A general-purpose finger for a robot hand

Abstract

This utility model discloses a universal finger for robotic arms, relating to the field of robotic arm technology. It includes: a gripper, with three annularly spaced displacement grooves on the outer wall of the gripper; displacement components, including displacement blocks, are installed inside the displacement grooves; a driving component is installed inside the gripper; a lifting component, including a lifting frame, is installed on the outer wall of the displacement blocks; multiple sets of vertically arranged gripper assemblies are installed on the outer wall of the lifting frame; each gripper assembly includes a gripping block; two sets of positioning blocks are symmetrically arranged on the upper surface of the gripping block; and two sets of positioning grooves are symmetrically arranged on the lower surface of the gripping block. This invention solves the problems of existing robotic arms, which are mainly claw-type, having poor stability when gripping cylindrical objects, thus affecting the practicality of the robotic arm; and the fact that the gripping part of this robotic arm is a fixed structure, making it inconvenient for users to increase or decrease the size of the gripping part according to the size of the object being gripped.

Description

Technical Field

[0001] This utility model relates to the field of robotic arm technology, specifically a universal finger for robotic arms. Background Technology

[0002] A robotic arm is a device that can mimic certain movements of a human hand and arm to grasp, move objects, or operate tools according to a fixed program.

[0003] For example, announcement number CN204322077U, entitled "A General-Purpose Robotic Arm", includes a mounting plate, a long arm, a short arm, a first rocker arm, a second rocker arm, and a joint plate. A drive motor is mounted on the left side of the mounting plate, and the joint plate is mounted on the right side of the mounting plate. A movable arm is fixed on the output shaft of the drive motor. One end of the long arm is connected to one end of the movable arm through a first pin, and the other end of the long arm is connected to one end of the first rocker arm through a second pin. The other end of the long arm is connected to one end of the short arm through a third pin, and the other end of the short arm is connected to one end of the second rocker arm through a fourth pin. A robotic arm is fixedly connected to the other ends of both the second rocker arm and the first rocker arm. The robotic arm is V-shaped. The first rocker arm is connected to one end of the joint plate through a fifth pin, and the second rocker arm is connected to the other end of the joint plate through a sixth pin.

[0004] However, the existing robotic arms mentioned above are mainly gripper-type, which has poor stability when gripping some cylindrical parts, thus affecting the practicality of the robotic arm. In addition, the gripping part of the robotic arm is a fixed structure, which makes it inconvenient for users to increase or decrease the size of the gripping part according to the size of the object being gripped. Therefore, it does not meet the current needs, so a universal finger for robotic arms is proposed. Utility Model Content

[0005] The purpose of this invention is to provide a universal finger for robotic arms, which solves the problem mentioned in the background art that existing robotic arms are mainly gripper-type, which has poor stability when gripping some cylindrical parts, thus affecting the practicality of the robotic arm. In addition, the gripping part of the robotic arm is a fixed structure, which makes it inconvenient for users to increase or decrease the size of the gripping part according to the size of the object being gripped.

[0006] To achieve the above objectives, this utility model provides the following technical solution: a universal finger for a robotic arm, comprising: a clamping platform, three annularly spaced displacement grooves on the outer wall of the clamping platform, displacement components installed inside the displacement grooves, each displacement component including a displacement block, a driving component installed inside the clamping platform, a lifting component installed on the outer wall of the displacement block, the lifting component including a lifting frame, multiple sets of vertically arranged gripper assemblies installed on the outer wall of the lifting frame, each gripper assembly including a gripping block, two sets of positioning blocks symmetrically arranged on the upper surface of the gripping block, two sets of positioning grooves symmetrically arranged on the lower surface of the gripping block, a magnetic insertion block at the middle position of the upper surface of the gripping block, and a slot at the middle position of the lower surface of the gripping block.

[0007] Preferably, an arc-shaped opening is provided on the outer wall of the front end face of the clamping block, two sets of sliders are integrally and symmetrically arranged on the outer wall of the clamping block, and sliding grooves are provided on both sides of the lifting frame.

[0008] Preferably, the bottom of the lifting frame is provided with an assembly base, which is combined with the displacement block by bolts.

[0009] Preferably, the outer wall of the lifting frame is provided with a plurality of vertically spaced assembly holes, and the outer wall of the arc-shaped opening is provided with a plurality of vertically spaced docking holes, wherein the docking holes are connected to the assembly holes by embedded mounting bolts.

[0010] Preferably, the inner bottom of the displacement groove is provided with an opening, the lower surface of the displacement block is provided with a plurality of spaced toothed blocks, the driving component includes a toothed ring, three sets of meshing toothed columns are installed below the toothed ring, an annular limiting guide is installed on the upper surface of the toothed ring, and the toothed blocks of the displacement block extend from the opening to the limiting guide.

[0011] Preferably, a drive motor is provided at one end of the gear column, the drive motor includes a shaft, and a tooth groove is provided on the end wall of the gear column, with the shaft extending through and into the tooth groove.

[0012] Preferably, the inner ring of the toothed ring is provided with three sets of annularly spaced limiting posts.

[0013] Compared with the prior art, the beneficial effects of this utility model are:

[0014] (1) In this utility model, the displacement block is moved in the displacement groove of the clamping platform. The distance between the three sets of displacement blocks is adjusted by displacement to realize the switching between clamping and loosening states. The displacement block is provided with a lifting component to adjust the installation height of the clamping block. The clamping block is a combinable structure. The positioning block of the clamping block is inserted into the positioning groove of another clamping block to realize positioning combination. In addition, when positioning is inserted, the magnetic plug at the clamping block will be inserted into the slot accordingly, thereby improving the tightness of the assembly at this point. When disassembling later, it is only necessary to pull the multiple clamping blocks apart. The above structure modularizes the mechanical finger and can change the size of the clamping head according to the different clamped objects. The overall disassembly and assembly are convenient and quick, and easy for users to use.

[0015] (2) In this utility model, the arc-shaped opening enables the clamping block to specifically clamp and restrict arc-shaped structures, such as cylindrical and tubular structures, effectively improving the clamping effect of the robot arm on such structures; the clamping block slides in the sliding groove of the lifting frame through the slider, and the position of the clamping block is adjusted by the sliding displacement, and the sliding groove can restrict the clamping block, which facilitates installation and prevents it from falling off. After sliding to the required position, the mating hole is aligned with the assembly hole, and the clamping block is firmly fixed on the lifting frame by the embedded mounting bolt, which improves the stability of the clamping block. Since the embedded mounting structure is adopted, the bolt will not protrude from the outside, thus not affecting the normal clamping process of the clamping block. Attached Figure Description

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

[0017] Figure 2 This is a schematic diagram of the external structure of the clamping platform of this utility model;

[0018] Figure 3 This is a schematic diagram of the drive component structure of this utility model;

[0019] Figure 4 This is a schematic diagram of the lifting component structure of this utility model;

[0020] Figure 5 This is a schematic diagram of the clamp assembly structure of this utility model;

[0021] In the diagram: 1. Clamping platform; 101. Displacement groove; 102. Opening; 2. Displacement component; 201. Displacement block; 202. Gear block; 3. Lifting component; 301. Assembly base; 302. Lifting frame; 303. Assembly hole; 304. Slide groove; 4. Clamping assembly; 401. Clamping block; 402. Slider; 403. Arc-shaped opening; 404. Docking hole; 405. Positioning block; 406. Positioning groove; 407. Magnetic insertion block; 408. Slot; 5. Driving component; 501. Drive motor; 502. Shaft; 503. Gear column; 504. Gear groove; 505. Gear ring; 506. Limiting guide bar; 507. Limiting post. Detailed Implementation

[0022] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present utility model. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments.

[0023] Please see Figure 1-5 This utility model provides an embodiment of a universal finger for a robotic hand, comprising: a clamping platform 1, with three annularly spaced displacement grooves 101 on the outer wall of the clamping platform 1, a displacement component 2 installed inside the displacement grooves 101, the displacement component 2 including a displacement block 201, a driving component 5 installed inside the clamping platform 1, a lifting component 3 installed on the outer wall of the displacement block 201, the lifting component 3 including a lifting frame 302, and multiple sets of vertically arranged clamping assemblies 4 installed on the outer wall of the lifting frame 302, the clamping assembly 4 including a clamping block 401, two sets of positioning blocks 405 symmetrically arranged on the upper surface of the clamping block 401, two sets of positioning grooves 406 symmetrically arranged on the lower surface of the clamping block 401, a magnetic insertion block 407 at the middle position of the upper surface of the clamping block 401, and a slot 408 at the middle position of the lower surface of the clamping block 401;

[0024] In the above structure, the displacement block 201 moves within the displacement groove 101 of the clamping platform 1. The distance between the three sets of displacement blocks 201 is adjusted by the displacement to switch between clamping and releasing states. A lifting component 3 is provided at the displacement block 201 to adjust the installation height of the clamping block 401. The clamping block 401 is a combinable structure. Positioning combination is achieved by interlocking the positioning block 405 of the clamping block 401 with the positioning groove 406 of another clamping block 401. In addition, during positioning and interlocking, the magnetic insertion block 407 at the clamping block 401 will be inserted into the slot 408 accordingly, thereby improving the tightness of the assembly at this point. During subsequent disassembly, multiple clamping blocks can be separated by pulling them apart. The above structure modularizes the mechanical finger, allowing the size of the clamping head to be changed according to different clamped objects. The overall assembly and disassembly are convenient and quick, making it easy for users to use.

[0025] Please see Figure 4 , Figure 5 An arc-shaped opening 403 is provided on the outer wall of the front end face of the clamping block 401. Two sets of sliders 402 are symmetrically and integrally provided on the outer wall of the clamping block 401. Slide grooves 304 are provided on both sides of the lifting frame 302. An assembly seat 301 is provided at the bottom of the lifting frame 302. The assembly seat 301 is combined with the displacement block 201 by bolts. Several vertically spaced assembly holes 303 are provided on the outer wall of the lifting frame 302. Multiple vertically spaced docking holes 404 are provided on the outer wall of the arc-shaped opening 403. The docking holes 404 are connected to the assembly holes 303 by embedded mounting bolts.

[0026] In the above structure, the arc-shaped opening 403 allows the clamping block 401 to specifically clamp and restrict arc-shaped structures, such as cylindrical or tubular structures, effectively improving the clamping effect of the robot arm on such structures. The clamping block 401 slides within the sliding groove 304 of the lifting frame 302 via the slider 402. The position of the clamping block 401 is adjusted by the sliding displacement, and the sliding groove 304 also restricts the clamping block 401, facilitating installation and preventing it from detaching. After sliding to the desired position, the mating hole 404 is aligned with the assembly hole 303, and the clamping block 401 is firmly fixed to the lifting frame 302 by the embedded mounting bolts, improving the stability of the clamping block 401. Due to the embedded mounting structure, the bolts do not protrude externally, thus not affecting the normal clamping process of the clamping block 401.

[0027] Please see Figure 2 , Figure 3 The bottom of the displacement groove 101 is provided with an opening 102. The lower surface of the displacement block 201 is provided with a plurality of spaced tooth blocks 202. The driving component 5 includes a toothed ring 505. Three sets of toothed pillars 503 are installed below the toothed ring 505 and mesh with it. An annular limiting guide strip 506 is installed on the upper surface of the toothed ring 505. The tooth blocks 202 of the displacement block 201 extend from the opening 102 to the limiting guide strip 506. A drive motor 501 is provided at one end of the toothed pillar 503. The drive motor 501 includes a shaft 502. A toothed groove 504 is provided on the end wall of the toothed pillar 503. The shaft 502 extends through the toothed groove 504. Three sets of annularly spaced limiting pillars 507 are provided on the inner ring of the toothed ring 505.

[0028] In the above structure, the drive motor 501 drives the shaft 502 to rotate. The shaft 502 is inserted into the tooth groove 504, and its rotation will drive the tooth column 503 to rotate together. Since the tooth column 503 meshes with the tooth ring 505, the tooth ring 505 is also driven to rotate. Finally, the tooth block 202 of the displacement block 201 is displaced at the limiting guide bar 506. During the displacement process, the displacement block 201 is displaced accordingly to achieve the effect of driving and clamping. The limiting post 507 is set to limit the displacement range of the displacement block 201.

[0029] 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. A robot universal finger comprising a clamping table (1), characterized in that: The clamping platform (1) has three annularly spaced displacement grooves (101) on its outer wall. A displacement component (2) is installed inside the displacement groove (101). The displacement component (2) includes a displacement block (201). A drive component (5) is installed inside the clamping platform (1). A lifting component (3) is installed on the outer wall of the displacement block (201). The lifting component (3) includes a lifting frame (302). Multiple sets of vertically arranged clamping assemblies (4) are installed on the outer wall of the lifting frame (302). The clamping assembly (4) includes a clamping block (401). Two sets of positioning blocks (405) are symmetrically arranged on the upper surface of the clamping block (401). Two sets of positioning grooves (406) are symmetrically arranged on the lower surface of the clamping block (401). A magnetic insertion block (407) is provided at the middle position of the upper surface of the clamping block (401). A slot (408) is provided at the middle position of the lower surface of the clamping block (401).

2. The universal finger for a robotic hand according to claim 1, characterized in that: An arc-shaped opening (403) is provided on the outer wall of the front end face of the clamping block (401), and two sets of sliders (402) are symmetrically and integrally provided on the outer wall of the clamping block (401). Slide grooves (304) are provided on both sides of the lifting frame (302).

3. The universal finger for a robotic hand according to claim 1, characterized in that: The bottom of the lifting frame (302) is provided with an assembly base (301), which is combined with the displacement block (201) by bolts.

4. A universal finger for a robotic hand according to claim 2, characterized in that: The outer wall of the lifting frame (302) is provided with a number of vertically spaced assembly holes (303), and the outer wall of the arc-shaped opening (403) is provided with a number of vertically spaced docking holes (404). The docking holes (404) are connected to the assembly holes (303) by embedded mounting bolts.

5. A universal finger for a robotic hand according to claim 1, characterized in that: The inner bottom of the displacement groove (101) is provided with an opening (102), and the lower surface of the displacement block (201) is provided with a plurality of spaced tooth blocks (202). The driving component (5) includes a toothed ring (505), and three sets of toothed pillars (503) are installed below the toothed ring (505) and mesh with it. An annular limiting guide strip (506) is installed on the upper surface of the toothed ring (505). The tooth blocks (202) of the displacement block (201) extend from the opening (102) to the limiting guide strip (506).

6. A universal finger for a robotic hand according to claim 5, characterized in that: One end of the gear column (503) is provided with a drive motor (501), the drive motor (501) includes a shaft (502), and a tooth groove (504) is provided on the end wall of the gear column (503), the shaft (502) extends through the tooth groove (504).

7. A universal finger for a robotic hand according to claim 5, characterized in that: The inner ring of the toothed ring (505) is provided with three sets of annularly spaced limiting posts (507).

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