An automated robotic arm gripping mechanism

Abstract

The utility model relates to mechanical arm technical field, specifically disclose a kind of automatic mechanical arm clamping mechanism, including the bearing bracket of being installed on mechanical arm ontology, the two sides of the bearing bracket are all provided with clamping part, and bearing bracket is provided with the power element for driving clamping part rotation;Each the clamping part is all hinged with extension plate. Automatic mechanical arm clamping mechanism, through the cooperation between bearing bracket, clamping part, power element and extension plate etc., in actual use process, power element drives two clamping parts to mutually approach and clamps workpiece, and each clamping part in the process of clamping, extension plate can be twice clamped and fixed to workpiece, at this moment, not only can improve the stability of workpiece clamping, but also can realize to the clamping of multiple types of workpiece, greatly improve the clamping efficiency of the clamping mechanism, it is suitable for widely used, satisfy work needs.

Description

Technical Field

[0001] This utility model relates to the field of robotic arm technology, specifically to an automated robotic arm gripping mechanism. Background Technology

[0002] Due to their unique operational flexibility, robotic arms have been widely used in industrial assembly, safety and explosion protection, and other fields. However, a robotic arm is a complex system with uncertainties such as parameter perturbations, external interference, and unmodeled dynamics. Therefore, the modeling of robotic arms also has uncertainties. For different tasks, it is necessary to plan the motion trajectory of the robotic arm joint space, so as to cascade and form the end-effector pose.

[0003] The gripping mechanism is an important structure in existing automated robotic arms. When traditional robotic arms are working, the gripping mechanism is usually moved above the object to be gripped by the power mechanism first, and then gripped by the gripping mechanism. The whole structure is relatively complex and the operation process is relatively troublesome.

[0004] To address the aforementioned technical problems, relevant patents have been proposed in the prior art, such as the patent with authorization announcement number CN210452797U entitled "A Clamping Mechanism for an Automated Robotic Arm." This patent discloses a clamping mechanism for an automated robotic arm, including a fixed plate. A mounting box is fixedly connected to the lower surface of the fixed plate via a connecting mechanism. A motor is fixedly mounted on the top of the mounting box. The output shaft of the motor extends into the interior of the mounting box and is fixedly connected to a first connecting rod. A first bevel gear is fixedly connected to the end of the first connecting rod away from the motor output shaft. Threaded rotating rods are rotatably connected to the left and right inner walls of the mounting box via bearings. A second bevel gear is fixedly connected to the end of the threaded rotating rod away from the bearing. A movable sleeve block is threaded onto the outer surface of the threaded rotating rod. A trapezoidal block is fixedly connected to the upper surface of the movable sleeve block.

[0005] In the aforementioned patent, the entire clamping mechanism can achieve simultaneous clamping and lowering without the need for other power mechanisms, resulting in a relatively simple overall structure. While existing technologies, including the aforementioned patent, can meet the clamping requirements of clamping mechanisms to a certain extent, the clamping part in these technologies employs a planar design. This limits the types of workpieces that can be clamped, potentially affecting the stability of workpiece clamping and thus restricting the applicability of the clamping mechanism. Utility Model Content

[0006] The purpose of this invention is to provide an automated robotic arm gripping mechanism to solve the problems mentioned in the background art.

[0007] To achieve the above objectives, the present invention provides the following technical solution: an automated robotic arm clamping mechanism, comprising a support frame mounted on the robotic arm body, clamping portions being provided on both sides of the support frame, and a power component for driving the clamping portions to rotate being provided on the support frame; an extension plate is hinged to each clamping portion.

[0008] Furthermore, the extension plate is provided with an extension clamping member.

[0009] Furthermore, the extended clamping member includes a clamping plate slidably connected to the extension plate, and the clamping plate is slidably connected to the extension plate through a positioning member.

[0010] Furthermore, the positioning element includes a slider fixedly connected to the clamping plate, and a clamping spring is provided between the two corresponding sliders. The elastic force of the clamping spring drives the two clamping plates to move closer to each other; a trigger part is also provided on the extension plate.

[0011] Furthermore, each of the clamping plates is provided with clamping teeth.

[0012] Furthermore, the triggering part includes a slide rod slidably connected to the extension plate, a contact block is fixedly connected to the slide rod, and an abutment groove is provided on the clamping plate, through which the contact block abuts against the clamping plate.

[0013] Furthermore, the clamping part includes a clamping arm, which is rotatably connected to the support frame via a hinge frame, and a guide part is also provided between the support frame and the clamping arm.

[0014] Furthermore, the guide portion includes a guide frame, which is rotatably connected to the clamping arm, and the guide frame is rotatably connected to the support frame via a positioning shaft.

[0015] Furthermore, the power component includes a worm gear rotatably connected to the support frame, the hinge frame being rotatably connected to the support frame via a connecting shaft, and a worm wheel being mounted on the connecting shaft, the worm wheel meshing with the worm gear; the support frame is provided with a drive unit for driving the worm gear to rotate.

[0016] Furthermore, the drive unit includes a servo motor, which is coaxially connected to the worm gear.

[0017] Compared with the prior art, the beneficial effects of this utility model are as follows: This automated robotic arm clamping mechanism, through the cooperation between the support frame, clamping parts, power components, and extension plates, allows the power components to drive the two clamping parts to move closer to each other to clamp the workpiece during actual use. Furthermore, during the clamping process, each clamping part can extend the plate to perform secondary clamping and fixing of the workpiece. This not only improves the stability of workpiece clamping but also enables the clamping of various types of workpieces, greatly improving the clamping efficiency of the clamping mechanism. It is suitable for widespread application and meets work needs. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in this utility model. For those skilled in the art, other drawings can be obtained based on these drawings.

[0019] Figure 1 A schematic diagram of the overall structure provided for an embodiment of this utility model;

[0020] Figure 2 This is a schematic diagram of the power component installation structure provided in an embodiment of the present utility model;

[0021] Figure 3 This is a schematic diagram of the hidden state structure of the support frame provided in an embodiment of the present utility model;

[0022] Figure 4 This is a partial structural diagram of the power component provided in an embodiment of the present utility model;

[0023] Figure 5 Exploded view of the extension clamping member and extension plate provided in the embodiment of this utility model;

[0024] Figure 6 This is a schematic diagram of the installation method of the trigger part provided in an embodiment of the present utility model.

[0025] Explanation of reference numerals in the attached drawings: 1. Robotic arm body; 2. Support frame; 3. Clamping part; 31. Clamping arm; 32. Hinge frame; 33. Guide frame; 34. Positioning shaft; 4. Power component; 41. Motor; 42. Worm gear; 43. Worm wheel; 5. Extension plate; 6. Extension clamping part; 61. Clamping plate; 62. Slider; 63. Clamping spring; 7. Triggering part; 71. Contact block; 72. Slide rod. Detailed Implementation

[0026] 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.

[0027] Please see Figures 1-6This utility model provides a technical solution: an automated robotic arm clamping mechanism, including a support frame 2 installed on the robotic arm body 1, clamping parts 3 are provided on both sides of the support frame 2, and a power component 4 for driving the clamping parts 3 to rotate is provided on the support frame 2; an extension plate 5 is hinged to each clamping part 3.

[0028] Specifically, the automated robotic arm clamping mechanism includes a support frame 2 mounted on the robotic arm body 1. Since this robotic arm is existing technology, its structure and working principle will not be detailed here. Clamping parts 3 are provided on both sides of the support frame 2, and a power component 4 is provided on the support frame 2 to drive the clamping parts 3 to rotate. The power component 4 drives the clamping parts 3 to clamp the workpiece. More specifically, each clamping part 3 is hinged with an extension plate 5. Furthermore, a torque spring is provided between the extension plate 5 and the clamping part 3. The spring force of the torque spring drives the two extension plates 5 to further clamp the workpiece. During use, the power component 4 drives the two clamping parts 3 to move closer together to clamp the workpiece. During clamping, each clamping part 3 can extend the plate 5 to perform secondary clamping and fixation of the workpiece. This not only improves the stability of workpiece clamping but also enables the clamping of various types of workpieces, greatly improving the clamping efficiency of the mechanism. It is suitable for widespread application and meets work needs.

[0029] In the embodiments provided by this utility model, an extension clamping member 6 is provided on the extension plate 5. By providing the extension clamping member 6, the clamping requirements of the extension plate 5 can be further improved, and the stability of the workpiece when it is clamped can be further improved.

[0030] In the embodiments provided by this utility model, the extended clamping member 6 includes clamping plates 61 slidably connected to the extension plate 5. The clamping plates 61 are slidably connected to the extension plate 5 through positioning members. The positioning members include sliders 62 fixedly connected to the clamping plates 61, and clamping springs 63 are provided between the two corresponding sliders 62. The elastic force of the clamping springs 63 drives the two clamping plates 61 to move closer to each other. Therefore, without external force, the clamping plates 61 will move closer to each other under the action of the clamping springs 63, thereby reducing the overall volume of the clamping mechanism and improving the performance. The extension plate 5 is also provided with a trigger part 7. The trigger part 7 can drive the two clamping plates 61 to move away from each other, thereby widening the clamping area of ​​the clamping mechanism and further improving the stability of the workpiece clamping.

[0031] In the embodiments provided by this utility model, each clamping plate 61 is provided with clamping teeth, which can further improve the clamping force of the clamping plate 61 on the workpiece and meet the working requirements.

[0032] In the embodiment provided by this utility model, the triggering part 7 includes a slide rod 72 slidably connected to the extension plate 5. A contact block 71 is fixedly connected to the slide rod 72. The contact block 71 is slidably connected to the extension plate 5 through the slide rod 72, thereby further improving the stability of the contact block 71 when sliding. Furthermore, an abutment groove is provided on the clamping plate 61, and the contact block 71 abuts against the clamping plate 61 through the abutment groove. Specifically, when the contact block 71 abuts against the workpiece, it drives the slide rod 72 to slide. At this moment, the contact block 71 and the abutment groove cooperate to drive the clamping plate 61 away from each other, thereby widening the clamping area of ​​the clamping mechanism and improving the stability of the workpiece clamping.

[0033] In the embodiments provided by this utility model, the clamping part 3 includes a clamping arm 31. Specifically, the clamping arm 31 is also provided with anti-slip stripes, which can further improve the stability of the clamping part 3 when clamping the workpiece, resulting in better performance. The clamping arm 31 is rotatably connected to the support frame 2 via a hinge frame 32. A guide part is also provided between the support frame 2 and the clamping arm 31. The guide part includes a guide frame 33, which is rotatably connected to the clamping arm 31 and rotatably connected to the support frame 2 via a positioning shaft 34. Therefore, the clamping part 3 can perform the clamping operation on the workpiece, resulting in better performance.

[0034] In the embodiments provided by this utility model, the power component 4 includes a worm gear 42 rotatably connected to the support frame 2. The hinge frame 32 is rotatably connected to the support frame 2 via a connecting shaft, and a worm wheel 43 is mounted on the connecting shaft, meshing with the worm gear 42. The support frame 2 is provided with a drive unit for driving the worm gear 42 to rotate. The drive unit includes a servo motor 41, which is coaxially connected to the worm gear 42. Therefore, during use, when the servo motor 41 starts, it drives the worm gear 42 to rotate. When the worm gear 42 rotates, it drives the connecting shaft to rotate via the worm wheel 43, thereby driving the hinge frame 32 to rotate, so that the clamping part 3 can perform clamping operations on the workpiece to meet the work requirements.

[0035] It should be noted that all electrical equipment involved in this application can be powered by batteries or external power sources.

[0036] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installed," "equipped with," and "connected," etc., should be interpreted broadly. For example, "connected" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be a connection within two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0037] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. An automated robotic arm gripping mechanism, comprising a support frame (2) mounted on the robotic arm body (1), characterized in that: The support frame (2) is provided with clamping parts (3) on both sides, and the support frame (2) is provided with a power member (4) for driving the clamping parts (3) to rotate; each clamping part (3) is hinged with an extension plate (5); The extension plate (5) is provided with an extension clamping member (6); The extended clamping member (6) includes a clamping plate (61) that is slidably connected to the extension plate (5) in opposite directions. The clamping plate (61) is slidably connected to the extension plate (5) through a positioning member. The positioning element includes a slider (62) fixedly connected to the clamping plate (61), and a clamping spring (63) is provided between the two corresponding sliders (62). The elastic force of the clamping spring (63) drives the two clamping plates (61) to move closer to each other. The extension plate (5) is also provided with a trigger part (7).

2. The automated robotic arm gripping mechanism according to claim 1, characterized in that: Each of the clamping plates (61) is provided with clamping teeth.

3. The automated robotic arm gripping mechanism according to claim 1, characterized in that: The triggering part (7) includes a slide rod (72) slidably connected to the extension plate (5). A contact block (71) is fixedly connected to the slide rod (72), and an abutment groove is provided on the clamping plate (61). The contact block (71) abuts against the clamping plate (61) through the abutment groove.

4. The automated robotic arm gripping mechanism according to claim 1, characterized in that: The clamping part (3) includes a clamping arm (31), which is rotatably connected to the support frame (2) via a hinge frame (32). A guide part is also provided between the support frame (2) and the clamping arm (31).

5. The automated robotic arm gripping mechanism according to claim 4, characterized in that: The guide section includes a guide frame (33), which is rotatably connected to the clamping arm (31), and the guide frame (33) is rotatably connected to the support frame (2) via a positioning shaft (34).

6. The automated robotic arm gripping mechanism according to claim 4, characterized in that: The power component (4) includes a worm (42) rotatably connected to the support frame (2), the hinge frame (32) is rotatably connected to the support frame (2) through a connecting shaft, and a worm wheel (43) is installed on the connecting shaft, the worm wheel (43) meshing with the worm (42); the support frame (2) is provided with a drive unit for driving the worm (42) to rotate.

7. The automated robotic arm gripping mechanism according to claim 6, characterized in that: The drive unit includes a servo motor (41), which is coaxially connected with a worm gear (42).

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