A gripping mechanism for an automated robot

Abstract

The utility model relates to automatic robot technical field discloses a kind of grabbing mechanism for automatic robot, including the connecting seat for supporting robot mechanical arm, the top end of connecting seat is fixedly connected with the mechanical arm assembly for adjusting steering, and the end of mechanical arm assembly away from connecting seat is provided with the grabbing structure for grabbing, and grabbing structure is through the synergic action of connecting component, power component, grabbing component and positioning component, with remarkable advantage.Connecting component provides stable support, and power component realizes directional power output and accurate guidance by the aid of cylinder, telescopic column etc.Grabbing component realizes flexible opening and closing with multiple sets of symmetrical grabbing clamps and hinged structure, improves clamping stability.Symmetrical positioning clamps of positioning component pre-constrain the position of grabbed object, and the four linkage enhances grabbing accuracy, stability and adaptability to different scenarios, reduces grabbing deviation and failure.

Description

Technical Field

[0001] This utility model relates to the field of automated robot technology, specifically to a gripping mechanism for automated robots. Background Technology

[0002] A robotic gripping structure refers to the mechanical structure in a robotic system used for grasping, holding, transporting, or manipulating objects. It typically consists of a robotic arm, grippers, fixtures, sensors, and actuators. The design and implementation of a robotic gripping structure must consider factors such as gripping force, stability, accuracy, and adaptability to achieve reliable grasping and manipulation of objects of different shapes, sizes, and textures. Grippers are a common form of robotic gripping structure, which can grasp objects by opening and closing or clamping.

[0003] For example, CN221291346U discloses a gripping mechanism for automated robots. Addressing the problem that most existing robot gripping mechanisms use fixed force or pressure to grasp objects and lack protective devices, leading to errors and instability during the gripping process and the risk of objects falling unexpectedly, the following solution is proposed: It includes a machine housing, a motor fixedly mounted on the top inner wall of the housing, a lead screw fixedly mounted on the output shaft of the motor, a circular plate threaded onto the outer side of the lead screw, and multiple U-shaped plates slidably mounted on the outer side of the machine housing. This utility model has a reasonable structural design. Through the cooperation of the circular plate, inclined plate, and inclined hole, multiple U-shaped plates move towards each other, causing multiple clamping plates to approach the object, achieving a gripping function. Furthermore, by driving the hook plate upward and using the suction of multiple suction cups, the object is prevented from slipping, resulting in high reliability.

[0004] However, existing gripping mechanisms often suffer from insufficient positioning accuracy, making it difficult to precisely constrain the object before gripping, which can easily lead to object displacement and affect gripping accuracy. Furthermore, some mechanisms exhibit poor power transmission stability, insufficient flexibility in the opening and closing of the gripping jaws, and weak adaptability to objects of different shapes and sizes, easily resulting in unstable gripping or gripping failure. This makes it difficult to meet the demands of efficient and precise automated operations. Therefore, those skilled in the art provide a gripping mechanism for automated robots to address the problems mentioned in the background art. Utility Model Content

[0005] The purpose of this invention is to provide a gripping mechanism for automated robots, which solves the problem in the prior art that it is difficult to accurately constrain the object before gripping, which easily leads to the position of the gripped object being deviated and affects the gripping accuracy.

[0006] This utility model provides the following technical solution: a gripping mechanism for an automated robot, comprising a connecting base for supporting a robot arm, wherein a robot arm assembly for adjusting steering is fixedly connected to the top of the connecting base, characterized in that: a gripping structure for gripping is provided at the end of the robot arm assembly away from the connecting base, the gripping structure comprising a connecting component, a power component, a gripping component, and a positioning component, the connecting component being disposed at the end of the robot arm assembly away from the connecting base, the inner cavity of the connecting component being provided with a power component for providing directional power, the end of the power component away from the connecting component being provided with a gripping component for gripping an object, and a positioning component for positioning before gripping being disposed at the center of the gripping component, the positioning component comprising a second connecting post, the second connecting post being disposed on one side of the robot arm assembly, a plurality of groups of the second connecting posts being symmetrically arranged around the circumference, a positioning ring being fixedly connected between the plurality of groups of symmetrically arranged second connecting posts, and a plurality of groups of symmetrically arranged positioning grippers being fixedly connected to the outer surface of the positioning ring.

[0007] As a preferred embodiment of the above technical solution, the connecting component includes a fixing plate, which is fixedly connected to the end of the robotic arm assembly away from the connecting base.

[0008] As a preferred embodiment of the above technical solution, the power assembly includes a cylinder, which is fixedly connected to the end of the fixed plate away from the robotic arm assembly. A connecting plate is fixedly connected to the outer surface of the cylinder away from the fixed plate, and the connecting plate and the fixed plate are fixedly connected. A movable ring post is fixedly connected to the end of the connecting plate away from the fixed plate, and a guide ratchet ring is fixedly connected to the inner surface of the movable ring post near the connecting plate.

[0009] As a preferred embodiment of the above technical solution, the end of the cylinder away from the fixed plate is fixedly connected to a telescopic column via a shaft, and the telescopic column is slidably connected to the inner cavity of the movable ring column. A guide shaft is fixedly connected to the outer surface of the telescopic column, and an active ratchet ring is fixedly connected to the outer surface of the end of the telescopic column away from the cylinder. The active ratchet ring is located on the side of the guide shaft away from the guide ratchet ring.

[0010] As a preferred embodiment of the above technical solution, a fixed column is fixedly connected to the end of the telescopic column away from the cylinder, and a directional column is fixedly connected to the end of the fixed column away from the telescopic column. A gripping guide frame is slidably connected to the outer surface of the end of the fixed column away from the telescopic column through the column body. A directional groove is provided at the center of the inner cavity of the gripping guide frame, and the gripping guide frame is fixedly connected to the center of one side of the positioning ring.

[0011] As a preferred embodiment of the above technical solution, the gripping component includes a first connecting post, one end of the first connecting post near the robotic arm component is hinged to a movable ring post, and an L-shaped connecting rod is hinged to the end of the first connecting post away from the movable ring post. A gripping claw is fixedly connected to the end of the L-shaped connecting rod away from the first connecting post, and several sets of gripping claws are symmetrically arranged around the circumference.

[0012] As a preferred embodiment of the above technical solution, the outer surfaces on both sides of the L-shaped connecting rod are rotatably connected by hinges via a shaft, and the L-shaped connecting rod is hinged to a second connecting post via the hinges.

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

[0014] This invention features a gripping structure, including a positioning component. Multiple sets of symmetrically arranged second connecting posts connect to a positioning ring, and symmetrical positioning grippers are fitted to the outer surface of the positioning ring. This allows for pre-positioning of the object to be gripped before the gripping action is performed. This symmetrical structural design provides circumferential constraint on the object from multiple directions, precisely limiting it to the optimal operating range of the gripping component. This effectively avoids gripping deviations or failures caused by object position shifts, laying the foundation for smooth subsequent gripping actions and significantly improving the accuracy and reliability of pre-grip positioning.

[0015] Based on the aforementioned beneficial effects, this utility model incorporates a gripping structure, which further includes a gripping component. The gripping component employs a hinged structure connecting a first connecting post, a movable ring post, and an L-shaped connecting rod, along with symmetrically arranged gripping claws, enabling flexible opening and closing movements. Multiple sets of symmetrical gripping claws can simultaneously grasp objects from different directions, increasing the contact area with the object, improving gripping stability, and adapting to objects of various shapes and sizes. Simultaneously, the L-shaped connecting rod is hinged to the second connecting post of the positioning component, linking the gripping and positioning actions to ensure coordination and accuracy during the gripping process, enhancing the mechanism's adaptability to different gripping scenarios. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the overall structure of a gripping mechanism for automated robots;

[0017] Figure 2 This is a schematic diagram of the robotic arm connection for a gripping mechanism used in automated robots.

[0018] Figure 3 This is a schematic diagram of the gripping structure cylinder connection for a gripping mechanism used in an automated robot.

[0019] Figure 4 This is a schematic diagram of the first connecting column connection of a gripping structure for a gripping mechanism used in an automated robot.

[0020] Figure 5 This is a schematic diagram of the gripping structure and positioning gripper connection of a gripping mechanism for an automated robot.

[0021] In the diagram: 1. Connecting base; 2. Robotic arm assembly; 3. Gripping structure; 31. Fixing plate; 32. Cylinder; 33. Connecting plate; 34. Movable ring column; 35. Telescopic column; 36. Guide shaft; 37. Guide ratchet ring; 38. Active ratchet ring; 39. Fixing column; 310. Orientation column; 311. Gripping guide frame; 312. Orientation groove; 313. First connecting column; 314. L-shaped connecting rod; 315. Gripping gripper; 316. Hinge; 317. Second connecting column; 318. Positioning ring; 319. Positioning gripper. Detailed Implementation

[0022] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention.

[0023] Please see Figures 1-4 As shown, this utility model provides a technical solution: a gripping mechanism for an automated robot, including a connecting base 1 for supporting a robot arm, and a robotic arm assembly 2 for adjusting steering fixedly connected to the top of the connecting base 1. The feature is that a gripping structure 3 for gripping is provided at the end of the robotic arm assembly 2 away from the connecting base 1. The gripping structure 3 includes a connecting component, a power component, a gripping component, and a positioning component. The connecting component is located at the end of the robotic arm assembly 2 away from the connecting base 1. A power component for providing directional power is provided within the cavity of the connecting component. A gripping component for gripping an object is provided at the end of the power component away from the connecting component. A positioning component for positioning before gripping is provided at the center of the gripping component. The positioning component includes a second connecting post 317, which is located on one side of the robotic arm assembly 2. Several groups of second connecting posts 317 are symmetrically arranged around their circumference. A positioning ring 318 is fixedly connected between the several groups of symmetrically arranged second connecting posts 317. Several groups of symmetrically arranged positioning grippers 319 are fixedly connected to the outer surface of the positioning ring 318.

[0024] By combining the connecting base 1, the robotic arm assembly 2, and the gripping structure 3, which includes a connecting assembly, a power assembly, a gripping assembly, and a positioning assembly, the precision and efficiency of the gripping process are achieved. The connecting assembly provides stable support for the overall gripping structure 3, ensuring reliable connection of each component; the power assembly provides directional power, providing stable driving force for the gripping action; the gripping assembly, through multiple sets of symmetrically arranged gripping claws 315, can stably grip objects from multiple directions, adapting to objects of different shapes and sizes; and the circumferentially symmetrical positioning claws 319 in the positioning assembly can pre-position the object before gripping, constraining it within the optimal gripping range, effectively avoiding gripping failure due to object position deviation. The four components work together to improve the stability and precision of gripping, enhance the adaptability of the mechanism to different gripping scenarios, and solve the problems of inaccurate gripping positioning and insufficient stability in existing technologies.

[0025] As one implementation method in this embodiment, please refer to Figures 1-2 As shown, the connecting assembly includes a fixing plate 31, which is fixedly connected to the end of the robotic arm assembly 2 away from the connecting base 1.

[0026] The fixed plate 31 serves as a connecting bridge, tightly connecting the robotic arm assembly 2 with the subsequent power assembly, gripping assembly, etc., ensuring that the gripping mechanism will not shake or shift due to loose connections during operation, thereby improving the overall structural stability and operational reliability of the gripping mechanism and ensuring that the gripping action can be performed accurately and effectively.

[0027] As one implementation method in this embodiment, please refer to Figures 1-3 As shown, the power assembly includes a cylinder 32, which is fixedly connected to the end of the fixed plate 31 away from the robotic arm assembly 2. A connecting plate 33 is fixedly connected to the outer surface of the side of the cylinder 32 away from the fixed plate 31, and the connecting plate 33 and the fixed plate 31 are fixedly connected. A movable ring post 34 is fixedly connected to the end of the connecting plate 33 away from the fixed plate 31, and a guide ratchet ring 37 is fixedly connected to the inner surface of the movable ring post 34 near the end of the connecting plate 33.

[0028] The cylinder 32 is fixedly connected to the fixed plate 31 via a connecting plate 33. This double-fixing method further enhances the stability of the cylinder 32 installation and prevents the cylinder 32 from shifting position due to vibration or other factors during operation. The end of the connecting plate 33 away from the fixed plate 31 is fixedly connected to the movable ring column 34. The guide ratchet ring 37 on the inner surface of the movable ring column 34 provides guidance and limitation for the subsequent movement of the telescopic column 35, effectively constraining the movement trajectory of the telescopic column 35, preventing it from deviating during sliding, and ensuring the stability and accuracy of power transmission.

[0029] As one implementation method in this embodiment, please refer to Figure 3As shown, the end of the cylinder 32 away from the fixed plate 31 is fixedly connected to a telescopic column 35 via a shaft, and the telescopic column 35 is slidably connected to the inner cavity of the movable ring column 34. The outer surface of the telescopic column 35 is fixedly connected to a guide shaft 36, and the outer surface of the end of the telescopic column 35 away from the cylinder 32 is fixedly connected to an active ratchet ring 38, and the active ratchet ring 38 is located on the side of the guide shaft 36 away from the guide ratchet ring 37.

[0030] The guide shaft 36 on the outer surface of the telescopic column 35 cooperates with the guide ratchet ring 37 inside the movable ring column 34, further improving the guiding accuracy of the sliding of the telescopic column 35 and reducing friction and jamming during movement. The active ratchet ring 38 is located on the side of the guide shaft 36 away from the guide ratchet ring 37, and can cooperate with other structures to effectively control the movement state of the telescopic column 35, such as positioning at a specific location or preventing reverse movement, thus enhancing the controllability of the power component operation.

[0031] As one implementation method in this embodiment, please refer to Figures 3-4 As shown, a fixed column 39 is fixedly connected to the end of the telescopic column 35 away from the cylinder 32, and a directional column 310 is fixedly connected to the end of the fixed column 39 away from the telescopic column 35. A gripping guide frame 311 is slidably connected to the outer surface of the end of the fixed column 39 away from the telescopic column 35 through the column body. A directional groove 312 is opened at the center of the inner cavity of the gripping guide frame 311, and the gripping guide frame 311 is fixedly connected to the center of one side of the positioning ring 318.

[0032] The gripping guide frame 311 and the directional groove 312 in its inner cavity, which are slidably connected to the outer surface of the fixed column 39, can accurately guide the movement direction of the gripping component, ensuring that the gripping claw 315 maintains the predetermined trajectory during movement, avoiding the impact of movement deviation on the gripping effect, and improving the gripping accuracy.

[0033] As one implementation method in this embodiment, please refer to Figures 3-4 As shown, the gripping assembly includes a first connecting post 313. The end of the first connecting post 313 near the robotic arm assembly 2 is hinged to a movable ring post 34. An L-shaped connecting rod 314 is hinged to the end of the first connecting post 313 away from the movable ring post 34. A gripping claw 315 is fixedly connected to the end of the L-shaped connecting rod 314 away from the first connecting post 313. Several sets of gripping claws 315 are symmetrically arranged around the circumference.

[0034] The first connecting post 313 is hinged to the movable ring post 34 at one end, and to the L-shaped connecting rod 314 at the other end. The end of the L-shaped connecting rod 314 is connected to the gripping claws 315, which are arranged symmetrically around the circumference. This multi-hinged structural design allows the gripping claws 315 to achieve flexible opening and closing movements. The multiple sets of symmetrically arranged gripping claws 315 can clamp the object from multiple directions, increasing the contact area with the object, improving the stability of gripping, and adapting to objects of different shapes and sizes.

[0035] As one implementation method in this embodiment, please refer to Figures 3-4 As shown, the outer surfaces of both sides of the L-shaped connecting rod 314 are rotatably connected to the hinge 316 via the shaft, and the L-shaped connecting rod 314 is hinged to the second connecting post 317 via the hinge 316.

[0036] Before the gripping action is performed, the positioning gripper 319 can preliminarily position and constrain the object to be gripped, ensuring that the object is within the optimal gripping range of the gripping component, avoiding gripping failure due to object position deviation, and improving the success rate and efficiency of gripping. At the same time, the L-shaped link 314 is hinged to the second connecting post 317 through the hinge 316, so that the positioning component and the gripping component form a linkage relationship, ensuring the coordination of positioning and gripping actions.

[0037] Working Principle: When the gripping mechanism of the automated robot begins operation, the overall position and direction are first adjusted by the robotic arm assembly 2, moving the gripping structure 3 to the vicinity of the object to be gripped. At this time, the positioning component takes effect first, preparing for the subsequent gripping action under the drive of the robotic arm assembly 2. Next, the power assembly is activated, and the cylinder 32 begins to work. The cylinder 32 drives the telescopic column 35 to slide and extend within the cavity of the movable ring column 34. During the sliding process of the telescopic column 35, the guide shaft 36 on its outer surface slides along the guide ratchet ring 37 on the inner surface of the movable ring column 34. The guide ratchet ring 37 provides precise motion trajectory guidance for the guide shaft 36, ensuring that the telescopic column 35 does not deviate from the predetermined direction. At the same time, the active ratchet ring 38 on the telescopic column 35 cooperates with related structures to ensure the stability and controllability of the telescopic column 35 during movement, preventing unexpected reverse movement or over-extension. As the telescopic column 35 extends and retracts, the fixed column 39 and the directional column 310 at its end also move accordingly. The fixed column 39 drives the gripping guide frame 311 to slide along the column body. The directional groove 312 in the inner cavity of the gripping guide frame 311 further constrains the direction of movement, ensuring the accuracy of the entire power transmission process. Power is transmitted to the gripping assembly through the telescopic column 35. Since one end of the first connecting column 313 is hinged to the movable ring column 34 and the other end is hinged to the L-shaped connecting rod 314, and the L-shaped connecting rod 314 is hinged to the second connecting column 317 through the hinge 316, when the telescopic column 35 pushes or pulls the gripping guide frame 311 and other related structures, the gripping guide frame 311 pushes the positioning ring 318, which is away from the telescopic column 35, to extend and retract. When the positioning ring 318 extends and retracts, the positioning ring 318 drives the L-shaped connecting rod 314 to rotate along the axis through the second connecting column 317 and the hinge 316 on its outer surface. At the same time, the first connecting column 313 rotates. When the telescopic column 35 retracts, the L-shaped connecting rod 314 drives the gripping jaws 315 to move towards the center, thus clamping the positioned object. When the telescopic column 35 extends, the L-shaped connecting rod 314 drives the gripping jaws 315 to open outward, releasing the object. Throughout the gripping process, the positioning component continuously assists in positioning the object, ensuring that the gripping jaws 315 can accurately hold the object, improving the stability and success rate of the gripping process.

[0038] The above embodiments are only used to illustrate the technical solution of this utility model, and are not intended to limit it.

Claims

1. A gripping mechanism for an automated robot, comprising a connecting base (1) for supporting a robotic arm, wherein a robotic arm assembly (2) for adjusting steering is fixedly connected to the top end of the connecting base (1), characterized in that: The robotic arm assembly (2) has a gripping structure (3) for gripping at one end away from the connecting base (1). The gripping structure (3) includes a connecting component, a power component, a gripping component, and a positioning component. The connecting component is located at one end of the robotic arm assembly (2) away from the connecting base (1). The inner cavity of the connecting component is provided with a power component for providing directional power. The end of the power component away from the connecting component is provided with a gripping component for gripping the object. The center of the gripping component is provided with a positioning component for positioning before gripping. The positioning component includes a second connecting post (317). The second connecting post (317) is located on one side of the robotic arm assembly (2). Several groups of the second connecting post (317) are symmetrically arranged around the circumference. A positioning ring (318) is fixedly connected between the several groups of symmetrically arranged second connecting posts (317). Several groups of symmetrically arranged positioning grippers (319) are fixedly connected to the outer surface of the positioning ring (318).

2. The grasping mechanism for an automated robot according to claim 1, characterized in that: The connecting assembly includes a fixing plate (31), which is fixedly connected to the end of the robotic arm assembly (2) away from the connecting seat (1).

3. The grasping mechanism for an automated robot according to claim 2, characterized in that: The power assembly includes a cylinder (32), which is fixedly connected to the end of the fixed plate (31) away from the robotic arm assembly (2). A connecting plate (33) is fixedly connected to the outer surface of the cylinder (32) away from the fixed plate (31), and the connecting plate (33) and the fixed plate (31) are fixedly connected. A movable ring column (34) is fixedly connected to the end of the connecting plate (33) away from the fixed plate (31), and a guide ratchet ring (37) is fixedly connected to the inner surface of the movable ring column (34) near the end of the connecting plate (33).

4. A gripping mechanism for an automated robot according to claim 3, characterized in that: The cylinder (32) is fixedly connected to a telescopic column (35) at one end away from the fixed plate (31) via a shaft. The telescopic column (35) is slidably connected to the inner cavity of the movable ring column (34). A guide shaft (36) is fixedly connected to the outer surface of the telescopic column (35). An active ratchet ring (38) is fixedly connected to the outer surface of the telescopic column (35) away from the cylinder (32). The active ratchet ring (38) is located on the side of the guide shaft (36) away from the guide ratchet ring (37).

5. A gripping mechanism for an automated robot according to claim 4, characterized in that: The end of the telescopic column (35) away from the cylinder (32) is fixedly connected to a fixed column (39), and the end of the fixed column (39) away from the telescopic column (35) is fixedly connected to a directional column (310). The outer surface of the end of the fixed column (39) away from the telescopic column (35) is slidably connected to a gripping guide frame (311) through the column body. A directional groove (312) is provided at the center of the inner cavity of the gripping guide frame (311), and the gripping guide frame (311) is fixedly connected to the center of one side of the positioning ring (318).

6. A gripping mechanism for an automated robot according to claim 4, characterized in that: The gripping assembly includes a first connecting post (313), one end of the first connecting post (313) near the robotic arm assembly (2) is hinged to a movable ring post (34), and an L-shaped connecting rod (314) is hinged to the end of the first connecting post (313) away from the movable ring post (34). A gripping claw (315) is fixedly connected to the end of the L-shaped connecting rod (314) away from the first connecting post (313), and several groups of gripping claws (315) are symmetrically arranged around the circumference.

7. A gripping mechanism for an automated robot according to claim 6, characterized in that: The outer surfaces of both sides of the L-shaped connecting rod (314) are rotatably connected by hinges (316) via a shaft, and the L-shaped connecting rod (314) is hinged to the second connecting post (317) via the hinges (316).

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