Adaptive material gripping robot structure

Abstract

This utility model provides an adaptive material gripping robotic arm structure, relating to the field of robotic arm technology. It includes a robotic arm with a fixed frame fixedly connected to its working end. A clamping structure is disposed inside the fixed frame, and the surface of the clamping structure is movably connected to the interior of the fixed frame. An adaptive mechanism for material gripping is movably connected to the opposite side of the clamping structure. This utility model, by setting up the robotic arm, fixed frame, clamping structure, and adaptive mechanism, achieves stable gripping and flexible operation of materials. The adaptive mechanism movably connected to the opposite side of the clamping structure can automatically adjust the gripping force and method according to the shape and size of different materials, thereby improving the accuracy and efficiency of material gripping.

Description

Technical Field

[0001] This utility model relates to the field of robotic arm technology, and in particular to a structure for an adaptive material grasping robotic arm. Background Technology

[0002] A robotic arm is a complex system characterized by high precision, multiple inputs and outputs, high nonlinearity, and strong coupling. Due to its unique operational flexibility, it has been widely used in many fields. A robotic arm system typically consists of a modular robotic arm and a dexterous hand, forming an important component of a robot system. The entire system comprises vision sensors, the robotic arm system, and a main control computer. Depending on their structural form, robotic arms can be categorized into multi-joint robotic arms, Cartesian coordinate robotic arms, spherical coordinate robotic arms, polar coordinate robotic arms, cylindrical coordinate robotic arms, etc. Furthermore, robotic arms can be equipped with different execution terminals, such as grippers or welding torches, to adapt to different working environments and task requirements, depending on the application needs.

[0003] In existing technologies, material gripping requires the use of robotic arms. However, existing robotic arm grippers require customized fixtures for specific materials, resulting in a low success rate in gripping irregular objects (such as flexible parts and fragile items). Traditional fixtures (such as two-finger grippers) require precise preset of the object's shape / size and cannot adapt to material tolerances. Therefore, a robotic arm gripper structure that can adapt to materials is needed. Utility Model Content

[0004] To address the shortcomings of existing technologies, the purpose of this invention is to provide an adaptive material gripping robotic arm structure that facilitates material clamping and improves the effective gripping of different materials, thereby solving the problem that existing robotic arms require changing the robotic gripper when changing materials.

[0005] To achieve the above objectives, this utility model is implemented through the following technical solution: an adaptive material gripping robotic arm structure, including a robotic arm, a fixed frame fixedly connected to the working end of the robotic arm, a clamping structure provided inside the fixed frame, and the surface of the clamping structure being movably connected to the inside of the fixed frame;

[0006] An adaptive mechanism for material gripping is movably connected to one side of the clamping structure.

[0007] Furthermore, the clamping structure includes a telescopic cylinder located inside the fixed frame. A first movable plate is fixedly connected to the output end of the telescopic cylinder. A transmission plate is movably connected to the top and bottom of the first movable plate via a first rotating shaft. A clamping plate is movably connected to the top of the transmission plate via a second rotating shaft. The side of the clamping plate closest to the fixed frame is movably connected via a third rotating shaft. A gripper is fixedly connected to the right side of the clamping plate. The interior of the gripper engages with the surface of the adaptive mechanism.

[0008] Furthermore, the adaptive mechanism includes a second movable plate located inside the gripper. Rotating plates are provided on both sides of the second movable plate. The side of the rotating plate closest to the gripper is movably connected to the gripper via a fourth rotating shaft. A sliding rod is fixedly connected to one side inside the rotating plate. The sliding rod is located inside the second movable plate and is slidably connected to the inside of the second movable plate.

[0009] Furthermore, the interior of the second movable plate is provided with a sliding groove for the sliding rod to slide, and a support wheel is fixedly connected to the side of the second movable plate that is close to each other.

[0010] Furthermore, a pressure roller is provided inside the rotating plate, and the surface of the pressure roller is movably connected to the interior of the rotating plate through a fifth rotating shaft.

[0011] Furthermore, telescopic rods are fixedly connected to the front and rear sides of the second movable plate on the side away from each other. The fixed end of the telescopic rod is fixedly connected to the surface of the gripper. A return spring is sleeved on the surface of the telescopic rod, and the return spring is located between the second movable plate and the gripper.

[0012] The beneficial effects of this utility model are:

[0013] 1. This utility model achieves stable clamping and flexible operation of materials by setting up a robotic arm, a fixed frame, a clamping mechanism and an adaptive mechanism. The adaptive mechanism, which is movably connected to the opposite side of the clamping structure, can automatically adjust the clamping force and method according to the shape and size of different materials, thereby improving the accuracy and efficiency of material grasping.

[0014] 2. This utility model, by setting up a clamping mechanism, can stably clamp items of different sizes. The telescopic cylinder is located inside the fixed frame. Its telescopic movement drives the first moving plate to move, and then drives the clamping plate to rotate around the third rotating axis through the transmission plate, so as to realize the clamping or releasing of the items by the gripper. The inside of the gripper cooperates with the surface of the adaptive mechanism, which enhances the stability and adaptability of the clamping. This makes the clamping structure widely applicable to various occasions that require clamping items of different sizes, improving work efficiency and clamping accuracy.

[0015] 3. By setting an adaptive mechanism, this utility model can improve the flexibility and adaptability of the gripper. The second moving plate is located inside the gripper, and the rotating plates on both sides are movably connected to the gripper through the fourth rotating shaft, so that the rotating plates can rotate relative to the gripper. The sliding rod fixedly connected inside the rotating plate slides inside the second moving plate, allowing the second moving plate to move and adjust within a certain range inside the gripper, so that the gripper can adaptively adjust according to the size, shape and other characteristics of different objects, thereby better gripping and fixing the objects.

[0016] 4. By setting up a sliding groove and a support wheel, this utility model can realize the smooth sliding of the sliding rod in the second moving plate, which enhances the stability of the structure and the smoothness of sliding, improves the durability of the overall structure, and makes the operation more flexible and convenient.

[0017] 5. By setting a pressure roller, this utility model enables the pressure roller to be flexibly connected to the inside of the rotating plate through the fifth rotating shaft, which can enhance the stability and smoothness of the pressure roller on the rotating plate, and ensure that the pressure roller can rotate or move according to a predetermined trajectory during operation, thereby improving the stable clamping between the pressure roller and the object being clamped.

[0018] 6. This utility model, by setting a telescopic rod and a return spring, can realize the stable movement and automatic reset of the gripper. When it is necessary to clamp an object, the support wheel and the pressure wheel contact the material, and the support wheel and the pressure wheel are subjected to force, causing the second moving plate to move away from each other, thereby realizing the clamping of the object. When the clamping is completed and the gripper is opened, the second moving plate and the pressure wheel are pushed back to their original position by the elastic force of the return spring, which facilitates the quick release of the object. Attached Figure Description

[0019] Other features, objects, and advantages of this invention will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings:

[0020] Figure 1 This is a schematic diagram of the structure of this utility model;

[0021] Figure 2 A 3D view of the clamping structure and adaptive mechanism;

[0022] Figure 3 A three-dimensional view of the clamping structure;

[0023] Figure 4 This is a 3D diagram of an adaptive mechanism.

[0024] In the diagram: 1. Robotic arm; 2. Fixed frame; 3. Telescopic cylinder; 4. First moving plate; 5. Transmission plate; 6. Clamping plate; 7. Gripper; 8. Second moving plate; 9. Rotating plate; 10. Slide rod; 11. Slide groove; 12. Support wheel; 13. Pressure wheel; 14. Telescopic rod; 15. Return spring. Detailed Implementation

[0025] To make the technical means, creative features, objectives and effects of this utility model easier to understand, the present utility model will be further described below in conjunction with specific embodiments.

[0026] Please see Figure 1 , Figure 1 This is a schematic diagram of the structure of this utility model.

[0027] An adaptive material gripping robotic arm structure includes a robotic arm 1, a fixed frame 2 fixedly connected to the working end of the robotic arm 1, a clamping mechanism provided inside the fixed frame 2, and the surface of the clamping mechanism being movably connected to the inside of the fixed frame 2.

[0028] An adaptive mechanism for material gripping is movably connected to the opposite side of the clamping mechanism.

[0029] Please see Figure 2 , Figure 3 and Figure 4 , Figure 2 A 3D view of the clamping structure and adaptive mechanism; Figure 3 A three-dimensional view of the clamping structure; Figure 4 This is a 3D diagram of an adaptive mechanism.

[0030] The clamping structure includes a telescopic cylinder 3, which is located inside the fixed frame 2. The output end of the telescopic cylinder 3 is fixedly connected to a first moving plate 4. The top and bottom of the first moving plate 4 are movably connected to a transmission plate 5 via a first rotating shaft. The top of the transmission plate 5 is movably connected to a clamping plate 6 via a second rotating shaft. The side of the clamping plate 6 closest to the fixed frame 2 is movably connected via a third rotating shaft. A gripper 7 is fixedly connected to the right side of the clamping plate 6. The inside of the gripper 7 cooperates with the surface of the adaptive mechanism to achieve stable clamping of items of different sizes. The telescopic cylinder 3, located inside the fixed frame 2, drives the first moving plate 4 to move through its telescopic movement, which in turn drives the clamping plate 6 to rotate around the third rotating shaft via the transmission plate 5, thereby achieving clamping or releasing of the items by the gripper 7. The cooperation between the inside of the gripper 7 and the surface of the adaptive mechanism enhances the stability and adaptability of the clamping, making this clamping structure widely applicable in various occasions where clamping of items of different sizes is required, improving work efficiency and clamping accuracy.

[0031] The adaptive mechanism includes a second movable plate 8 located inside the gripper 7. Rotating plates 9 are provided on both sides of the second movable plate 8. The side of the rotating plate 9 closest to the gripper 7 is movably connected to the gripper 7 via a fourth pivot. A sliding rod 10 is fixedly connected to one side of the interior of the rotating plate 9. The sliding rod 10 is located inside the second movable plate 8 and slidably connected to its interior, enhancing the flexibility and adaptability of the gripper 7. The second movable plate 8, located inside the gripper 7, with its rotating plates 9 on both sides movably connected to the gripper 7 via the fourth pivot, allows the rotating plates 9 to rotate relative to the gripper 7. The sliding rod 10, fixedly connected inside the rotating plate 9, slides within the second movable plate 8, allowing the second movable plate 8 to move and adjust within a certain range inside the gripper 7. This enables the gripper 7 to adaptively adjust according to the size, shape, and other characteristics of different objects, thereby better gripping and fixing them.

[0032] The second movable plate 8 has a groove 11 inside for sliding the slide rod 10. A support wheel 12 is fixedly connected to the side of the second movable plate 8 that is close to each other, which can realize the smooth sliding of the slide rod 10 in the second movable plate 8, enhance the stability of the structure and the smoothness of sliding, improve the durability of the overall structure, and make the operation more flexible and convenient.

[0033] The rotating plate 9 is equipped with a pressure roller 13. The surface of the pressure roller 13 is movably connected to the interior of the rotating plate 9 through a fifth rotating shaft. This allows the pressure roller 13 to be flexibly connected to the interior of the rotating plate 9 through the fifth rotating shaft, which can enhance the stability and smoothness of the pressure roller 13 on the rotating plate 9. This ensures that the pressure roller 13 can rotate or move according to a predetermined trajectory during operation, thereby improving the stable clamping between the pressure roller 13 and the object being clamped.

[0034] Telescopic rods 14 are fixedly connected to the front and rear sides of the second moving plate 8 on the side away from each other. The fixed end of the telescopic rod 14 is fixedly connected to the surface of the gripper 7. A return spring 15 is sleeved on the surface of the telescopic rod 14. The return spring 15 is located between the second moving plate 8 and the gripper 7, which can realize the stable movement and automatic reset of the gripper 7. When it is necessary to clamp an object, the support wheel 12 and the pressure wheel 13 come into contact with the material. The support wheel 12 and the pressure wheel 13 are subjected to force, which makes the second moving plate 8 move away from each other, thereby realizing the clamping of the object. When the clamping is completed and the gripper 7 is opened, the second moving plate 8 and the pressure wheel 13 are pushed back to their original position by the elastic force of the return spring 15, which facilitates the quick release of the object.

[0035] Working principle: The clamping structure drives the first moving plate 4 to move through the telescopic movement of the telescopic cylinder 3, which in turn drives the clamping plate 6 to rotate around the third rotating shaft via the transmission plate 5, thereby enabling the gripper 7 to clamp or release the object. The gripper 7 works in conjunction with the surface of the adaptive mechanism to enhance the stability and adaptability of the clamping. The adaptive mechanism includes a second moving plate 8 located inside the gripper 7, with rotating plates 9 on both sides movably connected to the gripper 7 via a fourth rotating shaft. A slide rod 10 fixedly connected inside the rotating plate 9 slides inside the second moving plate 8, allowing the second moving plate 8 to move and adjust within a certain range inside the gripper 7. This allows the gripper 7 to adaptively adjust according to the size, shape, and other characteristics of different objects, thereby better clamping and securing them. The sliding groove 11 inside the second moving plate 8 and the fixedly connected support wheel 12 enable the sliding rod 10 to slide smoothly within the second moving plate 8. The pressure wheel 13 inside the rotating plate 9 is movably connected to the rotating plate 9 through the fifth rotating shaft, which enhances the stability and smoothness of the pressure wheel 13 on the rotating plate 9. The telescopic rod 14 fixedly connected to the front and rear sides of the second moving plate 8 on opposite sides and the sleeved return spring 15 enable the stable movement and automatic reset of the gripper 7. When gripping an object, the support wheel 12 and the pressure wheel 13 are forced to move the second moving plate 8 away from each other. After gripping, the elastic force of the return spring 15 pushes the second moving plate 8 and the pressure wheel 13 to reset, making it easy to quickly release the object.

[0036] The foregoing has shown and described the basic principles, main features, and advantages of this utility model. It will be apparent to those skilled in the art that this utility model 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 basic characteristics of this utility model. Therefore, the embodiments should be considered exemplary and non-limiting in all respects. The scope of this utility model is defined by the appended claims rather than the foregoing description, and thus all variations falling within the meaning and scope of equivalents of the claims are intended to be included within this utility model. No reference numerals in the claims should be construed as limiting the scope of the claims.

[0037] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. An adaptive material grasping robotic arm structure, characterized by: Includes a robotic arm (1), the working end of which is fixedly connected to a fixed frame (2), and the inside of the fixed frame (2) is provided with a clamping structure, the surface of which is movably connected to the inside of the fixed frame (2); An adaptive mechanism for material gripping is movably connected to one side of the clamping structure.

2. The adaptive material grasping robotic arm structure of claim 1, wherein: The clamping structure includes a telescopic cylinder (3), which is located inside the fixed frame (2). The output end of the telescopic cylinder (3) is fixedly connected to a first moving plate (4). The top and bottom of the first moving plate (4) are movably connected to a transmission plate (5) via a first rotating shaft. The top of the transmission plate (5) is movably connected to a clamping plate (6) via a second rotating shaft. The side of the clamping plate (6) closest to the fixed frame (2) is movably connected via a third rotating shaft. The right side of the clamping plate (6) is fixedly connected to a gripper (7). The inside of the gripper (7) is used in conjunction with the surface of the adaptive mechanism.

3. The adaptive material grasping robotic arm structure of claim 2, wherein: The adaptive mechanism includes a second movable plate (8) located inside the gripper (7). Rotating plates (9) are provided on both sides of the second movable plate (8). The side of the rotating plate (9) closest to the gripper (7) is movably connected to the gripper (7) via a fourth rotating shaft. A sliding rod (10) is fixedly connected to one side inside the rotating plate (9). The sliding rod (10) is located inside the second movable plate (8) and is slidably connected to the inside of the second movable plate (8).

4. The adaptive material grasping robotic arm structure of claim 3, wherein: The interior of the second movable plate (8) is provided with a sliding groove (11) for sliding the slide rod (10), and a support wheel (12) is fixedly connected to the side of the second movable plate (8) that is close to each other.

5. The adaptive material gripping robotic arm structure according to claim 3, characterized in that: The rotating plate (9) is provided with a pressure roller (13) inside, and the surface of the pressure roller (13) is movably connected to the interior of the rotating plate (9) through a fifth rotating shaft.

6. The adaptive material grasping robotic arm structure of claim 3, wherein: The second moving plate (8) has a telescopic rod (14) fixedly connected to the front and rear sides of the side away from each other. The fixed end of the telescopic rod (14) is fixedly connected to the surface of the gripper (7). A reset spring (15) is sleeved on the surface of the telescopic rod (14). The reset spring (15) is located between the second moving plate (8) and the gripper (7).

Images