A mechanical hand with replaceable grippers

Abstract

This invention provides a robotic arm with easily replaceable grippers, comprising a connector and grippers. The connector has an assembly chamber, in which a motor is fixedly installed. A protective plate is fixedly installed at the opening of the assembly chamber. The protective plate has heat dissipation holes and wiring holes. A nut is connected to the motor drive. The grippers are provided with a connecting plate, and a stud is fixedly connected to the connecting plate. The nut is screwed into the stud for fixation. The connector of this invention serves as an intermediate component connecting the robotic arm and grippers. The motor has a reduction mechanism to provide high torque output. When disassembling the grippers, the nut is rotated by the motor, separating it from the stud and quickly detaching the grippers from the robotic arm. When installing the grippers, the stud of the grippers is aligned with the nut of the connector, and the nut is rotated by the motor, screwing it into the stud for fixation. This quickly completes the gripper installation, reducing the time spent disassembling and assembling grippers on the robotic arm and improving production efficiency.

Description

Technical Field

[0001] This utility model belongs to the field of robotic arm technology, specifically relating to a robotic arm with easily replaceable grippers. Background Technology

[0002] An industrial robot is an automatically controlled, reprogrammable, and versatile device capable of multi-axis programming. It can be stationary or mobile and is primarily used in industrial automation. Its manipulator typically consists of a series of articulated or sliding components with multiple degrees of freedom, used for grasping or moving objects. Functionally, an industrial robot can be understood as a mechatronic device that simulates the functions of a human arm, wrist, and hand, meeting the needs of specific industrial production tasks.

[0003] A robotic arm is an automated operating device that mimics the movements of a human hand and arm, performing tasks such as grasping, moving objects, or operating tools according to a preset program. It mainly consists of three parts: an actuator, a drive mechanism, and a control system. It can replace manual labor in completing heavy manual tasks, realizing the mechanization and automation of the production process.

[0004] In practical applications, industrial robots typically require robotic arms to grasp workpieces. However, currently, most industrial robots are fixed to their robotic arms using bolts. This connection method is not flexible enough and makes it difficult to quickly change the style of the robotic arm according to different workpiece models, thus affecting production efficiency.

[0005] Chinese utility model patent CN221622252U relates to a robotic arm for easy gripper replacement, comprising a connecting block, a functional block mounted on the bottom of the connecting block, a gripper mounted on the bottom of the functional block, a replacement component fixedly mounted inside the connecting block, and mounting holes at the four corners of the top of the connecting block. This robotic arm for easy gripper replacement utilizes the cooperation between the mounting block, cavity, bidirectional threaded rod, worm gear, worm, drive motor, and bidirectional threaded blocks. When replacing the gripper, the drive motor, through the meshing between the worm gear and worm, drives the bidirectional threaded rod to rotate. The rotation of the bidirectional threaded rod causes two bidirectional threaded blocks to move to opposite sides, thereby disengaging the insertion rod from the mounting block and releasing its fixation. The mounting block of the gripper to be replaced is then installed in the connecting block. When the drive motor rotates in the opposite direction, the two bidirectional threaded blocks can move to opposite sides. However, its internal structure is complex, and the connection stability is poor. Utility Model Content

[0006] The purpose of this invention is to provide a robotic arm that facilitates the replacement of grippers, thereby solving the problems mentioned in the background art.

[0007] To achieve the above objectives, this utility model provides the following technical solution: a robotic arm with easily replaceable grippers, comprising a connector and grippers. The connector is provided with an assembly chamber, in which a motor is fixedly installed. A protective plate is fixedly installed at the opening of the assembly chamber. The protective plate is provided with heat dissipation holes and wire through holes. The motor is driven and connected to a nut. The grippers are provided with a connecting plate, and the connecting plate is fixedly connected to a stud. The nut is screwed and fixed to the stud.

[0008] Preferably, the connector has a through hole, and a looseness sensing unit is fixedly installed in the through hole.

[0009] Preferably, a rubber pad is fixedly connected to the bottom of the connector, and the rubber pad is made of silicone rubber.

[0010] Preferably, the connector has four insertion holes at its bottom, and the connecting plate has insertion posts in a number and position corresponding to the insertion holes.

[0011] Compared with the prior art, the beneficial effects of this utility model are:

[0012] The connector of this utility model is an intermediate component connecting the gripper to the robotic arm. The motor is equipped with a reduction mechanism to provide a large torque output. When disassembling the gripper, the motor drives the nut to rotate, causing the nut to separate from the stud, quickly separating the gripper from the robotic arm. When it is necessary to install the gripper, the stud of the gripper is aligned with the nut of the connector, and the motor drives the nut to rotate, causing the nut to be screwed and fixed to the stud, quickly completing the gripper installation, reducing the time spent on disassembling and assembling the gripper on the robotic arm, and improving the efficiency of production and processing. Attached Figure Description

[0013] Figure 1 This is a structural view of the present invention.

[0014] Figure 2 This is an exploded structural view of the present invention.

[0015] Figure 3 This is a structural view of the connecting plate of this utility model.

[0016] Figure 4 This is a structural view of the connector of this utility model.

[0017] The diagram is labeled as follows: 1. Connector; 2. Clamp; 3. Assembly chamber; 4. Motor; 5. Protection plate; 6. Heat dissipation hole; 7. Wire hole; 8. Nut; 9. Connecting plate; 10. Stud; 11. Through hole; 12. Loosening sensing unit; 13. Rubber pad; 14. Plug hole; 15. Plug post. Detailed Implementation

[0018] 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.

[0019] Example 1:

[0020] This utility model provides a robotic arm with easily replaceable grippers, comprising a connector 1 and grippers 2. The connector 1 has an assembly chamber 3, in which a motor 4 is fixedly installed. A protective plate 5 is fixedly installed at the opening of the assembly chamber 3. The protective plate 5 has heat dissipation holes 6 and wiring holes 7. The motor 4 is driven and connected to a nut 8. The grippers 2 are provided with a connecting plate 9, and a stud 10 is fixedly connected to the connecting plate 9. The nut 8 is screwed to the stud 10 for fixation. The connector 1 has a through hole 11, in which a loosening sensing unit 12 is fixedly installed. A rubber pad 13, made of silicone rubber, is fixedly connected to the bottom of the connector 1. The bottom of the connector 1 has four insertion holes 14, and the connecting plate 9 has insertion posts 15 in the same position and number as the insertion holes 14.

[0021] Through the above technical solution, the connector 1 of this utility model is the intermediate part connecting the robotic arm to the gripper 2. The motor 4 is equipped with a reduction mechanism to provide a large torque output. When disassembling the gripper 2, the motor 4 drives the nut 8 to rotate, so that the nut 8 separates from the stud 10, quickly separating the gripper 2 from the robotic arm. When it is necessary to install the gripper 2, the stud 10 of the gripper 2 is aligned with the nut 8 of the connector 1, and the motor 4 drives the nut 8 to rotate, so that the nut 8 is screwed and fixed to the stud 10, quickly completing the installation of the gripper 2, reducing the time spent on disassembling and assembling the gripper 2 of the robotic arm, and improving the efficiency of production and processing.

[0022] Example 2:

[0023] The connector in this embodiment is provided with an assembly chamber, in which a motor is fixedly installed. A protective plate is fixedly installed at the opening of the assembly chamber. The protective plate is provided with heat dissipation holes and wire through holes. The motor drive is connected to a nut. The gripper 8 is provided with a connecting plate. The connecting plate is fixedly connected to a stud. The nut is screwed to the stud for fixation.

[0024] The connector, serving as the intermediate link between the robotic arm 2 and the gripper 8, has an internal assembly chamber that provides a stable mounting space for the motor. The motor delivers high torque output through a reduction gear mechanism, ensuring the stability of the gripper 8 during operation. The protective plate design not only protects the internal motor from external environmental influences but also provides effective heat dissipation through ventilation holes, while the wiring holes offer pathways for the motor's power and control cables.

[0025] The gripper 8 is connected to the connector via a connecting plate. A stud on the connecting plate engages with a nut driven by the motor. When the gripper 8 needs to be replaced, the motor drives the nut to rotate, separating the nut from the stud, allowing the gripper 8 to be easily removed. To install a new gripper 8, simply align the stud of the new gripper 8 with the nut, and the motor will rotate in the opposite direction for quick and easy installation.

[0026] The robotic arm uses a threaded connection, which is more convenient than the traditional bolt fixing method. The motor-driven rotation of the nut can be automatically controlled, eliminating the need for manual tooling for assembly and disassembly. The motor inside the connector provides sufficient torque through a reduction gear mechanism to ensure that the gripper 8 does not loosen during operation. The protective plate protects the internal mechanism without affecting heat dissipation.

[0027] The connecting plate and stud of gripper 8 are fixedly connected to ensure that there is no relative displacement during operation. The mating length of the nut and stud is optimized to ensure connection strength while facilitating quick assembly and disassembly. The entire replacement process can be completed automatically under the control of the robotic arm 2 control system, greatly improving production efficiency.

[0028] This robotic arm is particularly suitable for automated production lines that require frequent changes of gripper 8. Gripper 8 replacement can be completed through simple motor control, avoiding the cumbersome process of machine shutdown and tool-assisted disassembly and assembly required in traditional methods. The assembly chamber design of the connector provides a good working environment for the motor, extending its service life. The heat dissipation holes on the protection plate ensure the motor's heat dissipation needs during prolonged operation.

[0029] The replacement process of the robotic arm's gripper 8 is fully automated; operators only need to issue commands through the control system to complete the task. This design not only improves production efficiency but also reduces the risks associated with manual operation. The connection between the connector and gripper 8 is stable and reliable, meeting the requirements of various working conditions.

[0030] Example 3:

[0031] In this embodiment, the connector has a through hole, and a loosening sensing unit is fixedly installed in the through hole. The loosening sensing unit is a piezoelectric sensor, with its sensing surface facing the contact surface between the gripper 8 and the connector. When loosening occurs between the gripper 8 and the connector, the pressure on the contact surface decreases, and the piezoelectric sensor generates a corresponding change in electrical signal. This electrical signal is transmitted to the robot's control system. After the system determines that the gripper 8 is in a loose state, it immediately starts the motor to drive the nut to rotate.

[0032] The motor is a servo motor, and its output shaft is connected to the nut via a coupling. After receiving commands from the control system, the servo motor drives the nut to rotate according to the preset rotation direction and speed. The nut and the stud on the gripper 8 form a threaded engagement, generating axial displacement during rotation, thus re-tightening the connection between the gripper 8 and the connecting part. The loosening sensing unit continuously monitors the contact surface pressure. When the pressure reaches a preset threshold, the control system stops the motor to ensure that the gripper 8 is reliably fixed.

[0033] The through-hole is located at the center of the contact surface between the connector and the gripper 8, ensuring that the loosening sensing unit can accurately sense the pressure distribution across the entire contact surface. A sealing ring is provided around the outer periphery of the loosening sensing unit to prevent external dust or liquid from entering the through-hole and affecting sensor performance. The signal line of the loosening sensing unit is led out through a wiring hole on the protective plate and connected to the control system.

[0034] Under normal operating conditions, the loosening sensing unit monitors the connection status of the gripper 8 in real time. When the robot performs gripping or handling operations, if the gripper 8 becomes loose due to external impact or vibration, the loosening sensing unit can detect the pressure change within milliseconds and trigger a tightening action. This active tightening mechanism effectively avoids the problems of workpiece detachment or positioning deviation caused by loose connections in traditional robots.

[0035] The rotation direction of the motor can be set according to actual needs. When it is necessary to disassemble the gripper 8, the control system sends a reverse rotation command, and the motor drives the nut to separate from the stud. At this time, the loosening sensing unit detects that the pressure has completely disappeared, and the system determines that the gripper 8 has been unlocked. The operator can safely remove the gripper 8 for replacement. When installing the new gripper 8, simply align the stud with the nut and insert it. The system will automatically start the motor to complete the tightening process.

[0036] The motors inside the assembly chamber utilize natural convection cooling through ventilation holes to ensure temperature stability during prolonged operation. The protective plate not only provides protection but also offers wiring holes that secure the cables of the loose sensing units, preventing tangling or pulling during the robot's movement. The entire system, through the coordinated operation of its mechanical structure and electrical control, achieves intelligent monitoring and automatic adjustment of the gripper's 8-way connection.

[0037] Example 4:

[0038] In this embodiment, the connector has an assembly chamber, in which a motor is fixedly installed. A protective plate is fixedly installed at the opening of the assembly chamber. The protective plate has heat dissipation holes and wiring holes. A nut is connected to the motor drive. The gripper 8 is provided with a connecting plate, and a stud is fixedly connected to the connecting plate. The nut is screwed into the stud for fixation. A rubber pad made of silicone rubber is fixedly connected to the bottom of the connector. When the gripper 8 is frequently disassembled and assembled, the rubber pad provides protection and enhances the connection stability between the connector and the gripper 8.

[0039] The working principle of this robotic arm is as follows: The connector serves as the intermediate connecting component between the robotic arm 2 and the gripper 8. A motor is installed inside its assembly chamber, and the motor has a built-in reduction mechanism to provide sufficient torque output. When gripper 8 needs to be disassembled, the motor drives the nut to rotate, separating the nut from the stud on the gripper 8 connecting plate, thus achieving quick disassembly of gripper 8. When installing a new gripper 8, simply align the stud on the gripper 8 connecting plate with the nut inside the connector, and drive the nut to rotate via the motor, screwing the nut and stud together to complete the quick installation of gripper 8. This design significantly reduces the time required for the robotic arm 2 to assemble and disassemble gripper 8, improving production efficiency.

[0040] The use of rubber pads is a key feature of this embodiment. Silicone rubber pads are fixed to the bottom of the connector and play multiple roles during the frequent assembly and disassembly of the gripper 8. First, as a buffer layer, the pads absorb mechanical vibration and impact, protecting the connection between the connector and the gripper 8 from damage. Second, the elastic properties of the pads allow them to fill the minute gaps between the connector and the gripper 8, enhancing the stability of the connection. Furthermore, silicone rubber has excellent wear resistance and aging resistance, enabling it to meet the long-term usage requirements in industrial environments.

[0041] In actual operation, when the clamp 8 is connected and fixed to the nut via the stud, the rubber pad is moderately compressed, resulting in a certain degree of elastic deformation. This deformation not only provides additional friction to enhance connection stability but also effectively prevents the connection from loosening due to vibration. Simultaneously, the elastic properties of the rubber pad allow it to maintain good performance even after multiple disassemblies and reassemblies, without losing its elasticity due to repeated compression.

[0042] The robotic arm of this embodiment is particularly suitable for industrial automation scenarios that require frequent replacement of grippers 8. For example, in an automobile manufacturing production line, it may be necessary to quickly change grippers 8 of different shapes to grasp different types of parts according to different processes. With the quick-change mechanism and rubber pad protection device of this design, operators can complete the replacement of grippers 8 in a short time, while ensuring that the connection between grippers 8 and robotic arm 2 remains stable and reliable after each replacement.

[0043] Another important function of the rubber pad is to compensate for manufacturing tolerances. Since dimensional errors are unavoidable in machining, the elasticity of the rubber pad can absorb these minute differences, ensuring that grippers 8 from different batches can fit well with the connectors. This design improves the robot's compatibility and adaptability, enabling it to be used with grippers 8 of various sizes.

[0044] During long-term use, the rubber gasket also acts as a seal, preventing dust, oil, and other contaminants from entering the connection area and protecting the threads of the nut and stud from contamination. This helps maintain the long-term reliability and service life of the connection mechanism. When the rubber gasket wears out due to long-term use, it can be easily replaced, resulting in low maintenance costs.

[0045] Example 5:

[0046] In this embodiment, the connector has four insertion holes arranged in a rectangular array at its bottom. These holes are blind holes with guide bevels on the hole walls to facilitate the insertion of the insertion pins. The connecting plate has four corresponding insertion pins that match the insertion holes. These pins are cylindrical with a diameter slightly smaller than the inner diameter of the insertion hole to ensure smooth insertion. When the gripper 8 needs to be installed, the operator aligns the four insertion pins on the connecting plate with the four insertion holes at the bottom of the connector and pushes them axially to fully insert them into the holes. The engagement of the insertion pins and the insertion holes forms a mechanical limiting structure, effectively preventing the gripper 8 from rotating circumferentially or shifting radially during use.

[0047] After the plug is fully inserted into the socket, the motor drives the nut to rotate and connect with the stud. At this point, the engagement between the plug and the socket not only provides auxiliary positioning but also shares the torque load borne by the threaded connection. When the robot grips the workpiece and applies clamping force, friction is generated on the contact surfaces between the plug and the socket, further limiting the rotational tendency of the gripper 8. The symmetrical arrangement of the four plugs ensures even force distribution, avoiding loosening of the connection caused by unilateral force application.

[0048] The length of the connector pin is designed to ensure that when the nut and stud are fully tightened, the connector pin maintains a gap with the bottom of the insertion hole to avoid assembly stress. This design ensures connection rigidity while preventing assembly difficulties caused by over-positioning. During disassembly, after the nut and stud separate, the operator only needs to apply appropriate axial tension to pull the connector pin out of the insertion hole, completing the quick disassembly of the clamp 8.

[0049] The plug-in structure in this embodiment significantly improves the ease of replacement of the gripper 8 and the reliability of the connection. Compared with the traditional pure threaded connection, the fit between the plug-in post and the plug-in hole can more effectively resist vibration and impact loads during operation, preventing the threaded connection from loosening. At the same time, the arrangement of the four plug points forms a stable spatial constraint, ensuring that the gripper 8 maintains precise positioning accuracy during high-speed movement. This combination of mechanical limiting and threaded connection retains the detachable advantage of threaded connection while compensating for its insufficient torsional resistance, making it particularly suitable for automated production scenarios that require frequent replacement of the gripper 8.

[0050] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, 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. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0051] The above description is only used to illustrate the technical solution of this utility model and is not intended to limit it. Any other modifications or equivalent substitutions made by those skilled in the art to the technical solution of this utility model, as long as they do not depart from the spirit and scope of the technical solution of this utility model, should be covered within the scope of the claims of this utility model.

Claims

1. A robotic arm with easily replaceable grippers, comprising a connector and grippers, characterized in that, The connector is provided with an assembly chamber, in which a motor is fixedly installed. A protective plate is fixedly installed at the opening of the assembly chamber. The protective plate is provided with heat dissipation holes and wire through holes. The motor is driven by a nut. The gripper is provided with a connecting plate. A stud is fixedly connected to the connecting plate. The nut is screwed to the stud for fixation.

2. The robotic arm for easy gripper replacement according to claim 1, characterized in that, The connector is provided with a through hole, and a looseness sensing unit is fixedly installed in the through hole.

3. The robotic arm for easy gripper replacement according to claim 1, characterized in that, A rubber pad is fixedly connected to the bottom of the connector, and the rubber pad is made of silicone rubber.

4. A robotic arm for easy gripper replacement according to claim 1, characterized in that, The connector has four insertion holes at its bottom, and the connecting plate has insertion posts in a number and position corresponding to the insertion holes.

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