surface of the extension plates. One end of each locking pin passes through the robot gripper and extends into the slot. A limit spring is fixedly connected to the side wall of the sliding seat. The other end of the limit spring is slidably installed on the inner wall of the sliding groove. A groove is opened on the outer side wall of the sliding seat.

[0008] Preferably, the extension plate includes a base, and a rotating seat is rotatably connected to the center of the base via a shaft, and a rubber pad is fixedly connected to the side wall of the robotic gripper.

[0009] Preferably, a rubber pad is fixedly connected to one side of the rotating base, and several vacuum suction cups are fixedly connected to the other side of the rotating base. The width of the rotating base is the same as the width of the robotic gripper.

[0010] Preferably, the sidewall of the robotic gripper has a receiving cavity, and two receiving cavities are provided, which are used to accommodate vacuum suction cups.

[0011] Preferably, the surfaces of the extension plate, the slide groove, and the slide seat are fitted with a folding assembly, the folding assembly including a locking port, the locking port being formed on the surface of the slide seat and communicating with the groove.

[0012] Preferably, the folding assembly further includes several hooks, the hooks being L-shaped, with one end of each hook fixedly installed on the outer side wall of the extension plate.

[0013] Preferably, the folding assembly further includes two mounting slots, which are formed on the inner sidewall of the slide, and a spring telescopic rod is fixedly connected to the inner wall of the mounting slot.

[0014] Preferably, one end of the spring telescopic rod is hemispherical and extends out of the mounting groove.

[0015] The advantages of this utility model are:

[0016] 1. This utility model uses a locking pin inserted into the slot to fix the extension plate, thereby unfolding and fixing the extension plate so that it is perpendicular to the robotic gripper, thus increasing the contact area with the object and achieving the effect of increasing stability. Compared with the prior art, the extension plate can better fit the surface of the object for clamping.

[0017] 2. This utility model achieves the folding and fixing of the extension plate by rotating the hook inside the groove, and when the sliding seat is released, the sliding seat slides by the elastic force of the limiting spring, so that the hook passes through the locking hole, and the sliding seat locks the hook. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0020] Figure 2 This is a schematic diagram of the mechanical gripper structure of this utility model;

[0021] Figure 3 This is a schematic diagram of the extension plate structure of this utility model;

[0022] Figure 4 This is a schematic diagram of the unfolding component structure of this utility model;

[0023] Figure 5 This utility model Figure 4 Enlarged view of point A.

[0024] In the diagram: 1. Robotic arm body; 2. Connecting arm; 3. Robotic gripper; 4. Extension plate; 41. Base; 42. Rotating seat; 5. Slide groove; 6. Deployment assembly; 61. Sliding seat; 62. Slot; 63. Limiting spring; 64. Groove; 65. Locking post; 7. Rubber pad one; 8. Rubber pad two; 9. Vacuum suction cup; 10. Receiving cavity; 11. Folding assembly; 111. Hook; 112. Locking port; 113. Mounting slot; 114. Spring telescopic rod. Detailed Implementation

[0025] 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 scope of protection of the present utility model.

[0026] Example 1

[0027] Please see Figures 1-5As shown, a gripper with stable clamping capability includes a gripper body 1, a connecting arm 2, and a gripper gripper 3. The upper and lower ends of the gripper gripper 3 are rotatably connected to extension plates 4 via torsion spring shafts. The sidewalls of the gripper gripper 3 have two sliding grooves 5. An unfolding assembly 6 is installed inside the sliding grooves 5. The unfolding assembly 6 includes a sliding seat 61 and several slots 62. The sliding seat 61 is slidably installed inside the sliding grooves 5. One end of the sliding seat 61 is fixedly connected to several locking posts 65. The slots 62 are formed on the surface of the extension plate 4. One end of each locking post 65 penetrates the gripper gripper 3 and extends into the slot 62. The sidewalls of the sliding seat 61 are fixedly connected to... A limit spring 63 is connected, and the other end of the limit spring 63 is slidably installed on the inner wall of the slide groove 5. A groove 64 is opened on the outer wall of the slide seat 61. The robot body 1 is powered by a built-in servo or stepper motor. The rotational motion of the motor is transmitted to the connecting arm 2 through a transmission mechanism such as gears, chains / belts, etc., and then the rotation is converted into the clamping action of the robot gripper 3 through a linkage mechanism. At the same time, the controller (such as a PLC) adjusts the motor parameters in real time in combination with the preset program and sensor feedback (position encoder monitors the angle, force sensor detects the clamping force) to ensure accurate positioning and force control, and finally achieve efficient and stable clamping operation.

[0028] Specifically, the torque of the torsion spring shaft keeps the extension plate 4 perpendicular to the robotic gripper 3. The groove 64 is used to facilitate the personnel to pull the sliding seat 61. The robotic arm body 1 controls the rotation of the connecting arm 2 and the robotic gripper 3 for clamping. When it is necessary to clamp large objects, the extension plate 4 is flipped so that it is perpendicular to the robotic gripper 3, thereby increasing the contact area with the object and achieving the effect of increasing stability. Before installation, the sliding seat 61 is pushed so that the locking post 65 is stored inside the slide groove 5, so that the extension plate 4 can rotate to abut against the robotic gripper 3. Then the sliding seat 61 is released, and the locking post 65 is inserted into the slot 62 by the elastic force applied by the limiting spring 63, thereby inserting and fixing the extension plate 4, realizing the unfolding and fixing of the extension plate 4.

[0029] The extension plate 4 includes a base 41, and a rotating seat 42 is rotatably connected to the center of the base 41 via a shaft. A rubber pad 7 is fixedly connected to the side wall of the robotic gripper 3. A rubber pad 8 is fixedly connected to one side of the rotating seat 42. Several vacuum suction cups 9 are fixedly connected to the other side of the rotating seat 42. The vacuum suction cups 9 are electric suction cups and are electrically connected to the controller of the robotic gripper body 1 to control the vacuum suction cups 9. The width of the rotating seat 42 is the same as the width of the robotic gripper 3.

[0030] Specifically, rubber pad 7 and rubber pad 8 have the same thickness. Their clamping surfaces can be adjusted by rotating the rotating seat 42. Depending on the item, a vacuum suction cup 9 can be used for adsorption and fixation, or rubber pad 8 and rubber pad 7 can be used for clamping and fixation, thereby improving the flexibility of the robot arm.

[0031] The side wall of the robotic gripper 3 has a receiving cavity 10. There are two receiving cavities 10, which are used to accommodate the vacuum suction cup 9.

[0032] Specifically, the receiving cavity 10 is used to receive the vacuum suction cup 9 after the extension plate 4 is folded.

[0033] Example 2

[0034] For comparison with Example 1, please refer to Figure 5 As shown, this utility model provides another embodiment, in which a folding assembly 11 is installed on the surface of the extension plate 4, the slide groove 5 and the sliding seat 61. The folding assembly 11 includes a locking port 112, which is opened on the surface of the sliding seat 61 and is connected to the groove 64. The folding assembly 11 also includes a plurality of hooks 111, which are L-shaped and one end of the hooks 111 is fixedly installed on the outer side wall of the extension plate 4.

[0035] Specifically, when clamping small objects, the extension plate 4 can be rotated and folded. First, by pressing the sliding seat 61, the locking pin 65 is disengaged from the slot 62, allowing the extension plate 4 to rotate. Then, pressing the locking pin 65 moves the groove 64 onto the rotation trajectory of the hook 111, causing the hook 111 to rotate inside the groove 64. Then, the sliding seat 61 is released, and the sliding seat 61 slides under the elastic force of the limiting spring 63, allowing the hook 111 to pass through the locking port 112. Thus, the sliding seat 61 locks the hook 111, achieving the folding and fixing of the extension plate 4.

[0036] The folding assembly 11 also includes two mounting slots 113. The mounting slots 113 are formed on the inner sidewall of the slide 5. A spring telescopic rod 114 is fixedly connected to the inner wall of the mounting slot 113. One end of the spring telescopic rod 114 is hemispherical and extends out of the mounting slot 113.

[0037] Specifically, when the locking pin 65 is pressed so that the sliding seat 61 abuts against the spring telescopic rod 114, the groove 64 is on the rotation trajectory of the hook 111, which facilitates the docking of the hook 111 and the groove 64. When the sliding seat 61 is pressed down with force, it can abut against the spherical end of the spring telescopic rod 114 so that it is stored in the mounting groove 113, thus not affecting the normal lifting and lowering of the sliding seat 61.

[0038] The parts of the device not covered herein are the same as or can be implemented using existing technologies.

[0039] The working principle is as follows: the torque of the torsion spring shaft keeps the extension plate 4 perpendicular to the robotic gripper 3. The groove 64 is used to facilitate the personnel to pull the sliding seat 61. The robotic arm body 1 controls the rotation of the connecting arm 2 and the robotic gripper 3 for clamping. When it is necessary to clamp large objects, the extension plate 4 is flipped so that it is perpendicular to the robotic gripper 3, thereby increasing the contact area with the object and achieving the effect of increasing stability. Before installation, the sliding seat 61 is pushed so that the locking post 65 is stored inside the slide groove 5, so that the extension plate 4 can rotate to abut against the robotic gripper 3. Then the sliding seat 61 is released, and the locking post 65 is inserted into the slot 62 by the elastic force applied by the limiting spring 63, thereby inserting and fixing the extension plate 4, realizing the unfolding and fixing of the extension plate 4.

[0040] When clamping small objects, the extension plate 4 can be rotated and folded. First, by pulling the sliding seat 61, the locking pin 65 is disengaged from the slot 62, allowing the extension plate 4 to rotate. Then, the locking pin 65 is pressed so that the sliding seat 61 gently abuts against the spring telescopic rod 114. At this time, the groove 64 moves onto the rotation trajectory of the hook 111, causing the hook 111 to rotate inside the groove 64. Then, the sliding seat 61 is released, and the sliding seat 61 slides under the elastic force of the limiting spring 63, allowing the hook 111 to pass through the locking hole 112. Thus, the sliding seat 61 locks the hook 111, achieving the folding and fixing of the extension plate 4.

[0041] In the description of this specification, references to terms such as "an embodiment," "example," "specific example," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0042] The foregoing has shown and described the basic principles, main features, and advantages of this utility model. Those skilled in the art should understand that this utility model is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of this utility model. Various changes and modifications can be made to this utility model without departing from its spirit and scope, and all such changes and modifications fall within the scope of the claimed utility model.

Claims

1. A gripping and stabilizing robotic hand, comprising a robotic hand body (1), a connecting arm (2), and a robotic gripper (3), characterized in that: The upper and lower ends of the robotic gripper (3) are respectively rotatably connected to extension plates (4) via torsion spring shafts. The side wall of the robotic gripper (3) is provided with two upper and lower sliding grooves (5). An unfolding assembly (6) is installed inside the sliding groove (5). The unfolding assembly (6) includes a sliding seat (61) and several slots (62). The sliding seat (61) is slidably installed inside the sliding groove (5). One end of the sliding seat (61) is fixedly connected to several locking pins (65). The slots (62) are opened on the surface of the extension plate (4). One end of the locking pins (65) penetrates the robotic gripper (3) and extends into the slot (62). The side wall of the sliding seat (61) is fixedly connected to a limiting spring (63). The other end of the limiting spring (63) is slidably installed on the inner wall of the sliding groove (5). The outer side wall of the sliding seat (61) is provided with a groove (64).

2. The gripping and stabilizing robotic arm according to claim 1, characterized in that: The extension plate (4) includes a base (41), and a rotating seat (42) is rotatably connected to the center of the base (41) via a shaft. A rubber pad (7) is fixedly connected to the side wall of the robotic gripper (3).

3. The gripping and stabilizing robotic arm according to claim 2, characterized in that: A rubber pad (8) is fixedly connected to one side of the rotating seat (42), and several vacuum suction cups (9) are fixedly connected to the other side of the rotating seat (42). The width of the rotating seat (42) is the same as the width of the robotic gripper (3).

4. The gripping and stabilizing robotic arm according to claim 3, characterized in that: The side wall of the robotic gripper (3) is provided with a receiving cavity (10), and there are two receiving cavities (10), which are used to accommodate the vacuum suction cup (9).

5. The gripping and stabilizing robotic arm according to claim 1, characterized in that: The extension plate (4), the slide groove (5) and the sliding seat (61) are equipped with a folding assembly (11), the folding assembly (11) including a locking port (112), the locking port (112) being opened on the surface of the sliding seat (61) and communicating with the groove (64).

6. The gripping and stabilizing robotic arm according to claim 5, characterized in that: The folding assembly (11) also includes several hooks (111), which are L-shaped and one end of the hooks (111) is fixedly installed on the outer side wall of the extension plate (4).

7. The gripping and stabilizing robotic arm according to claim 5, characterized in that: The folding assembly (11) also includes two mounting slots (113), which are formed on the inner sidewall of the slide (5), and a spring telescopic rod (114) is fixedly connected to the inner wall of the mounting slot (113).

8. The gripping and stabilizing robotic arm according to claim 7, characterized in that: One end of the spring telescopic rod (114) is hemispherical and extends out of the mounting groove (113).

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