Two-finger translational robotic arm

Abstract

This application discloses a two-finger translational manipulator, relating to the field of translational manipulator technology. It includes a gripper body with an air inlet and an air vent on its surface. A piston block is slidably connected to the inner wall of the gripper body, and a wedge block is fixedly connected to the top of the piston block. This application utilizes a conversion plate and a telescopic rod to improve the manipulator's adaptability to different items when gripping products with different clamping plates. After the mounting plate is installed on the adjusting slider, the servo motor, connected to a first gear, drives a second gear to rotate. The rotation of the second gear, connected to a connecting shaft, drives the conversion plate to rotate. Simultaneously, according to the required clamping distance, an electric push rod is activated, causing the clamping plate connected to the telescopic rod to extend and retract, achieving the effect of adjusting the clamping position.

Description

Technical Field

[0001] This application relates to the field of translational manipulator technology, and in particular to a two-finger translational manipulator. Background Technology

[0002] Parallel grippers are devices commonly used in industrial automation to hold and manipulate objects, enabling them to clamp and release objects during certain actions.

[0003] While existing translational robotic arms can automatically grip and fix items, in daily use, they often rely on a single gripping block to fix items. Adding gripping plates of different shapes to the outer wall of the gripping block is not very effective, and the reusability of the gripping plates after gripping is poor. This reduces the stability of gripping different products when the translational robotic arm needs to grip different items. At the same time, the adjustable spacing between the gripping rods is not high, which reduces the gripping force area of ​​different items on the fixture and affects the stability of the gripped items. Utility Model Content

[0004] To address the aforementioned issues of poor performance when attaching clamping plates of different shapes to the outer wall of the clamping block, poor reusability of the clamping plates after clamping, low adjustability of the spacing between clamping rods, and reduced clamping force area for different items on the clamp, this application provides a two-finger translational manipulator.

[0005] The two-finger translational manipulator provided in this application adopts the following technical solution: it includes a gripper body, an air inlet on the surface of the gripper body, an air vent on the surface of the gripper body, a piston block slidably connected to the inner wall of the gripper body, a wedge block fixedly connected to the top of the piston block, and an adjusting slider slidably connected to the outer wall of the wedge block and slidably connected to the inner wall of the gripper body.

[0006] The outer wall of the fixture body is provided with a conversion mechanism, which includes a conversion plate and a clamping plate;

[0007] The outer wall of the fixture body is detachably connected to an installation plate. The outer wall of the installation plate is rotatably connected to a first gear. The outer wall of the first gear meshes with a second gear. The rotation center of the second gear is fixedly connected to a connecting shaft. One end of the connecting shaft is fixedly connected to a conversion plate. The inner wall of the conversion plate is slidably connected to a telescopic rod. The outer wall of the telescopic rod is fixedly connected to a clamping plate.

[0008] By adopting the above technical solution, the lifting and lowering movement of the wedge block can drive the adjusting slider to slide along the inner wall of the groove for centering. At the same time, after the mounting plate and the adjusting slider are installed, the rotation of the connecting shaft can drive the conversion plate to rotate, so that clamping plates of different shapes can be installed and used interchangeably. In addition, the spacing of the clamping plates can be adjusted by connecting the telescopic rod to meet the needs of clamping positions on different product surfaces.

[0009] Preferably, the outer wall of the adjusting slider is provided with a wedge groove at the connection between it and the wedge block, and two sets of adjusting sliders are provided, with the positions of the two sets of adjusting sliders being symmetrical about the central axis of the wedge block.

[0010] By adopting the above technical solution, the adjusting slider can be easily centered and slid.

[0011] Preferably, a groove is provided at the connection between the inner sidewall of the clamp body and the adjusting slider.

[0012] By adopting the above technical solution, the sliding limit movement of the adjusting slider is driven.

[0013] Preferably, the connection between the outer wall of the adjusting slider and the mounting plate is provided with a mounting hole, the inner wall of the mounting hole is provided with an inner spiral, and the connection between the outer wall of the mounting plate and the mounting hole is provided with an outer spiral.

[0014] By adopting the above technical solution, the effect of threaded installation of the mounting plate can be achieved.

[0015] Preferably, the outer wall of the mounting plate is fixedly connected to a servo motor that is fixedly connected to the rotation center of the first gear.

[0016] By adopting the above technical solution, the connecting shaft can be driven to rotate.

[0017] Preferably, the side wall of the conversion plate is fixedly connected to an electric push rod that is fixedly connected to the outer wall of the telescopic rod. Two sets of electric push rods and telescopic rods are provided, and the positions of the two sets of electric push rods and telescopic rods are symmetrical about the central axis of the conversion plate.

[0018] By adopting the above technical solution, the effect of driving the telescopic pole to extend and retract is achieved.

[0019] Preferably, the surface of the clamping plate is provided with protective texture.

[0020] By adopting the above technical solution, the friction force for clamping the product is improved.

[0021] In summary, this application includes at least one of the following beneficial technical effects:

[0022] 1. By utilizing the movement of the conversion plate and telescopic rod, when different clamping plates are installed to clamp products, in order to improve the adaptability of the robot arm to clamping different items, after the mounting plate is installed on the adjusting slider, the servo motor is turned on and driven by the first gear to drive the second gear to rotate. The rotation of the second gear drives the conversion plate to rotate through the connecting shaft. At the same time, according to the required clamping distance, the electric push rod is turned on, which drives the clamping plate connected to the telescopic rod to move in and out, so as to achieve the effect of adjusting the clamping position.

[0023] 2. By connecting the wedge block and the adjusting slider, when it is necessary to drive the adjusting slider to slide for centering, the extension and retraction of the piston block drives the adjusting slider, which is slidably connected to the wedge block, to slide along the inner wall of the groove, so that the adjusting slider can slide for centering and achieve the effect of convenient adjustment of the horizontal distance of the gripper of the robot. Attached Figure Description

[0024] Figure 1 This is a schematic diagram illustrating the overall structure of the robotic arm, as shown in the embodiments of this application.

[0025] Figure 2 This is a schematic diagram illustrating the overall structure of the robotic arm from another direction, as shown in the embodiments of this application.

[0026] Figure 3 This is a schematic diagram illustrating the main distribution structure of the mounting holes in the embodiments of this application;

[0027] Figure 4 This is a schematic diagram illustrating the connection structure between the conversion plate and the telescopic rod, which is the main embodiment of this application.

[0028] Figure 5 The embodiments of this application mainly embody Figure 5 A schematic diagram of the enlarged structure at point A in the diagram;

[0029] Reference numerals in the attached drawings: 1. Fixture body; 2. Air inlet; 3. Air vent; 4. Piston block; 5. Wedge block; 6. Adjusting slider; 7. Slide groove; 8. Mounting plate; 9. Mounting hole; 10. Servo motor; 11. First gear; 12. Second gear; 13. Connecting shaft; 14. Conversion plate; 15. Electric push rod; 16. Telescopic rod; 17. Clamping plate. Detailed Implementation

[0030] The following is in conjunction with the appendix Figures 1-5 This application will be described in further detail.

[0031] This application discloses a two-finger translational manipulator.

[0032] Reference Figures 1-3A two-finger translational manipulator includes a gripper body 1. An air inlet 2 and an air vent 3 are provided on the surface of the gripper body 1. A piston block 4 is slidably connected to the inner wall of the gripper body 1. The piston block 4 causes a wedge block 5 to move up and down synchronously. A wedge block 5 is fixedly connected to the top of the piston block 4. The wedge block 5 causes an adjusting slider 6 to slide along the inner wall of the gripper body 1 for centering. The outer wall of the wedge block 5 is slidably connected to the adjusting slider 6, which is slidably connected to the inner wall of the gripper body 1.

[0033] The outer wall of the fixture body 1 is provided with a conversion mechanism, which includes a conversion plate 14 and a clamping plate 17.

[0034] The outer wall of the fixture body 1 is detachably connected to a mounting plate 8. The outer wall of the mounting plate 8 is rotatably connected to a first gear 11. The outer wall of the first gear 11 is meshed with a second gear 12. The rotation center of the second gear 12 is fixedly connected to a connecting shaft 13. The movement of the connecting shaft 13 drives the conversion plate 14 to rotate synchronously. One end of the connecting shaft 13 is fixedly connected to the conversion plate 14. The inner wall of the conversion plate 14 is slidably connected to a telescopic rod 16. The telescopic rod 16 is used to adjust the spacing of the clamping plate 17. The outer wall of the telescopic rod 16 is fixedly connected to the clamping plate 17.

[0035] Reference Figure 2 The outer wall of the adjusting slider 6 is provided with a wedge groove at the connection between it and the wedge block 5. There are two sets of adjusting sliders 6. The positions of the two sets of adjusting sliders 6 are symmetrical about the central axis of the wedge block 5, which is conducive to achieving the effect of relative sliding of the adjusting sliders 6 by opening the wedge groove.

[0036] Reference Figure 1 The inner side wall of the fixture body 1 is provided with a groove 7 at the connection between it and the adjusting slider 6, which is conducive to achieving the effect of driving the adjusting slider 6 to slide and limit through the opening of the groove 7.

[0037] Reference Figure 3 The outer wall of the adjusting slider 6 is provided with a mounting hole 9 at the connection between it and the mounting plate 8. The inner wall of the mounting hole 9 is provided with an inner spiral, and the outer wall of the mounting plate 8 is provided with an outer spiral at the connection between it and the mounting hole 9. This facilitates the screwing of the mounting plate 8 through the opening of the mounting hole 9.

[0038] Reference Figure 5 The outer wall of the mounting plate 8 is fixedly connected to a servo motor 10 that is fixedly connected to the rotation center of the first gear 11, which facilitates the effect of driving the first gear 11 to rotate easily through the setting of the servo motor 10.

[0039] Reference Figure 3The side wall of the conversion plate 14 is fixedly connected to an electric push rod 15 which is fixedly connected to the outer wall of the telescopic rod 16. Both the electric push rod 15 and the telescopic rod 16 are provided in two sets. The positions of the two sets of electric push rods 15 and telescopic rods 16 are symmetrical about the central axis of the conversion plate 14, which is conducive to achieving the effect of driving the telescopic rod 16 to move conveniently through the setting of the electric push rod 15.

[0040] Reference Figure 4 The surface of the clamping plate 17 is provided with protective texture, which helps to increase the friction of the clamping plate 17 in clamping the item.

[0041] The working principle of this two-finger translational manipulator is as follows: When different clamping plates 17 are installed to clamp products, in order to improve the manipulator's adaptability to clamping different items, after the mounting plate 8 is installed on the adjusting slider 6, the servo motor 10 is turned on and driven by the first gear 11 to rotate the second gear 12. The rotation of the second gear 12 is driven by the connecting shaft 13 to rotate the conversion plate 14. At the same time, according to the clamping distance requirements, the electric push rod 15 is turned on, which drives the clamping plate 17 connected to the telescopic rod 16 to perform telescopic movement, thereby achieving the effect of adjusting the clamping position.

[0042] When it is necessary to drive the adjusting slider 6 to slide for centering, the extension and retraction of the piston block 4 drives the adjusting slider 6, which is slidably connected to the wedge block 5, to slide along the inner wall of the slide groove 7, so that the adjusting slider 6 can slide for centering and achieve the effect of convenient adjustment of the horizontal distance of the gripper of the robot.

[0043] The above are all preferred embodiments of this application, and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made in accordance with the structure, shape and principle of this application should be covered within the scope of protection of this application.

Claims

1. A two-fingered translational manipulator, characterized by: The fixture includes a clamp body (1), an air inlet (2) and an air vent (3) on the surface of the clamp body (1), a piston block (4) slidably connected to the inner wall of the clamp body (1), a wedge block (5) fixedly connected to the top of the piston block (4), and an adjusting slider (6) slidably connected to the outer wall of the wedge block (5) and slidably connected to the inner wall of the clamp body (1). The outer wall of the fixture body (1) is provided with a conversion mechanism, which includes a conversion plate (14) and a clamping plate (17); The outer wall of the clamp body (1) is detachably connected to an installation plate (8). The outer wall of the installation plate (8) is rotatably connected to a first gear (11). The outer wall of the first gear (11) is meshed with a second gear (12). The rotation center of the second gear (12) is fixedly connected to a connecting shaft (13). One end of the connecting shaft (13) is fixedly connected to a conversion plate (14). The inner wall of the conversion plate (14) is slidably connected to a telescopic rod (16). The outer wall of the telescopic rod (16) is fixedly connected to a clamping plate (17).

2. The two-finger translational manipulator according to claim 1, characterized in that: The outer wall of the adjusting slider (6) is provided with a wedge groove at the connection between it and the wedge block (5). There are two sets of adjusting sliders (6), and the positions of the two sets of adjusting sliders (6) are symmetrical about the central axis of the wedge block (5).

3. The two-finger translational manipulator according to claim 1, characterized in that: The inner sidewall of the clamp body (1) is provided with a groove (7) at the connection between it and the adjusting slider (6).

4. The two-finger translational manipulator according to claim 1, characterized in that: The outer wall of the adjusting slider (6) is provided with a mounting hole (9) at the connection between the mounting plate (8) and the outer wall of the mounting hole (9) is provided with an inner spiral, and the connection between the outer wall of the mounting plate (8) and the mounting hole (9) is provided with an outer spiral.

5. The two-finger translational manipulator according to claim 1, characterized in that: The outer wall of the mounting plate (8) is fixedly connected to a servo motor (10) that is fixedly connected to the rotation center of the first gear (11).

6. The two-finger translational manipulator according to claim 1, characterized in that: The side wall of the conversion plate (14) is fixedly connected to an electric push rod (15) which is fixedly connected to the outer wall of the telescopic rod (16). There are two sets of electric push rods (15) and telescopic rods (16). The positions of the two sets of electric push rods (15) and telescopic rods (16) are symmetrical about the central axis of the conversion plate (14).

7. The two-finger translational manipulator according to claim 1, characterized in that: The surface of the clamping plate (17) is provided with protective texture.

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