Stable clamping jaw rotating structure for manipulator

Abstract

The utility model provides a stable clamping jaw rotating structure for a manipulator, belongs to the technical field of mechanical equipment, and aims to solve the problem that the use of an existing clamping jaw is affected due to the fact that self-locking transmission parts are easily abraded after the existing clamping jaw is used for a long time. Comprising a manipulator body, a clamping jaw mounting base, a clamping jaw connecting block, a clamping jaw claw, a rotating motor, a stabilizing sliding block, a clamping jaw rotating mechanism and a clamping stabilizing mechanism. The clamping jaw mounting seat is connected to the upper side of the manipulator main body through a bolt; the clamping jaw connecting block is rotationally arranged in the clamping jaw mounting seat; the clamping jaw hand is rotationally connected to the lower side of the clamping jaw connecting block; the rotating motor is fixedly connected to the interior of the clamping jaw mounting seat; the stable sliding block is connected into the clamping jaw mounting base in a sliding mode. The clamping jaw rotating mechanism is arranged in the clamping jaw mounting seat; and the clamping stabilizing mechanism is arranged in the clamping jaw mounting seat. And through the clamping jaw rotating mechanism, materials can be conveniently grabbed and clamped, and through the clamping stabilizing mechanism, the service life of the clamping jaw is prolonged.

Description

Technical Field

[0001] This utility model belongs to the field of mechanical equipment technology, and more specifically, it relates to a stable gripper rotation structure for a robotic arm. Background Technology

[0002] The machinery and automotive industries require the use of robotic arms in manufacturing. These robotic arms are equipped with grippers that are rotatably mounted on the robotic arm. The robotic arm drives the grippers to rotate, allowing the grippers to adjust the material gripping position, facilitating stable material gripping and ensuring the robotic arm can effectively manufacture products.

[0003] According to CN202421132779.8, this application provides a protective structure and a rotating gripper, belonging to the field of rotating gripper technology. The protective structure includes a clamping assembly and a protective assembly. A drive structure is disposed on one side of the control structure, a clamping seat is disposed at one end of the drive structure, and grippers are correspondingly disposed on one side of the clamping seat. Firstly, the control structure, drive structure, clamping seat, and grippers enable the clamping and rotation of an object. Secondly, when clamping an object, the relative movement of the grippers allows the object to be held in place by a clamping plate. The clamping plate is fixedly connected to an elastic seat. During clamping, the elastic element acts as a buffer until the clamping plate contacts the gripper. The elastic element and clamping plate prevent the gripper from directly contacting the object, preventing excessive clamping force from damaging the object and thus protecting it. This facilitates the protection of clamped objects, preventing damage or deformation, thereby improving practicality.

[0004] Based on the above, existing grippers generally limit the rotational position of the grippers through a self-locking transmission structure. When the grippers pick up heavy materials, the weight of the materials is applied to the self-locking transmission, causing stress concentration on the tooth surface. Long-term use can easily lead to fatigue wear, affecting the use of the grippers. Utility Model Content

[0005] To address the aforementioned technical problems, this utility model provides a stable gripper rotation structure for robotic arms. This addresses the issue that existing grippers typically limit their rotational position through a self-locking transmission mechanism. When the gripper picks up heavy materials, the weight of the material is applied to the self-locking transmission mechanism, causing stress concentration on the tooth surface. This leads to fatigue wear over long-term use, affecting the gripper's performance.

[0006] The purpose and effect of this utility model's stable gripper rotation structure for robotic arms are achieved through the following specific technical means:

[0007] A stabilizing gripper rotation structure for a robotic arm includes a robotic arm body, a gripper mounting base, a gripper connecting block, a gripper hand, a rotary motor, a stabilizing slider, a gripper rotation mechanism, and a clamping and stabilizing mechanism. The gripper mounting base is bolted to the upper side of the robotic arm body. The gripper connecting block rotates inside the gripper mounting base on the right side. The gripper hand is rotatably connected to the lower side of the gripper connecting block, and is located on the right side of the robotic arm body. The rotary motor is fixedly connected to the front side inside the gripper mounting base. Two sets of stabilizing sliders are provided, and the two sets of stabilizing sliders are slidably connected to the front and rear sides inside the gripper mounting base, respectively. The gripper rotation mechanism is located inside the gripper mounting base. Two sets of clamping and stabilizing mechanisms are provided, and the two sets of clamping and stabilizing mechanisms are located on the front and rear sides inside the gripper mounting base, respectively.

[0008] Furthermore, the gripper rotation mechanism includes: a gripper rotating shaft and a rotating shaft; the gripper rotating shaft is rotatably connected to the right side inside the gripper mounting base, and the gripper rotating shaft is fixedly connected to the left side of the gripper connecting block; the rotating shaft is rotatably connected to the front side inside the gripper mounting base, and the left side of the rotating shaft is coaxially and fixedly connected to the rotating motor shaft.

[0009] Furthermore, the gripper rotation mechanism also includes a rotating worm and a rotating worm wheel; the rotating worm is coaxially and fixedly connected to the right side of the rotating shaft; the rotating worm wheel is coaxially and fixedly connected to the front side of the gripper shaft, and the rotating worm and the rotating worm wheel mesh together to form a worm gear transmission mechanism.

[0010] Furthermore, the clamping and stabilizing mechanism includes: a stabilizing groove, a stabilizing friction block, and a stabilizing friction head; the stabilizing groove is formed on the outer end face of the gripper connecting block and rotates inside the gripper mounting base; the stabilizing friction block is fixedly connected to the inner end face of the stabilizing slider and slides inside the stabilizing groove; the stabilizing friction head is fixedly connected inside the stabilizing groove and is located on the inner end face of the stabilizing friction block, with the stabilizing friction block and the stabilizing friction head in frictional connection.

[0011] Furthermore, the clamping and stabilizing mechanism also includes: stabilizing springs; there are two sets of stabilizing springs, which are fixedly connected to the upper side inside the gripper mounting base, and the two sets of stabilizing springs are elastically connected to the outer end face of the stabilizing slider.

[0012] Furthermore, the clamping and stabilizing mechanism also includes: a friction block and a triboelectric magnet; the friction block is fixedly connected to the middle position of the outer end face of the stabilizing slider; the triboelectric magnet is fixedly connected to the upper side inside the gripper mounting base, the friction block and the triboelectric magnet are magnetically connected, and the triboelectric magnet is connected to the rotating motor wire.

[0013] Compared with the prior art, the present invention has the following beneficial effects:

[0014] This invention employs a gripper rotation mechanism, which enables a rotary motor to drive a rotary worm and a rotary worm wheel to rotate. The rotation of the rotary worm and the rotary worm wheel drives the gripper to rotate. The angle of rotation of the gripper can be adjusted to facilitate the gripper's grasping and holding of materials.

[0015] This invention employs a clamping and stabilizing mechanism. When the rotary motor drives the gripper to rotate and adjust the gripping angle, the stabilizing spring drives the stabilizing friction head and stabilizing friction block to engage, increasing the friction force of the gripper's rotation. This ensures the limit of the gripper's rotation angle and avoids the problem of the gripper gripping too heavily, which would exacerbate the wear and tear on the internal rotating worm and worm wheel, thus affecting the gripper's service life. It reduces the wear and tear on the rotating worm and worm wheel during use, thereby increasing the gripper's service life. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the overall structure of the robotic arm of this utility model.

[0017] Figure 2 This is a schematic diagram of the structure of the robotic gripper of this utility model.

[0018] Figure 3 This is a schematic diagram of the internal transmission structure of the robotic gripper of this utility model.

[0019] Figure 4 This is a schematic diagram of the gripper rotation mechanism of this utility model.

[0020] Figure 5 This is a schematic diagram of the overall structure of the clamping and stabilizing mechanism of this utility model.

[0021] Figure 6 This is a schematic diagram of the transmission structure of the clamping and stabilizing mechanism of this utility model.

[0022] In the diagram, the correspondence between component names and drawing numbers is as follows:

[0023] 1. Robotic arm body; 2. Gripper mounting base; 3. Gripper connecting block; 301. Gripper shaft; 4. Gripper gripper; 5. Rotary motor; 6. Rotary shaft; 601. Rotary worm gear; 7. Rotary worm wheel; 8. Stabilizing groove; 9. Stabilizing friction block; 10. Stabilizing slider; 1001. Stabilizing spring; 1002. Stabilizing friction head; 1003. Friction block; 11. Triboelectric magnet. Detailed Implementation

[0024] The embodiments of this utility model will be described in further detail below with reference to the accompanying drawings and examples.

[0025] Example 1:

[0026] As attached Figure 1 To be continued Figure 4 As shown:

[0027] This utility model provides a stable gripper rotation structure for a robotic arm, including a robotic arm body 1, a gripper mounting base 2, a gripper connecting block 3, a gripper hand 4, a rotary motor 5, a stabilizing slider 10, and a gripper rotation mechanism; the gripper mounting base 2 is bolted to the upper side of the robotic arm body 1; the gripper connecting block 3 rotates inside the gripper mounting base 2 on the right side; the gripper hand 4 is rotatably connected to the lower side of the gripper connecting block 3, and the gripper hand 4 is located on the right side of the robotic arm body 1; the rotary motor 5 is fixedly connected to the front side inside the gripper mounting base 2; two sets of stabilizing sliders 10 are provided, and the two sets of stabilizing sliders 10 are slidably connected to the front and rear sides inside the gripper mounting base 2 respectively; the gripper rotation mechanism is located inside the gripper mounting base 2.

[0028] The gripper rotation mechanism includes a gripper shaft 301 and a rotating shaft 6. The gripper shaft 301 is rotatably connected to the right side inside the gripper mounting base 2 and is fixedly connected to the left side of the gripper connecting block 3. The rotating shaft 6 is rotatably connected to the front side inside the gripper mounting base 2 and is coaxially fixedly connected to the left side of the rotating shaft 5. During use, the gripper connecting block 3 and the gripper claw 4 can rotate on the right side of the gripper mounting base 2 through the gripper shaft 301, and the rotation of the rotating shaft 5 drives the rotating shaft 6 to rotate.

[0029] The gripper rotation mechanism also includes a rotating worm 601 and a rotating worm wheel 7. The rotating worm 601 is coaxially fixedly connected to the right side of the rotating shaft 6. The rotating worm wheel 7 is coaxially fixedly connected to the front side of the gripper shaft 301. The rotating worm 601 and the rotating worm wheel 7 mesh together to form a worm gear transmission mechanism. During use, the rotating shaft 6 rotates, which drives the rotating worm 601 to rotate. The rotating worm 601 rotates, which drives the meshing rotating worm wheel 7 to rotate. The rotating worm wheel 7 rotates, which drives the gripper connecting block 3 and the gripper claw 4 to rotate. The gripper claw 4 rotates to adjust the angle of the material being gripped.

[0030] The specific usage and function of this first embodiment are as follows:

[0031] During use, the gripper connecting block 3 and gripper claw 4 can rotate on the right side of the gripper mounting base 2 via the gripper rotating shaft 301. The rotating shaft of the rotating motor 5 drives the rotating shaft 6 to rotate, which in turn drives the rotating worm gear 601 to rotate. The rotating worm gear 601 drives the meshing rotating worm wheel 7 to rotate, which in turn drives the gripper connecting block 3 and gripper claw 4 to rotate. The rotation of the gripper claw 4 adjusts the angle of the material being gripped, thereby adjusting the rotation angle of the gripper claw 4 and limiting the rotation angle of the gripper claw 4.

[0032] Example 2:

[0033] Based on Embodiment 1, as shown in the appendix Figure 5 and attached Figure 6 As shown:

[0034] This utility model provides a stable gripper rotation structure for a robotic arm, which also includes a gripping and stabilizing mechanism. Two sets of gripping and stabilizing mechanisms are provided, respectively located on the front and rear sides inside the gripper mounting base 2. Each gripping and stabilizing mechanism includes: a stabilizing groove 8, a stabilizing friction block 9, and a stabilizing friction head 1002. The stabilizing groove 8 is formed on the outer end face of the gripper connecting block 3 and rotates inside the gripper mounting base 2. The stabilizing friction block 9 is fixedly connected to the inner end face of the stabilizing slider 10 and slides inside the stabilizing groove 8. The stabilizing friction head 1002 is fixedly connected inside the stabilizing groove 8 and located on the inner end face of the stabilizing friction block 9. The stabilizing friction block 9 and the stabilizing friction head 1002 are in frictional contact. During use, the rotation of the gripper connecting block 3 drives the rotation of the stabilizing groove 8, which in turn drives the rotation of the stabilizing friction block 9. The stabilizing friction head 1002 and the stabilizing friction block 9 are in contact, and the friction between the stabilizing friction block 9 and the stabilizing friction head 1002 restricts the rotation of the stabilizing friction block 9.

[0035] The clamping and stabilizing mechanism also includes a stabilizing spring 1001. There are two sets of stabilizing springs 1001. The two sets of stabilizing springs 1001 are fixedly connected to the upper side inside the gripper mounting base 2. The two sets of stabilizing springs 1001 are elastically connected to the outer end face of the stabilizing slider 10. During use, the elastic force of the stabilizing spring 1001 drives the stabilizing slider 10 to slide. When the stabilizing slider 10 slides, it drives the stabilizing friction head 1002 to slide. The sliding of the stabilizing friction head 1002 and its contact with the stabilizing friction block 9 increases the rotational friction of the gripper 4, thereby ensuring the stability of the gripper 4 position.

[0036] The clamping and stabilizing mechanism also includes: a friction block 1003 and a triboelectric magnet 11; the friction block 1003 is fixedly connected to the middle position of the outer end face of the stabilizing slider 10; the triboelectric magnet 11 is fixedly connected to the upper side inside the gripper mounting base 2, the friction block 1003 and the triboelectric magnet 11 are magnetically connected, and the triboelectric magnet 11 is wired to the rotary motor 5. During use, when the rotary motor 5 is energized and drives the rotary motor 5 shaft to rotate, the rotary motor 5 energizes the triboelectric magnet 11 through the wire. The energized triboelectric magnet 11 generates a magnetic attraction force, which magnetically attracts the friction block 1003, causing the friction block 1003 to slide. The sliding of the friction block 1003 causes the stabilizing slider 10 to slide, which causes the stabilizing spring 1001 to compress. The sliding of the stabilizing slider 10 causes the stabilizing friction head 1002 to slide, and the stabilizing friction head 1002 slides and separates from the stabilizing friction block 9, ensuring the smooth rotation of the gripper claw 4.

[0037] The specific usage and function of this second embodiment are as follows:

[0038] During use, the rotation of the gripper connecting block 3 causes the stabilizing groove 8 to rotate, which in turn causes the stabilizing friction block 9 to rotate. The stabilizing friction head 1002 and the stabilizing friction block 9 come into contact, and the friction between the stabilizing friction block 9 and the stabilizing friction head 1002 restricts the rotation of the stabilizing friction block 9. The elastic force of the stabilizing spring 1001 causes the stabilizing slider 10 to slide, and the sliding of the stabilizing slider 10 causes the stabilizing friction head 1002 to slide. The sliding of the stabilizing friction head 1002 and its contact with the stabilizing friction block 9 increase the rotational friction of the gripper 4, thereby ensuring the stability of the gripper 4 position. When the rotary motor 5 is energized, it drives the rotation... When the shaft of motor 5 rotates, the rotary motor 5 energizes the triboelectric magnet 11 through the wire. The energized triboelectric magnet 11 generates magnetic attraction, which magnetically attracts the friction block 1003, causing the friction block 1003 to slide. The sliding of the friction block 1003 causes the stabilizing slider 10 to slide. The sliding of the stabilizing slider 10 causes the stabilizing spring 1001 to compress. The sliding of the stabilizing slider 10 causes the stabilizing friction head 1002 to slide. The sliding of the stabilizing friction head 1002 separates from the stabilizing friction block 9, ensuring the smooth rotation of the gripper 4 and reducing damage to the internal transmission components when the gripper 4 holds heavy objects.

[0039] The following points should be noted in this article:

[0040] 1. The accompanying drawings of this embodiment only involve the structures involved in the embodiments of this utility model. Other structures can refer to the general design.

[0041] 2. Where there is no conflict, the embodiments of this utility model and the features in the embodiments can be combined with each other to obtain new embodiments.

[0042] The above are merely specific embodiments of this utility model, but the protection scope of this utility model is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this utility model should be included within the protection scope of this utility model. Therefore, the protection scope of this utility model should be determined by the scope of the claims.

Claims

1. A stabilizing gripper rotation structure for a robotic arm, comprising a robotic arm body (1), a gripper mounting base (2), a gripper connecting block (3), a gripper hand (4), a rotary motor (5), a stabilizing slider (10), a gripper rotation mechanism, and a clamping and stabilizing mechanism; wherein the gripper mounting base (2) is bolted to the upper side of the robotic arm body (1); characterized in that: The gripper connecting block (3) rotates inside the gripper mounting base (2) on the right side; the gripper claw (4) is rotatably connected to the lower side of the gripper connecting block (3), and the gripper claw (4) is located on the right side of the robot body (1); the rotary motor (5) is fixedly connected inside the gripper mounting base (2) on the front side; there are two sets of stabilizing sliders (10), and the two sets of stabilizing sliders (10) are slidably connected to the front and rear sides inside the gripper mounting base (2); the gripper rotation mechanism is set inside the gripper mounting base (2); there are two sets of clamping and stabilizing mechanisms, and the two sets of clamping and stabilizing mechanisms are set inside the front and rear sides inside the gripper mounting base (2).

2. The stable gripper rotation structure for a robotic arm as described in claim 1, characterized in that: The gripper rotation mechanism includes a gripper shaft (301) and a rotating shaft (6); the gripper shaft (301) is rotatably connected to the right side inside the gripper mounting base (2), and the gripper shaft (301) is fixedly connected to the left side of the gripper connecting block (3); the rotating shaft (6) is rotatably connected to the front side inside the gripper mounting base (2), and the left side of the rotating shaft (6) is coaxially fixedly connected to the rotating shaft of the rotating motor (5).

3. The stable gripper rotation structure for a robotic arm as described in claim 2, characterized in that: The gripper rotation mechanism further includes a rotating worm (601) and a rotating worm wheel (7); the rotating worm (601) is coaxially fixedly connected to the right side of the rotating shaft (6); the rotating worm wheel (7) is coaxially fixedly connected to the front side of the gripper shaft (301), and the rotating worm (601) and the rotating worm wheel (7) mesh together to form a worm gear transmission mechanism.

4. The stable gripper rotation structure for a robotic arm as described in claim 1, characterized in that: The clamping and stabilizing mechanism includes: a stabilizing groove (8), a stabilizing friction block (9), and a stabilizing friction head (1002); the stabilizing groove (8) is formed on the outer end face of the gripper connecting block (3), and the stabilizing groove (8) rotates inside the gripper mounting base (2); the stabilizing friction block (9) is fixedly connected to the inner end face of the stabilizing slider (10), and the stabilizing friction block (9) slides inside the stabilizing groove (8); the stabilizing friction head (1002) is fixedly connected inside the stabilizing groove (8), the stabilizing friction head (1002) is located on the inner end face of the stabilizing friction block (9), and the stabilizing friction block (9) and the stabilizing friction head (1002) are in frictional connection.

5. The stable gripper rotation structure for a robotic arm as described in claim 1, characterized in that: The clamping and stabilizing mechanism also includes a stabilizing spring (1001); there are two sets of stabilizing springs (1001), and the two sets of stabilizing springs (1001) are fixedly connected to the upper side inside the gripper mounting base (2), and the two sets of stabilizing springs (1001) are elastically connected to the outer end face of the stabilizing slider (10).

6. The stable gripper rotation structure for a robotic arm as described in claim 1, characterized in that: The clamping and stabilizing mechanism further includes: a friction block (1003) and a triboelectric magnet (11); the friction block (1003) is fixedly connected to the middle position of the outer end face of the stabilizing slider (10); the triboelectric magnet (11) is fixedly connected to the upper side inside the gripper mounting base (2), the friction block (1003) and the triboelectric magnet (11) are magnetically connected, and the triboelectric magnet (11) is wired to the rotary motor (5).

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