A stable holding and gripping type of grabbing robot

Abstract

The utility model discloses a kind of stable clamping's keeping gripper manipulator, including shell, the inside of shell is provided with grabbing mechanism, the grabbing mechanism includes two fixedly connected in the limit rod of shell inner wall, the outer wall sliding connection of two limit rods has two slide plates, the lower end surface of two slide plates is all installed with multi-point vacuum chuck, the upper end surface of shell is installed with electric push rod, the output end of electric push rod extends to the inside of shell and is fixedly connected with door type frame, the outer wall fixedly connected with two first straight rack of reverse distribution of door type frame, the front and rear end surface of shell inside is all rotatably connected with pivot. The utility model uses the double fixed mode of mechanical clamping and intelligent vacuum suction, realizes large-stroke stable clamping by gear transmission optimization, and is equipped with self-adapting sealing and dustproof design, can firmly grab various shape materials, can also adapt to complex working conditions, significantly improve the reliability of grabbing and environmental adaptability.

Description

Technical Field

[0001] This utility model relates to the field of robotic arm technology, and specifically discloses a gripping robotic arm that can maintain stable clamping. Background Technology

[0002] A robotic arm is an automated device that mimics certain movements of a human hand and arm to grasp, move objects, or manipulate tools according to a fixed program. Robotic grippers typically use pneumatic, hydraulic, electric, or electromagnetic actuators to open and close their fingers.

[0003] Existing robotic arms generally use a single fixing method of clamping or vacuum adsorption, which is difficult to adapt to curved surfaces or fragile materials. Furthermore, traditional vacuum suction cups lack an adaptive sealing mechanism and are prone to air leakage and failure when adsorbing porous or uneven surfaces. At the same time, the limited stroke of the transmission mechanism and insufficient dustproof performance restrict their stability and durability under complex working conditions. Therefore, a gripping robotic arm that can maintain stable clamping is needed to solve this problem. Utility Model Content

[0004] This invention proposes a gripping robot that can maintain stable clamping. It adopts a dual fixing method of mechanical clamping and intelligent vacuum adsorption, and achieves stable clamping over a long stroke through gear transmission optimization. It is also equipped with an adaptive sealing and dustproof design, which can firmly grasp materials of various shapes and adapt to complex working conditions, significantly improving gripping reliability and environmental adaptability.

[0005] This invention is implemented as follows: a gripping robot capable of stable clamping includes a housing. A gripping mechanism is disposed inside the housing. The gripping mechanism includes two limiting rods fixedly connected to the inner wall of the housing. Two symmetrically distributed sliding plates are slidably connected to the outer walls of the two limiting rods. Multiple vacuum suction cups are installed on the lower end faces of the two sliding plates. An electric push rod is installed on the upper end face of the housing. The output end of the electric push rod extends into the housing and is fixedly connected to a gantry frame. Two opposing first straight racks are fixedly connected to the outer wall of the gantry frame. Rotary shafts are rotatably connected to the front and rear end faces inside the housing. First gears and second gears are fixedly connected to the outer walls of the two rotating shafts. The two first gears mesh with the two first straight racks respectively. Second straight racks are fixedly connected to the upper end faces of the two sliding plates respectively, and the two second straight racks mesh with the two second gears respectively.

[0006] As a preferred embodiment of the present invention, the multi-point vacuum suction cup includes a plate body, an air cavity is provided inside the plate body, and a plurality of suction holes communicating with the air cavity are provided on the outer wall of the plate body. An aluminum cap is provided inside each of the plurality of suction holes, and a spring is fixedly connected to the inner wall of the aluminum cap. The other end of the spring is fixedly connected to the inner wall of the plate body.

[0007] As a preferred embodiment of this utility model of a gripping robot capable of maintaining stable clamping, the open end of the aluminum cap is provided with a sealing ring.

[0008] As a preferred embodiment of the gripping robot of this utility model capable of maintaining stable clamping, the outer wall of the plate is embedded with a plurality of dustproof nets located outside the suction holes.

[0009] In a preferred embodiment of this utility model of a gripping robot capable of maintaining stable clamping, the diameter of the first gear is smaller than the diameter of the second gear.

[0010] As a preferred embodiment of this utility model of a gripping robot capable of maintaining stable clamping, the electric push rod is electrically connected to an external controller.

[0011] The beneficial effects of this utility model are:

[0012] 1. Employing a design that combines mechanical clamping with vacuum adsorption, the system utilizes an electric actuator to drive a rack and pinion mechanism, enabling simultaneous clamping of multiple vacuum suction cups. Combined with an adaptive aluminum cap-type suction port structure, it can firmly grip regular materials while adapting to irregular surfaces: when the suction port contacts the material, it automatically conducts negative pressure for adsorption; when not in contact, the spring-pre-tightened aluminum cap seals the surface, effectively preventing air leakage. This dual-fixation mechanism significantly improves gripping stability and solves the slippage problem inherent in traditional robotic arms that rely solely on clamping force.

[0013] 2. Through the transmission structure of the portal frame linkage double gear rack set, the optimized design of small diameter drive gear and large diameter driven gear is used to increase the clamping distance within a limited stroke, so as to achieve fast response and wide range of adaptability. Attached Figure Description

[0014] To more clearly illustrate the specific embodiments of this utility model or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. In all the drawings, similar elements or parts are generally identified by similar reference numerals. In the drawings, the elements or parts are not necessarily drawn to scale.

[0015] Figure 1 This is an overall structural diagram of a gripping robot that can maintain stable clamping according to the present invention.

[0016] Figure 2 This is a front sectional view of a gripping robot that can maintain stable clamping according to the present invention.

[0017] Figure 3 This is an internal structural diagram of a gripping robot that can maintain stable clamping according to the present invention.

[0018] Figure 4This utility model Figure 2 Enlarged view of point A in the middle.

[0019] The markings in the diagram are: 1. Housing; 2. Limiting rod; 3. Slide plate; 4. Multi-point vacuum suction cup; 401. Plate body; 402. Air chamber; 403. Suction hole; 404. Aluminum cap; 405. Sealing ring; 406. Spring; 407. Dustproof net; 5. Electric actuator; 6. Gantry frame; 7. First spur rack; 8. Rotating shaft; 9. First gear; 10. Second gear; 11. Second spur rack. Detailed Implementation

[0020] The present invention will be further described below with reference to the accompanying drawings and specific embodiments to aid in understanding its content. Unless otherwise specified, the methods used in this invention are conventional methods; the raw materials and apparatus used, unless otherwise specified, are conventional commercially available products.

[0021] Please see Figure 1-4 A gripping robot capable of maintaining stable clamping includes a housing 1. A gripping mechanism is disposed inside the housing 1. The gripping mechanism includes two limiting rods 2 fixedly connected to the inner wall of the housing 1. Two symmetrically distributed sliding plates 3 are slidably connected to the outer walls of the two limiting rods 2. Multi-point vacuum suction cups 4 are installed on the lower end faces of both sliding plates 3. An electric push rod 5 is installed on the upper end face of the housing 1. The output end of the electric push rod 5 extends into the interior of the housing 1 and is fixedly connected to a gantry frame 6. Two opposing first straight racks 7 are fixedly connected to the outer wall of the gantry frame 6. Rotary shafts 8 are rotatably connected to the front and rear end faces inside the housing 1. First gears 9 and second gears 10 are fixedly connected to the outer walls of both rotating shafts 8. The two first gears 9 are respectively meshed with the two first straight racks 7. Second straight racks 11 are fixedly connected to the upper end faces of both sliding plates 3. The two second straight racks 11 are respectively meshed with the two second gears 10.

[0022] In this embodiment: the electric push rod 5 is activated, which drives the gantry frame 6 to move downward, thereby driving the two first straight racks 7 to move downward synchronously. The two first straight racks 7 further drive the two rotating shafts 8 to rotate synchronously in opposite directions through the first gear 9, thereby driving the two second gears 10 to rotate synchronously in opposite directions. The two second gears 10 further drive the two sliding plates 3 to slide synchronously relative to each other along the limiting rod 2 through the second straight rack 11, thereby driving the two multi-point vacuum suction cups 4 to move synchronously relative to each other, clamping and fixing the material. At the same time, the air pump is used to evacuate the multi-point vacuum suction cups 4, further adsorbing the material onto the multi-point vacuum suction cups 4, making the fixation more secure, and solving the problem that the previous gripping robot relied solely on clamping force to fix the material, which was not stable enough.

[0023] As a technical optimization of this utility model, the multi-point vacuum suction cup 4 includes a plate 401, an air cavity 402 is provided inside the plate 401, and a plurality of suction holes 403 communicating with the air cavity 402 are provided on the outer wall of the plate 401. An aluminum cap 404 is provided inside the plurality of suction holes 403, and a spring 406 is fixedly connected to the inner wall of the aluminum cap 404. The other end of the spring 406 is fixedly connected to the inner wall of the plate 401.

[0024] In this embodiment: when a suction hole 403 is not covered with material, the suction force acts on the aluminum cap 404, which seals the suction hole 403 to prevent air leakage. When the suction hole 403 is covered with material, after the material comes into contact with the suction hole 403, the air chamber 402 is evacuated, which reduces the pressure difference between the inside and outside of the aluminum cap 404. The spring 406 rebounds and drives the aluminum cap 404 to detach from the suction hole 403, so that the suction force acts directly on the material, thereby adsorbing and fixing the material. It can stably adsorb irregular materials without air leakage, and the effect is good.

[0025] As a technical optimization of this utility model, a sealing ring 405 is provided at the open end of the aluminum cap 404.

[0026] In this embodiment: by providing a sealing ring 405 at the open end of the aluminum cap 404, it is easy to maintain good sealing when the aluminum cap 404 is in contact with the suction hole 403.

[0027] As a technical optimization of this utility model, a plurality of dustproof nets 407 located outside the suction holes 403 are embedded in the outer wall of the plate 401.

[0028] In this embodiment: a dustproof net 407 is provided on the outside of the suction hole 403 to prevent dust from entering the multi-point vacuum suction cup 4.

[0029] As a technical optimization of this utility model, the diameter of the first gear 9 is smaller than the diameter of the second gear 10.

[0030] In this embodiment, by setting the diameter of the first gear 9 to be smaller than the diameter of the second gear 10, it is easier to increase the stroke of the slide plate 3.

[0031] As a technical optimization of this utility model, the electric actuator 5 is electrically connected to an external controller.

[0032] In this embodiment, the electric actuator 5 can be easily controlled to operate normally via an external controller.

[0033] The working principle and usage process of this utility model are as follows: When in use, the electric push rod 5 is activated, which drives the gantry frame 6 to move downward, thereby driving the two first straight racks 7 to move downward synchronously. The two first straight racks 7 further drive the two rotating shafts 8 to rotate synchronously in opposite directions through the first gear 9, thereby driving the two second gears 10 to rotate synchronously in opposite directions. The two second gears 10 further drive the two sliding plates 3 to slide synchronously relative to each other along the limiting rod 2 through the second straight rack 11, thereby driving the two multi-point vacuum suction cups 4 to move synchronously relative to each other, clamping and fixing the material. At the same time, the air pump is used to evacuate the multi-point vacuum suction cups 4, further adsorbing the material onto the multi-point vacuum suction cups 4, making the fixation more secure, and solving the problem that the previous gripping robot arm was not stable enough in fixing the material by simply relying on the clamping force.

[0034] In the description of this utility model, it should be understood that the terms "left", "right", "up", "down", "top", "bottom", "front", "back", "inner", "outer", "back", "middle", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0035] However, the above description is only a specific embodiment of this utility model and should not be construed as limiting the scope of implementation of this utility model. Therefore, any substitution of equivalent components or equivalent changes and modifications made in accordance with the scope of protection of this utility model should still fall within the scope of the claims of this utility model.

Claims

1. A gripping robot capable of maintaining stable clamping, comprising a housing (1), characterized in that: The housing (1) is equipped with a gripping mechanism, which includes two limiting rods (2) fixedly connected to the inner wall of the housing (1). The outer walls of the two limiting rods (2) are slidably connected to two symmetrically distributed sliding plates (3). The lower end faces of the two sliding plates (3) are equipped with multi-point vacuum suction cups (4). The upper end face of the housing (1) is equipped with an electric push rod (5). The output end of the electric push rod (5) extends into the interior of the housing (1) and is fixedly connected to a gantry frame (6). The outer wall of the gantry frame (6) is fixedly connected to two first straight racks (7) distributed in opposite directions. The front and rear end faces of the housing (1) are rotatably connected to a rotating shaft (8). The outer walls of the two rotating shafts (8) are fixedly connected to a first gear (9) and a second gear (10). The two first gears (9) are respectively meshed with the two first straight racks (7). The upper end faces of the two sliding plates (3) are fixedly connected to a second straight rack (11). The two second straight racks (11) are respectively meshed with the two second gears (10).

2. The gripping robot hand capable of maintaining stable clamping according to claim 1, characterized in that: The multi-point vacuum suction cup (4) includes a plate (401), an air cavity (402) is provided inside the plate (401), and a plurality of suction holes (403) communicating with the air cavity (402) are provided on the outer wall of the plate (401). An aluminum cap (404) is provided inside the plurality of suction holes (403), and a spring (406) is fixedly connected to the inner wall of the aluminum cap (404). The other end of the spring (406) is fixedly connected to the inner wall of the plate (401).

3. The gripping robot hand capable of maintaining stable clamping according to claim 2, characterized in that: The aluminum cap (404) has a sealing ring (405) at its open end.

4. A gripping robot capable of maintaining stable clamping according to claim 2, characterized in that: The outer wall of the plate (401) is embedded with a plurality of dustproof nets (407) located outside the suction holes (403).

5. A gripping robot capable of maintaining stable clamping according to claim 1, characterized in that: The diameter of the first gear (9) is smaller than the diameter of the second gear (10).

6. A gripping robot capable of maintaining stable clamping according to claim 1, characterized in that: The electric actuator (5) is electrically connected to an external controller.

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