Mechanical hand combined clamping mechanism

Abstract

This utility model discloses a robotic arm combined clamping mechanism, relating to the field of robotic arm clamping technology. The robotic arm combined clamping mechanism includes a base, with a first gear and a second gear disposed at the upper end of the base. A strip frame is disposed between the first gear and the second gear. First locking teeth are disposed on both sides of the strip frame, and the strip frame is meshed with both the first gear and the second gear through the first locking teeth. A first clamping component is meshed with one side of the first gear, and a second clamping component is meshed with one side of the second gear. An electric push rod is disposed at one end of the strip frame, and the output end of the electric push rod drives the strip frame to move. This solution solves the problem that the clamping plate size and shape of existing robotic arms are mostly fixed, which easily leads to unstable clamping when clamping items of different sizes and shapes, resulting in poor flexibility and applicability.

Description

Technical Field

[0001] This utility model relates to the field of robotic arm clamping technology, specifically a robotic arm combination clamping mechanism. Background Technology

[0002] Robotic clamping refers to the use of mechanical devices to clamp and fix workpieces during machining or automated production to ensure the stability and accuracy of workpieces during processing or handling.

[0003] For example, Chinese patent CN211517513U (A clamping mechanism for a robotic arm used in production and processing) includes a base, a robotic arm fixedly connected to the upper end of the base, a pair of symmetrically operable clamping plates installed at the end of the robotic arm, rectangular grooves carved inside the clamping plates, telescopic plates set inside the rectangular grooves, a pair of sliders fixedly connected to the upper end of the telescopic plates, sliders slidably connected to slide rails, and slide rails installed on the inner sidewall of the rectangular grooves, a rack fixedly connected to the upper end of the telescopic plates, a strip-shaped hole carved in the upper end of the clamping plates, a matching gear meshing with the upper end of the rack, a motor installed at the upper end of the clamping plates, a gear fixedly connected to the output end of the motor, and an air pump installed at the upper end of the clamping plates, with an air pipe fixedly connected to the output end of the air pump. It can easily clamp and move objects from multiple angles, and has little restriction on the shape of the clamped object.

[0004] However, the clamping plates of existing robotic arms are mostly fixed in size and shape. When clamping items of different sizes and shapes, unstable clamping is likely to occur, resulting in poor flexibility and applicability. Therefore, it does not meet the existing needs. To address this, we propose a combined clamping mechanism for robotic arms. Utility Model Content

[0005] The purpose of this utility model is to provide a robotic arm combined clamping mechanism to solve the problem mentioned in the background art that the clamping plate size and shape of the existing robotic arms are mostly fixed and unchanging. When clamping items of different sizes and shapes, unstable clamping is likely to occur, resulting in poor flexibility and applicability.

[0006] To achieve the above objectives, this utility model provides the following technical solution: a robotic arm combined clamping mechanism, comprising: a base, a first gear and a second gear being provided at the upper end of the base, a strip frame being provided between the first gear and the second gear, first locking teeth being provided on both sides of the strip frame, and the strip frame being meshed with the first gear and the second gear through the first locking teeth, a first clamping component being meshed with one side of the first gear, a second clamping component being meshed with one side of the second gear, an electric push rod being provided at one end of the strip frame, and the output end of the electric push rod driving the strip frame to move, the output end of the electric push rod being fixed to the strip frame by a fixing bolt.

[0007] Preferably, both the first clamping assembly and the second clamping assembly are provided with a movable arm, and a second locking tooth is provided on one side surface of the movable arm, and the second locking tooth of the first clamping assembly and the second clamping assembly are respectively meshed with the first gear and the second gear.

[0008] Preferably, both the first clamping assembly and the second clamping assembly further include an adjusting arm. One end of the movable arm is provided with an adjusting groove, and the adjusting arm moves along the adjusting groove. The upper surfaces of the adjusting arm and the movable arm are provided with fixing holes, and multiple fixing holes are provided. A hexagonal bolt is inserted into the fixing hole, and one end of the hexagonal bolt passes through the adjusting arm and the movable arm and is threaded to a nut.

[0009] Preferably, one end of the adjusting arm is provided with a clamping arm, one end of the clamping arm is provided with a fixed base plate, the upper end of the fixed base plate is provided with a clamping head, the upper surface of the clamping head and the lower surface of the fixed base plate are both provided with pin holes, and the pin holes penetrate the clamping head and the fixed base plate vertically, a U-shaped pin is inserted into the pin hole, and both ends of the U-shaped pin are threaded to nuts after passing through the pin hole.

[0010] Preferably, the lower surface of the clamping head is provided with a reinforcing slot, and the upper surface of the fixed base plate is provided with a reinforcing post, and the reinforcing post is inserted into the reinforcing slot.

[0011] Preferably, a positioning plate is provided on the lower surface of the other end of the movable arm, and limit plates are provided on both sides of the positioning plate. A positioning seat is provided on the outside of the positioning plate, and the positioning seat is welded and fixed to the base. A T-shaped groove is provided on one end surface of the positioning seat, and the positioning plate and the limit plate slide along the T-shaped groove.

[0012] Preferably, a stabilizing plate is provided on the lower surface of one end of the bar frame, a support base is provided at the lower end of the stabilizing plate, and the support base is welded and fixed to the base. A plate groove is provided on the upper surface of the support base, and the stabilizing plate moves along the plate groove.

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

[0014] (1) This utility model sets a clamping head on the upper end of the fixed base plate, inserts a reinforcing pin into the reinforcing slot to initially limit the clamping head, and then further fixes it with a U-shaped pin. The initial limiting reduces the squeezing force on the U-shaped pin when the clamping head applies force to clamp the item, avoids damage and loosening, and improves the stability of the clamping head. The detachable clamping head is easy to replace according to different sizes and shapes of items, improving flexibility and applicability. It solves the problem that the clamping plate size and shape of the existing robot are mostly fixed, and the clamping is unstable when clamping different sizes and shapes of items, resulting in poor flexibility and applicability.

[0015] (2) By moving the adjusting arm along the adjusting groove and fixing it by threading a nut through one end of a hexagonal bolt through the adjusting arm and the moving arm, the size adjustment of the first clamping assembly and the second clamping assembly can be realized, which is suitable for clamping items of different sizes and further improves applicability and flexibility. 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 overall front structure of this utility model;

[0018] Figure 3 This is a schematic diagram of the first clamping assembly of this utility model;

[0019] Figure 4 This is a schematic diagram of the disassembled structure of the clamping head and the fixed base plate of this utility model;

[0020] In the diagram: 1. Base; 2. Electric push rod; 3. Strip frame; 4. Fixing bolt; 5. First gear; 6. Second gear; 7. First clamping assembly; 8. Second clamping assembly; 9. Positioning seat; 10. Support seat; 11. First locking tooth; 12. Stabilizing plate; 13. Plate groove; 14. Moving arm; 15. Second locking tooth; 16. Positioning plate; 17. Limiting plate; 18. Adjusting arm; 19. Adjusting groove; 20. Fixing hole; 21. Hex bolt; 22. Clamping arm; 23. Fixing base plate; 24. Clamping head; 25. U-shaped pin; 26. Reinforcing insert; 27. Reinforcing slot; 28. Pin hole; 29. ​​T-shaped slide. Detailed Implementation

[0021] 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.

[0022] Please see Figure 1-4This utility model provides an embodiment of a robotic arm combined clamping mechanism, comprising: a base 1, with a first gear 5 and a second gear 6 disposed at the upper end of the base 1, a strip frame 3 disposed between the first gear 5 and the second gear 6, and first locking teeth 11 disposed on both sides of the strip frame 3, the strip frame 3 being meshed with both the first gear 5 and the second gear 6 through the first locking teeth 11; a first clamping assembly 7 being meshed with one side of the first gear 5, and a second clamping assembly 8 being meshed with one side of the second gear 6; an electric push rod 2 disposed at one end of the strip frame 3, and the output end of the electric push rod 2 driving the strip frame 3 to move. The output end of rod 2 is fixed to the strip frame 3 by a fixing bolt 4. Both the first clamping assembly 7 and the second clamping assembly 8 are equipped with a moving arm 14. A second locking tooth 15 is provided on one side surface of the moving arm 14. The second locking teeth 15 of the first clamping assembly 7 and the second clamping assembly 8 are respectively engaged with the first gear 5 and the second gear 6. During clamping, the output end of the electric push rod 2 drives the strip frame 3 to move, and the first locking tooth 11 drives the first gear 5 and the second gear 6 to rotate. The first gear 5 and the second gear 6 are respectively engaged with the second locking teeth 15 of the first clamping assembly 7 and the second clamping assembly 8. Figure 1 As shown, the first clamping component 7 and the second clamping component 8 move to clamp the item.

[0023] Both the first clamping assembly 7 and the second clamping assembly 8 further include an adjusting arm 18. One end of the movable arm 14 has an adjusting groove 19, and the adjusting arm 18 moves along the adjusting groove 19. The upper surfaces of both the adjusting arm 18 and the movable arm 14 have fixing holes 20, and multiple fixing holes 20 are provided. Hexagonal bolts 21 are inserted into the fixing holes 20, and one end of the hexagonal bolts 21 passes through the adjusting arm 18 and the movable arm 14 and is threadedly connected to a nut. One end of the adjusting arm 18 is provided with a clamping arm 22, and one end of the clamping arm 22 is provided with a fixing... The base plate 23 has a clamping head 24 at its upper end. Both the upper surface of the clamping head 24 and the lower surface of the base plate 23 have pin holes 28. The pin holes 28 extend through the clamping head 24 and the base plate 23. A U-shaped pin 25 is inserted into the pin hole 28. Both ends of the U-shaped pin 25 are threaded to nuts after exiting the pin hole 28. The lower surface of the clamping head 24 has a reinforcing slot 27. The upper surface of the base plate 23 has a reinforcing post 26. The reinforcing post 26 is inserted into the reinforcing slot 27.

[0024] The clamping head 24 is installed on the fixed base plate 23. During installation, the reinforcing pin 26 is inserted into the reinforcing slot 27 to initially limit the clamping head 24 and prevent positional deviation. Then, the two ends of the U-shaped pin 25 pass through the clamping head 24 and the fixed base plate 23 and are threaded with nuts to further fix the clamping head 24. The initial limiting reduces the squeezing force on the U-shaped pin 25 when the clamping head 24 applies force to clamp the item, preventing damage and loosening, and improving the stability of the clamping head 24. The detachable clamping head 24 is easy to replace according to items of different sizes and shapes, improving flexibility and applicability.

[0025] Furthermore, depending on the size of the item, the adjusting arm 18 moves along the adjusting groove 19, and is fixed by a threaded nut after one end of the hexagonal bolt 21 passes through the adjusting arm 18 and the moving arm 14, thereby realizing the size adjustment of the first clamping assembly 7 and the second clamping assembly 8, improving applicability and flexibility;

[0026] A positioning plate 16 is provided on the lower surface of the other end of the movable arm 14. Limiting plates 17 are provided on both sides of the positioning plate 16. A positioning seat 9 is provided on the outside of the positioning plate 16 and is welded and fixed to the base 1. A T-shaped slide groove 29 is provided on one end surface of the positioning seat 9, and the positioning plate 16 and the limiting plate 17 slide along the T-shaped slide groove 29. When the first clamping assembly 7 and the second clamping assembly 8 move, the stability of the movement of the first clamping assembly 7 and the second clamping assembly 8 is improved, and it is not easy to deviate and fall. A stabilizing plate 12 is provided on the lower surface of one end of the strip frame 3. A support seat 10 is provided at the lower end of the stabilizing plate 12 and is welded and fixed to the base 1. A plate groove 13 is provided on the upper surface of the support seat 10, and the stabilizing plate 12 moves along the plate groove 13. When the strip frame 3 moves, the movement stability is improved, and it is not easy to deviate. The support seat 10 also provides support for the strip frame 3 to prevent it from falling.

[0027] 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 mechanical hand combined clamping mechanism comprising a base (1), characterized in that: The upper end of the base (1) is provided with a first gear (5) and a second gear (6). A strip frame (3) is provided between the first gear (5) and the second gear (6). Both sides of the strip frame (3) are provided with first locking teeth (11). The strip frame (3) is meshed with the first gear (5) and the second gear (6) through the first locking teeth (11). A first clamping assembly (7) is meshed with one side of the first gear (5). A second clamping assembly (8) is meshed with one side of the second gear (6). An electric push rod (2) is provided at one end of the strip frame (3). The output end of the electric push rod (2) drives the strip frame (3) to move. The output end of the electric push rod (2) is fixed to the strip frame (3) by a fixing bolt (4).

2. A mechanical hand combined gripping mechanism according to claim 1, characterized in that: The first clamping assembly (7) and the second clamping assembly (8) are both provided with a movable arm (14). A second locking tooth (15) is provided on one side surface of the movable arm (14), and the second locking tooth (15) of the first clamping assembly (7) and the second clamping assembly (8) are respectively meshed with the first gear (5) and the second gear (6).

3. A mechanical hand combined gripping mechanism according to claim 2, characterized in that: The first clamping assembly (7) and the second clamping assembly (8) both include an adjusting arm (18). One end of the movable arm (14) is provided with an adjusting groove (19), and the adjusting arm (18) moves along the adjusting groove (19). The upper surfaces of the adjusting arm (18) and the movable arm (14) are provided with fixing holes (20), and there are multiple fixing holes (20). A hexagonal bolt (21) is inserted into the fixing hole (20), and one end of the hexagonal bolt (21) passes through the adjusting arm (18) and the movable arm (14) and is threaded to a nut.

4. A mechanical hand combined gripping mechanism according to claim 3, wherein: One end of the adjusting arm (18) is provided with a clamping arm (22), and one end of the clamping arm (22) is provided with a fixed base plate (23). The upper end of the fixed base plate (23) is provided with a clamping head (24). The upper surface of the clamping head (24) and the lower surface of the fixed base plate (23) are both provided with pin holes (28), and the pin holes (28) penetrate the clamping head (24) and the fixed base plate (23) vertically. A U-shaped pin (25) is inserted into the pin hole (28), and both ends of the U-shaped pin (25) are threaded to nuts after passing through the pin hole (28).

5. The robotic arm combination clamping mechanism according to claim 4, characterized in that: The lower surface of the clamping head (24) is provided with a reinforcing slot (27), and the upper surface of the fixed base plate (23) is provided with a reinforcing post (26), and the reinforcing post (26) is inserted into the reinforcing slot (27).

6. The combined gripper mechanism of claim 2, wherein: A positioning plate (16) is provided on the lower surface of the other end of the movable arm (14). Limiting plates (17) are provided on both sides of the positioning plate (16). A positioning seat (9) is provided on the outside of the positioning plate (16), and the positioning seat (9) is welded and fixed to the base (1). A T-shaped groove (29) is provided on one end surface of the positioning seat (9), and the positioning plate (16) and the limiting plate (17) slide along the T-shaped groove (29).

7. The combined gripper mechanism of claim 1, wherein: A stabilizing plate (12) is provided on the lower surface of one end of the strip frame (3). A support base (10) is provided at the lower end of the stabilizing plate (12), and the support base (10) is welded and fixed to the base (1). A plate groove (13) is provided on the upper surface of the support base (10), and the stabilizing plate (12) moves along the plate groove (13).

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