Working clamping jaw of mechanical arm

Abstract

The utility model discloses a working clamping jaw of a mechanical arm, which comprises an adjusting shaft module connected with the mechanical arm; and the clamping jaw module is arranged on the adjusting shaft module in a sleeving mode, and the clamping jaw module can rotate around the adjusting shaft module so as to adjust the clamping angle. According to the requirements of various scenes, the angle of the clamping jaw can be conveniently adjusted, the clamping jaw can be matched with various workpieces in irregular shapes, the structure is compact and exquisite, the production efficiency is greatly improved, the replacement cost of the clamping jaw is saved, the adaptability is extremely high, and flexible production is achieved.

Description

Technical Field

[0001] This utility model relates to the field of automatic gripping technology, and in particular to a working gripper for a robotic arm. Background Technology

[0002] With the rapid development and popularization of new energy vehicles, their power system structure differs fundamentally from that of traditional fuel vehicles. The power battery pack of new energy vehicles is usually integrated directly under the vehicle chassis in the form of a large flat module, which significantly changes the weight distribution and center of gravity of the vehicle, and also puts forward new requirements for the body structure and chassis design.

[0003] To effectively support the weight of the battery pack, ensure collision safety, and maintain vehicle body rigidity, the door sill beams and chassis beams (such as longitudinal beams and cross beams) of new energy vehicles are often designed to be longer, have larger cross-sectional dimensions, and be made of thicker materials than those of traditional fuel vehicles, resulting in a significant increase in their individual weight. This structural characteristic brings new challenges to vehicle production and manufacturing, especially in the final assembly and transportation stages.

[0004] In automated production lines, the efficient and reliable gripping, lifting, and positioning of long and heavy door sill beams and main beam components are crucial, directly impacting production cycle time and overall efficiency. However, existing gripper devices used for fuel-powered vehicles or general-purpose workpieces are insufficient to meet these requirements.

[0005] The structure and gripping point design of traditional grippers are often difficult to effectively match the unique geometry, size and center of gravity of the door sill beam and main beam of new energy vehicles. This leads to unstable gripping, easy slippage or increased risk of component deformation. It also requires complex adjustments to adapt to different models of new energy vehicle components, which seriously slows down the production cycle and cannot meet the requirements of modern high-efficiency production lines.

[0006] Meanwhile, since the space under the chassis of new energy vehicles is usually more compact due to the installation of the battery pack, traditional grippers that are large or complex in structure may have difficulty operating flexibly in the narrow space, and may easily interfere with the battery pack, wiring harness or other chassis components, limiting the operating range or increasing the risk of collision. Utility Model Content

[0007] According to an embodiment of the present invention, a robotic arm gripper is provided, comprising:

[0008] Adjustment axis module, which is connected to the robotic arm;

[0009] The gripper module is mounted on the adjustment shaft module and can rotate around the adjustment shaft module to adjust the gripping angle.

[0010] Furthermore, the adjustment shaft module includes an adjustment unit and a control unit that are screwed together. The gripper module is sleeved on the adjustment unit and is movably connected to the control unit and the adjustment unit respectively. The gripper module can rotate on the adjustment unit to adjust the gripping angle.

[0011] Furthermore, the control unit includes:

[0012] The base is connected to the robotic arm.

[0013] The screw is set in the base;

[0014] A spring, which is fitted onto a screw;

[0015] A floating disk is sleeved on a screw and located on a spring. The floating disk has several positioning holes.

[0016] Several positioning blocks are set in the base and distributed around the screw, with each positioning block corresponding to a positioning hole.

[0017] Furthermore, the adjustment unit includes:

[0018] End plate;

[0019] A sleeve is mounted on the end plate, and one end of the sleeve has a threaded hole that matches the screw.

[0020] A spring is positioned between the other end of the sleeve and the end plate. Rotating the sleeve can compress the spring into a flat ring between the other end of the sleeve and the end plate, causing the sleeve and the base to move towards each other.

[0021] The limiting ring is fixedly sleeved on the sleeve. The limiting ring and the spring are located on both sides of the end plate. When the sleeve is rotated, the limiting ring can move towards the base with the sleeve.

[0022] Several fixing blocks are arranged on the end plate and distributed around the sleeve and the limiting ring.

[0023] Furthermore, the gripper module includes several gripper units and several pins. The gripper units are sequentially sleeved on the sleeve. The gripper units on both sides are movably connected to the control unit and the adjustment unit, respectively. The pins are used to movably connect adjacent gripper units.

[0024] Furthermore, the gripper unit includes:

[0025] The gripper arm has one end fitted onto the sleeve and can rotate around the sleeve. The gripper arm has several through holes distributed around the sleeve.

[0026] A pair of gripper modules, connected to the other end of the gripper arm, are used to grip the workpiece.

[0027] Furthermore, several through holes are matched with positioning blocks, fixing blocks, and pins, and the through holes and pins are cross-shaped.

[0028] Furthermore, the gripper module includes a pair of corresponding cylinders and a pair of suction cup assemblies. The pair of cylinders drives the corresponding pair of suction cup assemblies to grip and release the workpiece.

[0029] Furthermore, the suction cup component includes:

[0030] Micro vacuum generator box;

[0031] The suction cup is positioned outside the micro-vacuum generating box.

[0032] Compression spring, which is installed inside the micro-vacuum generating box;

[0033] The pressure block is located inside the micro vacuum generating box and can move within the box to compress and release the pressure spring.

[0034] The air tube is connected to the suction cup and the pressure block respectively, and the air tube is connected to the inside of the micro vacuum generating box.

[0035] The robotic arm gripper according to the present invention can adjust the angle of the gripper in a very convenient way according to various scenarios, and match various irregularly shaped workpieces. It has a compact and exquisite structure, which greatly improves production efficiency, saves the replacement cost of gripper, and has strong adaptability, realizing flexible production.

[0036] It should be understood that both the foregoing general description and the following detailed description are exemplary and intended to provide further illustration of the claimed technology. Attached Figure Description

[0037] Figure 1 This is a perspective view of the working gripper of the robotic arm according to an embodiment of the present invention;

[0038] Figure 2 for Figure 1 Exploded structural diagram;

[0039] Figure 3 This is a schematic diagram showing the structural relationship between the gripper unit and the pin of the robotic arm's working gripper according to an embodiment of the present invention;

[0040] Figure 4 This is a schematic diagram of the base of the robotic arm's working gripper according to an embodiment of the present invention;

[0041] Figure 5 This is a front view of the gripper module of the robotic arm's working gripper according to an embodiment of the present invention;

[0042] Figure 6 This is a cross-sectional view of the working gripper of the robotic arm according to an embodiment of the present invention;

[0043] Figure 7 This is a cross-sectional view of the adjusting shaft module of the robotic arm's working gripper according to an embodiment of the present invention. Detailed Implementation

[0044] The preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings, further illustrating the present invention.

[0045] First, combine Figures 1-7 The robotic arm gripper according to an embodiment of the present invention is used for workpiece gripping in flexible scenarios and has a wide range of applications.

[0046] like Figure 1 As shown, the robotic arm gripper of this embodiment has an adjusting shaft module 1 and a gripper module 2. The adjusting shaft module 1 is connected to the robotic arm (not shown in the figure); the gripper module 2 is sleeved on the adjusting shaft module 1, and the gripper module 2 can rotate around the adjusting shaft module 1 to adjust the gripping angle.

[0047] Specifically, such as Figures 1-2 As shown in Figure 7, the adjusting shaft module 1 has a control unit 11 and an adjusting unit 12 that are screwed together. The gripper module 2 is sleeved on the adjusting unit 12 and is movably connected to the control unit 11 and the adjusting unit 12 respectively. The gripper module 2 can rotate on the adjusting unit 12 to adjust the gripping angle.

[0048] Furthermore, such as Figures 1-2 As shown in Figure 7, the control unit 11 has a base 111, a screw 112, a spring 113, a floating disk 114, and several positioning blocks 115. The base 111 is connected to the robotic arm; the screw 112 is disposed in the base 111; the spring 113 is sleeved on the screw 112; the floating disk 114 is sleeved on the screw 112 and located on the spring 113, and the floating disk 114 has several positioning holes 1141; the several positioning blocks 115 are disposed in the base 111 and distributed around the screw 112, with each positioning block 115 corresponding to one of the positioning holes 1141.

[0049] Furthermore, such as Figures 1-2As shown in Figure 4, the adjustment unit 12 has an end plate 121, a sleeve 122, a spring 123, a limiting ring 124, and several fixing blocks 125. The sleeve 122 passes through the end plate 121, and one end of the sleeve 122 has a threaded hole that matches the screw 112. The spring 123 is disposed between the other end of the sleeve 122 and the end plate 121. Rotating the sleeve 122 compresses the spring 123 into a flat ring between the other end of the sleeve 122 and the end plate 121, causing the sleeve 122 and the base 111 to move towards each other. The limiting ring 124 is fixedly sleeved on the sleeve 122, and the limiting ring 124 and the spring 123 are located on opposite sides of the end plate 121. When the sleeve 122 is rotated, the limiting ring 124 can move towards the base 111 along with the sleeve 122. Several fixing blocks 125 are disposed on the end plate 121 and distributed around the sleeve 122 and the limiting ring 124.

[0050] Specifically, such as Figures 1-2 As shown, the gripper module 2 has several gripper units 21 and several pins 22. The gripper units 21 are sequentially sleeved on the sleeve 122. The gripper units 21 on both sides are movably connected to the control unit 11 and the adjustment unit 12, respectively. The pins 22 are used to movably connect adjacent gripper units 21.

[0051] Furthermore, such as Figures 2-3 As shown, the gripper unit 21 has a gripper arm 211 and a pair of gripper modules 212. One end of the gripper arm 211 is sleeved on the sleeve 122 and can rotate around the sleeve 122. The gripper arm 211 has several through holes 2111 distributed around the sleeve 122. The pair of gripper modules 212 are connected to the other end of the gripper arm 211 and are used to grip the workpiece.

[0052] In this embodiment, as Figure 1 As shown, four gripper units 21 are sequentially mounted on the sleeve 122. For ease of understanding and description, the four gripper arms 211 are referred to as the first, second, third, and fourth gripper arms 211, respectively. The first gripper arm is located on one side of the end plate 121, and the fourth gripper arm is located on one side of the base 111. The position of the gripper units 21 and the angle between them can be adjusted as needed to achieve different coverage ranges to adapt to different environments and workpieces of different shapes.

[0053] Furthermore, such as Figure 3 As shown, several through holes 2111 are matched with positioning block 115, fixing block 125 and pin 22. The through holes 2111 and pin 22 are cross-shaped, thereby ensuring the movement and limiting of pin 22 in the through holes 2111.

[0054] Furthermore, such as Figures 5-6As shown, the gripper module 212 has a pair of corresponding cylinders 2121 and a pair of suction cup assemblies 2122. The pair of cylinders 2121 drives the corresponding pair of suction cup assemblies 2122 to perform actions for gripping and releasing workpieces.

[0055] Furthermore, such as Figures 5-6 As shown, the suction cup assembly 2122 includes a micro vacuum generating box 21221, a suction cup 21222, a compression spring 21223, a pressure block 21224, and an air tube 21225. The suction cup 21222 is located outside the micro vacuum generating box 21221; the compression spring 21223 is located inside the micro vacuum generating box 21221; the pressure block 21224 is located inside the micro vacuum generating box 21221 and can move within the micro vacuum generating box 21221 to compress and release the compression spring 21223; the air tube 21225 connects to both the suction cup 21222 and the pressure block 21224, and communicates with the interior of the micro vacuum generating box 21221 through an air hole.

[0056] In use, when the spring 123 is in the open state, the positioning block 115 is inserted into the positioning hole 1141 of the floating disk 114 through the corresponding positioning hole 1141. The positioning hole 1141 of the floating disk 114 and the through hole 2111 of the first gripper arm are provided with pins 22. The first, second, third and fourth gripper arms are inserted into the through hole 2111 through pins 22. The fixing block 125 is inserted into the through hole 2111 of the fourth gripper arm. At this time, the positions of the four gripper arms are locked, and the workpiece can be clamped as needed.

[0057] When the position and angle between the gripper arms need to be adjusted, the sleeve 122 is turned, and the spring 123 is pressed into a flat ring. The sleeve 122 and the base 111 move relative to each other through the threaded connection, and the first, second, third, and fourth gripper arms and the floating disk 114 move towards the base 111 through the limiting ring 124. The fixing block 125 in the through hole 2111 of the fourth gripper arm disengages from the fourth gripper arm. At the same time, the positioning block 115 further penetrates into the positioning hole 1141 of the floating disk 114, thereby pushing the pin 22 between the floating disk 114 and the first gripper arm out of the floating disk 114 and fully into the through hole 2111 of the first gripper arm, thereby pushing the pin 22 between the first and second gripper arms out of the through hole 2111 of the first gripper arm and fully into the through hole 2111 of the first gripper arm. The first gripper arm disengages from the floating plate, the fourth gripper arm disengages from the end plate 121, and all gripper arms disengage simultaneously. The four gripper arms can freely adjust their angles to suit various scenarios and match workpieces of irregular shapes, greatly improving production efficiency. There is no need to develop specific grippers for specific workpieces, greatly saving gripper replacement costs. It is highly adaptable and meets the needs of flexible production.

[0058] After adjustment, the sleeve 122 is rotated back and the spring 123 returns to its original position. At this time, due to the action of the spring 113, the floating plate 114 returns to its original position, and the positioning block 115, the fixing block 125 and each pin 22 return to their original positions, thus completing the relocking of the gripper arm.

[0059] In this embodiment, the more through holes 2111 there are, the more precise the adjustment angle can be. During manufacturing, the layout can be adjusted according to the needs of the scenario.

[0060] When a pair of cylinders 2121 drive the suction cups 21222 to press against the workpiece, the air pipe 21225 pushes the pressure block 21224 to move and compress the compression spring 21223, thereby drawing gas into the micro vacuum generator box 21221, which generates suction in the suction cups 21222, thus ensuring the clamping force on the workpiece and completing the clamping of the workpiece. This not only ensures the protection of the workpiece and adapts to workpieces of different shapes, but also provides external assistance to the vacuum generation mechanism, realizing the adjustment of the clamping force for workpieces of different weights, with extremely strong adaptability.

[0061] Above, refer to Figures 1-7The present invention describes a robotic arm gripper according to an embodiment of the present invention. The gripper angle can be adjusted very conveniently according to various scenarios to match workpieces of various irregular shapes. The structure is compact and ingenious, which greatly improves production efficiency, saves gripper replacement costs, and has strong adaptability, realizing flexible production.

[0062] It should be noted that, in this specification, the terms "comprising," "having," or any other variations thereof are intended to cover a non-exclusive "having," such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "having..." does not exclude the presence of additional identical elements in the process, method, article, or apparatus that includes that element.

[0063] Although the present invention has been described in detail through the above preferred embodiments, it should be understood that the above description should not be considered as a limitation of the present invention. Various modifications and substitutions to the present invention will be apparent to those skilled in the art after reading the above content. Therefore, the scope of protection of the present invention should be defined by the appended claims.

Claims

1. A robotic arm gripper, characterized in that, Include: An adjustment shaft module, which is connected to the robotic arm; A gripper module is sleeved on the adjustment shaft module, and the gripper module can rotate around the adjustment shaft module to adjust the gripping angle.

2. The robotic arm gripper as described in claim 1, characterized in that, The adjusting shaft module includes an adjusting unit and a control unit that are screwed together. The gripper module is sleeved on the adjusting unit and is movably connected to the control unit and the adjusting unit respectively. The gripper module can rotate on the adjusting unit to adjust the gripping angle.

3. The robotic arm gripper as described in claim 2, characterized in that, The control unit includes: A base, which is connected to the robotic arm; A screw, which is disposed in the base; A spring, which is sleeved on the screw; A floating disk, which is sleeved on the screw and located on the spring, and has several positioning holes; A plurality of positioning blocks are disposed in the base and distributed around the screw, and the plurality of positioning blocks correspond one-to-one with the plurality of positioning holes.

4. The robotic arm gripper as described in claim 3, characterized in that, The adjustment unit includes: End plate; A sleeve is provided on the end plate, and one end of the sleeve is provided with a threaded hole that matches the screw. A spring is disposed between the other end of the sleeve and the end plate. Rotating the sleeve can compress the spring into a flat ring between the other end of the sleeve and the end plate, causing the sleeve and the base to move towards each other. A limiting ring is fixedly sleeved on the sleeve. The limiting ring and the spring are located on opposite sides of the end plate. When the sleeve is rotated, the limiting ring can move towards the base along with the sleeve. A plurality of fixing blocks are disposed on the end plate and distributed around the sleeve and the limiting ring.

5. The robotic arm gripper as described in claim 4, characterized in that, The gripper module includes several gripper units and several pins. The gripper units are sequentially sleeved on the sleeve. The gripper units on both sides are movably connected to the control unit and the adjustment unit, respectively. The pins are used to movably connect adjacent gripper units.

6. The robotic arm gripper as described in claim 5, characterized in that, The gripper unit includes: A gripper arm, one end of which is sleeved on the sleeve, the gripper arm can rotate around the sleeve, and the gripper arm is provided with a plurality of through holes distributed around the sleeve; A pair of gripper modules, which are connected to the other end of the gripper arm, are used to grip the workpiece.

7. The robotic arm gripper as described in claim 6, characterized in that, The through holes are matched with the positioning block, the fixing block, and the pin, and the through holes and the pin are cross-shaped.

8. The robotic arm gripper as described in claim 6, characterized in that, The gripper module includes a pair of corresponding cylinders and a pair of suction cup assemblies. The pair of cylinders drives the corresponding pair of suction cup assemblies to grip and release the workpiece.

9. The robotic arm gripper as described in claim 8, characterized in that, The suction cup assembly includes: Micro vacuum generator box; A suction cup, which is disposed outside the microvacuum generating box; A compression spring is disposed inside the microvacuum generating box; A pressure block is disposed inside the micro vacuum generating box, and the pressure block can move within the micro vacuum generating box to compress and release the compression spring; The air tube is connected to the suction cup and the pressure block respectively, and the air tube is connected to the inside of the micro vacuum generating box.

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