Self-adaptive clamping jaw device at tail end of industrial mechanical arm

Abstract

The utility model discloses an industrial mechanical arm tail end self-adaptive clamping jaw device which comprises a clamping jaw center base, the clamping jaw center base is designed to be of a cube structure, side fixing plates are fixedly installed on the four side walls of the clamping jaw center base through bolts, and a first-level installation base is fixedly installed on the outer surface of each side fixing plate. A first-level three-finger clamping jaw is fixedly installed on the outer wall of each first-level installation base, a lower installation base is fixedly installed on the lower surface of the clamping jaw center base through bolts, a lower supporting arm is fixedly installed at the center position of the lower surface of the lower installation base, and a second-level three-finger clamping jaw is installed on the lower surface of the lower supporting arm. The clamping jaw device disclosed by the utility model can be used for clamping and grabbing materials in all directions, has better clamping direction applicability, and can be used for clamping and grabbing the materials by using the clamping jaws in different directions according to different material positions, so that the clamping jaw device has a multi-directional self-adaptive clamping use effect, is stronger in practicability, and is suitable for popularization and application. And the use limitation is effectively reduced, and the clamping work is more convenient.

Description

Technical Field

[0001] This utility model relates to the field of robotic arm gripper technology, specifically to an adaptive gripper device at the end of an industrial robotic arm. Background Technology

[0002] Robotic arms are complex systems with multiple inputs and outputs, high nonlinearity, and strong coupling characteristics. They achieve precise operation through joint motion and are widely used in industrial assembly, safety and explosion protection, and other fields. Their core feature is that they plan the end-effector pose through joint motion, have high precision and multiple degrees of freedom, and can achieve complex spatial trajectory tracking. Their motion forms include extension, rotation, pitch, etc., and they achieve precise positioning through drive mechanisms.

[0003] Industrial robotic arms are mechatronic devices with human-like arms, wrists, and hands. They are mainly used in industrial production to move objects or tools according to spatial posture requirements and perform tasks such as welding, handling, spraying, and assembly.

[0004] In existing gripping industrial robotic arms, the end of the robotic arm is equipped with grippers. However, the grippers of traditional industrial robotic arms can only grip vertically, and cannot perform adaptive multi-directional gripping according to different workpiece positions, which has certain limitations. Therefore, this utility model proposes a multi-directional, adaptive gripper device for the end of an industrial robotic arm. Utility Model Content

[0005] The purpose of this invention is to provide an adaptive gripper device at the end of an industrial robotic arm to solve the problems mentioned in the background art.

[0006] To achieve the above objectives, this utility model provides the following technical solution: an adaptive gripper device at the end of an industrial robotic arm, comprising a gripper center seat, wherein the gripper center seat adopts a cubic structure design, and side fixing plates are fixedly installed on the four side walls of the gripper center seat by bolts, a primary mounting seat is fixedly installed on the outer surface of each side fixing plate, a primary three-finger gripper is fixedly installed on the outer wall of each primary mounting seat, a lower mounting seat is fixedly installed on the lower surface of the gripper center seat by bolts, a lower support arm is fixedly installed at the center position of the lower surface of the lower mounting seat, and a secondary three-finger gripper is installed on the lower surface of the lower support arm.

[0007] Preferably, the four primary three-finger grippers on the outer surface of the gripper center seat have the same structure and model.

[0008] Preferably, the clamping force of the secondary three-finger gripper is greater than that of the primary three-finger gripper.

[0009] Preferably, the lower mounting base and the lower support arm adopt an integral molding structure design.

[0010] Preferably, an upper seat plate is fixedly installed at the center of the upper surface of the gripper center seat, and an upper support arm is fixedly installed at the center of the upper surface of the upper seat plate.

[0011] Preferably, the upper support arm and the upper seat plate adopt an integral molding structure design, and an assembly plate is fixedly installed on the top surface of the upper support arm by welding.

[0012] Preferably, the assembly plate adopts a disc-shaped structure.

[0013] Preferably, the outer surface of the assembly plate has a plurality of assembly holes.

[0014] Preferably, the assembly holes are distributed circumferentially at equal intervals through the center point of the assembly plate.

[0015] Compared with the prior art, the beneficial effects of this utility model are:

[0016] The gripper device of this utility model features four primary three-finger grippers arranged on the four outer sides of the gripper center seat. These four primary three-finger grippers are distributed in different directions on the gripper center seat. In actual use, these four primary three-finger grippers can respectively grip and grasp materials in the left, right, front, and rear directions of the gripper center seat, achieving a multi-directional gripping effect. By integrating the four primary three-finger grippers, the gripper device of this utility model can perform multi-directional gripping and grasping work, exhibiting good adaptability to different gripping directions. Different grippers can be used according to different material positions, resulting in a multi-directional adaptive gripping effect, enhanced practicality, reduced limitations in use, and more convenient gripping operations.

[0017] This utility model features a two-stage three-finger gripper that can grasp and hold materials below the central seat, thus achieving vertical gripping of the materials. By combining this with the aforementioned integrated one-stage three-finger gripper, the gripper device of this utility model can have a wider range of multi-directional and adaptive applications. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the hydraulic cylinder structure according to an embodiment of the present utility model;

[0019] Figure 2 This is a schematic diagram of the base and piston structure according to an embodiment of the present utility model;

[0020] Figure 3 This is a schematic diagram of the first-level three-finger gripper structure of an embodiment of the present utility model;

[0021] Figure 4This is a schematic diagram of the two-stage three-finger gripper structure of an embodiment of the present invention;

[0022] In the diagram: 1. Gripper center seat; 2. Upper support arm; 3. Assembly plate; 4. Assembly hole; 5. Side fixing plate; 6. Primary mounting seat; 7. Primary three-finger gripper; 8. Lower mounting seat; 9. Lower support arm; 10. Secondary three-finger gripper. Detailed Implementation

[0023] 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 protection scope of the present utility model.

[0024] In the description of this utility model, it should be noted that the terms "upper," "lower," "inner," "outer," "front end," "rear end," "both ends," "one end," and "the other end," 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. In addition, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0025] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installed," "equipped with," and "connected," etc., should be interpreted broadly. For example, "connected" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be a connection within 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.

[0026] Please see Figure 1-4 One embodiment of this utility model is an adaptive gripper device at the end of an industrial robotic arm, including a gripper center seat 1, as detailed in the attached specification. Figure 1 As shown, the gripper center seat 1 adopts a cubic structure design. Side fixing plates 5 are fixedly installed on the four side walls of the gripper center seat 1 by bolts. A primary mounting seat 6 is fixedly installed on the outer surface of each side fixing plate 5. A primary three-finger gripper 7 is fixedly installed on the outer wall of each primary mounting seat 6. In order to improve the structural uniformity among the four primary three-finger grippers 7, the four primary three-finger grippers 7 on the outer surface of the gripper center seat 1 have the same structure and model.

[0027] Meanwhile, as an optimized solution of this utility model, in actual use, the four first-level three-finger grippers 7 can also be adapted and assembled in different models to meet different usage environments and usage needs.

[0028] Furthermore, a lower mounting base 8 is fixedly installed on the lower surface of the gripper center seat 1 by bolts, and a lower support arm 9 is fixedly installed at the center of the lower surface of the lower mounting base 8. The lower mounting base 8 and the lower support arm 9 adopt an integral molding structure design. A secondary three-finger gripper 10 is installed on the lower surface of the lower support arm 9, and the gripping force of the secondary three-finger gripper 10 is greater than that of the primary three-finger gripper 7.

[0029] This structural design of the gripper device of this utility model involves providing four primary three-finger grippers 7 on the outer four sides of the gripper center seat 1. With the four primary three-finger grippers 7 distributed in different directions on the gripper center seat 1, in actual use, the four primary three-finger grippers 7 can respectively grip and grasp materials in the left, right, front, and rear directions of the gripper center seat 1, achieving a multi-directional lateral gripping effect. By integrating the four primary three-finger grippers 7, the gripper device of this utility model can complete multi-directional gripping and grasping work in all directions, exhibiting good applicability of gripping orientation. Different grippers in different directions can be used to grip and grasp materials according to different material positions, thus achieving a multi-directional adaptive gripping effect, enhancing practicality, effectively reducing usage limitations, and making the structure more convenient to use.

[0030] In this invention, a two-stage three-finger gripper 10 is provided. The two-stage three-finger gripper 10 can grasp and hold the material below the center seat 1, thereby achieving the effect of gripping and holding the material in the vertical direction. By combining with the above-mentioned integrated one-stage three-finger gripper 7, the gripper device of this invention can have a wider range of multi-directional and adaptive use effects.

[0031] In this embodiment, the four primary three-finger grippers 7 and the secondary three-finger grippers 10 are all mature existing technology products, which can be obtained directly by purchase without creative effort. The product model of the four primary three-finger grippers 7 is PST-3100 / 13, and the product model of the secondary three-finger grippers 10 is PST-9500 / 30.

[0032] In this embodiment, in order to facilitate the installation of the gripper device of this utility model at the end of the suitable industrial robotic arm, the upper support arm 2 and the upper base plate adopt an integral molding structure design. The top surface of the upper support arm 2 is fixedly installed with an assembly plate 3 by welding. The assembly plate 3 adopts a disc-shaped structure.

[0033] Furthermore, a number of assembly holes 4 are provided on the outer surface of the assembly plate 3, and the number of assembly holes 4 are distributed circumferentially at equal intervals through the central point of the assembly plate 3.

[0034] With this structural design, the present invention can be installed at the end of a suitable industrial robotic arm through the provided assembly plate 3 and assembly hole 4, thereby ensuring the normal use of the gripper device of the present invention.

[0035] The industrial robotic arm adapted to this utility model has an installation hole at its end that matches the diameter of the assembly hole 4 and is positioned accordingly, thereby ensuring normal bolt installation.

[0036] Working principle: When in use, this utility model can be installed at the end of a suitable industrial robotic arm through the assembly plate 3 and assembly hole 4, thereby ensuring the normal use of the gripper device of this utility model.

[0037] The gripper device of this utility model has four primary three-finger grippers 7 on the outer four sides of the gripper center seat 1. The four primary three-finger grippers 7 are distributed in different directions of the gripper center seat 1. In actual use, the four primary three-finger grippers 7 can respectively grip and grasp the material in the left, right, front and back directions of the gripper center seat 1, and achieve a multi-directional side gripping effect. By integrating the four primary three-finger grippers 7, the gripper device of this utility model can complete multi-directional gripping and grasping work in front, behind and to the left and right. It has good gripping orientation applicability. Different grippers in different directions can be used to grip and grasp the material according to different material positions. This has a multi-directional adaptive gripping effect, which is more practical, effectively reduces the limitations of use, and makes the structure more convenient to use.

[0038] In this invention, a two-stage three-finger gripper 10 is provided. The two-stage three-finger gripper 10 can grasp and hold the material below the center seat 1, thereby achieving the effect of gripping and holding the material in the vertical direction. By combining with the above-mentioned integrated one-stage three-finger gripper 7, the gripper device of this invention can have a wider range of multi-directional and adaptive use effects.

[0039] It will be apparent to those skilled in the art that this invention is not limited to the details of the exemplary embodiments described above, and that it can be implemented in other specific forms without departing from the spirit or essential characteristics of this invention. Therefore, the embodiments should be considered illustrative and non-limiting in all respects, and the scope of this invention is defined by the appended claims rather than the foregoing description. Thus, it is intended that all variations falling within the meaning and scope of equivalents of the claims be included within this invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

Claims

1. An adaptive gripper device at the end effector of an industrial robotic arm, comprising a gripper center seat (1), characterized in that, The gripper center seat (1) adopts a cubic structure design. Side fixing plates (5) are fixedly installed on the four side walls of the gripper center seat (1) by bolts. A first-level mounting seat (6) is fixedly installed on the outer surface of each side fixing plate (5). A first-level three-finger gripper (7) is fixedly installed on the outer wall of each first-level mounting seat (6). A lower mounting seat (8) is fixedly installed on the lower surface of the gripper center seat (1) by bolts. A lower support arm (9) is fixedly installed at the center of the lower surface of the lower mounting seat (8). A second-level three-finger gripper (10) is installed on the lower surface of the lower support arm (9).

2. The adaptive gripper device at the end of an industrial robotic arm according to claim 1, characterized in that: The four primary three-finger grippers (7) on the outer surface of the gripper center seat (1) have the same structure and model.

3. The adaptive gripper device at the end of an industrial robotic arm according to claim 1, characterized in that: The clamping force of the secondary three-finger gripper (10) is greater than that of the primary three-finger gripper (7).

4. The adaptive gripper device at the end of an industrial robotic arm according to claim 1, characterized in that: The lower mounting base (8) and the lower support arm (9) adopt an integrated molding structure design.

5. The adaptive gripper device at the end of an industrial robotic arm according to claim 1, characterized in that: An upper seat plate is fixedly installed at the center of the upper surface of the gripper center seat (1), and an upper support arm (2) is fixedly installed at the center of the upper surface of the upper seat plate.

6. The adaptive gripper device at the end of an industrial robotic arm according to claim 5, characterized in that: The upper support arm (2) and the upper seat plate adopt an integral molding structure design, and the top surface of the upper support arm (2) is fixedly installed with an assembly plate (3) by welding.

7. The adaptive gripper device at the end of an industrial robotic arm according to claim 6, characterized in that: The assembly plate (3) adopts a disc-shaped structure.

8. The adaptive gripper device at the end of an industrial robotic arm according to claim 6, characterized in that: The outer surface of the assembly plate (3) is provided with a number of assembly holes (4).

9. The adaptive gripper device at the end of an industrial robotic arm according to claim 8, characterized in that: The assembly holes (4) are distributed circumferentially at equal intervals through the center point of the assembly plate (3).

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