Mechanical hand structure for easy gripping

Abstract

The utility model provides a kind of mechanical hand structure of convenient grabbing, it is related to mechanical hand field, including, mechanical hand, including fixed frame, fixedly connected in the electric push rod of fixed frame inner chamber, fixedly connected in the movable frame of electric push rod output end, the connecting frame of being movably connected in the movable frame both sides by pin shaft, and the jaw connected to the one end of connecting frame;Jaw, including claw plate, the link plate of being movably connected in the one side of claw plate;The utility model is by the T-shaped block of glue pad cooperation link plate and the T-shaped slot of claw plate and is clamped, cooperation spring pushes baffle limit T-shaped block, realize no glue, no tool's quick disassembly and assembly, by glue pad as independent replaceable component, after wearing, no need to replace entire jaw, only need to replace glue pad, traditional glue sticking antiskid pad replacement needs to stop, heating or destructive disassembly, and this structure only needs to press baffle compression spring, directly pull out glue pad after releasing T-shaped block limit, greatly shorten maintenance time.

Description

Technical Field

[0001] This utility model belongs to the field of robotic arms, specifically a robotic arm structure that facilitates grasping. Background Technology

[0002] With the rapid development of industrial automation, intelligent manufacturing and service robot technology, robotic arms, as core execution components, are increasingly widely used in scenarios such as assembly, sorting, handling, medical assistance and human-machine collaboration.

[0003] Traditional robotic arms for easy gripping consist of a power mechanism, grippers, and anti-slip components. During use, the power mechanism drives the grippers to open and close, causing the grippers to bring the anti-slip components into contact with the object to be gripped, thereby achieving rapid grasping of the object. However, the anti-slip pads on the inside of traditional robotic arms may age or wear quickly due to friction after prolonged use. Since the anti-slip pads are connected to the robotic arm by adhesive, disassembly and replacement are relatively troublesome, increasing maintenance costs and downtime.

[0004] In summary, this utility model provides a convenient gripping robotic arm structure to solve the above-mentioned problems. Utility Model Content

[0005] To solve the above-mentioned technical problems, this utility model provides the following technical solution:

[0006] A robotic arm structure for convenient grasping includes,

[0007] The robotic arm includes a fixed frame, an electric push rod fixedly connected to the inner cavity of the fixed frame, a movable frame fixedly connected to the output end of the electric push rod, a connecting frame movably connected to both sides of the movable frame via pins, and a gripper connected to one end of the connecting frame.

[0008] The gripper includes a gripper plate, a connecting plate movably connected to one side of the gripper plate, a rubber pad fixedly connected to one side of the connecting plate, a T-shaped block fixedly connected to the other side of the connecting plate, a groove formed on the front of the gripper plate, a T-shaped groove formed at the bottom of the inner cavity of the groove, a spring fixedly connected to the inner cavity of the gripper plate, and a baffle fixedly connected to one end of the spring.

[0009] Furthermore, this invention also includes a robotic arm for connection with the robotic hand, wherein the top of the electric push rod is connected to one end of the robotic arm.

[0010] Furthermore, in this utility model, a through groove is provided on one side of the inner cavity of the claw plate, and the baffle passes through the inner cavity of the through groove and extends to the inner cavity of the groove, and is movably connected with the inner cavity of the groove.

[0011] Furthermore, in this utility model, the T-shaped block extends into the inner cavity of the T-shaped groove and is movably connected to the inner cavity of the T-shaped groove; the bottom of the baffle contacts the T-shaped block; and one side of the connecting plate contacts the claw plate.

[0012] Furthermore, in this utility model, both sides of the baffle are fixedly connected to limit blocks, and both sides of the inner cavity of the claw plate are provided with limit grooves. One end of the limit block extends into the inner cavity of the limit groove and is slidably connected to the inner cavity of the limit groove.

[0013] Beneficial effects: This utility model has the following beneficial effects:

[0014] This invention utilizes a rubber pad to engage with the T-shaped block of the connecting plate and the T-shaped groove of the claw plate. A spring pushes the baffle to limit the T-shaped block, enabling quick assembly and disassembly without adhesives or tools. The rubber pad is an independent replaceable component, so when it wears out, there is no need to replace the entire claw; only the rubber pad needs to be replaced. Traditional adhesive anti-slip pad replacement requires stopping the machine, heating, or destructive disassembly. In contrast, this structure only requires pressing the baffle to compress the spring, releasing the T-shaped block, and then pulling out the rubber pad directly, greatly shortening maintenance time. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the structure of this utility model;

[0016] Figure 2 This is a schematic diagram of the connection structure of the fixed frame, movable frame and connecting frame of this utility model;

[0017] Figure 3 This is a schematic diagram of the claw plate and rubber pad in the separated state of this utility model;

[0018] Figure 4 This is a schematic diagram of the claw plate in the separated state of this utility model;

[0019] Figure 5 This is a utility model Figure 3 A magnified schematic diagram of the structure at point A in the middle.

[0020] In the picture:

[0021] 100. Robotic arm; 110. Fixed frame; 120. Electric push rod; 130. Movable frame; 140. Connecting frame; 150. Gripper; 151. Gripper plate; 151-1. Limiting groove; 152. Connecting plate; 153. Rubber pad; 154. T-block; 155. Groove; 156. T-slot; 157. Spring; 158. Baffle; 158-1. Limiting block; 200. Robotic arm. Detailed Implementation

[0022] To better understand the technical content of this utility model, specific embodiments are described below in conjunction with the accompanying drawings. Various aspects of this utility model are described in this disclosure with reference to the accompanying drawings, which illustrate numerous illustrative embodiments. The embodiments of this disclosure are not necessarily defined to include all aspects of this utility model. It should be understood that the various concepts and embodiments described above, as well as those described in more detail below, can be implemented in any of many ways, because the concepts and embodiments disclosed in this utility model are not limited to any particular implementation. Furthermore, some aspects of this utility model can be used alone or in any suitable combination with other aspects disclosed in this utility model.

[0023] Example 1

[0024] like Figure 1-5 As shown, this is the first embodiment of the present invention. This embodiment provides a robotic arm structure for convenient grasping, including:

[0025] The robotic arm 100 includes a fixed frame 110, an electric push rod 120 fixedly connected to the inner cavity of the fixed frame 110, a movable frame 130 fixedly connected to the output end of the electric push rod 120, a connecting frame 140 movably connected to both sides of the movable frame 130 via pins, and a gripper 150 connected to one end of the connecting frame 140.

[0026] The gripper 150 includes a gripper plate 151, a connecting plate 152 movably connected to one side of the gripper plate 151, a rubber pad 153 fixedly connected to one side of the connecting plate 152, a T-shaped block 154 fixedly connected to the other side of the connecting plate 152, a groove 155 formed on the front of the gripper plate 151, a T-shaped groove 156 formed at the bottom of the inner cavity of the groove 155, a spring 157 fixedly connected to the inner cavity of the gripper plate 151, and a baffle 158 fixedly connected to one end of the spring 157.

[0027] like Figure 1-5 As shown, the electric push rod 120 acts as a power component, driving the movable frame 130, connecting frame 140, and gripper 150 to move, thus facilitating the gripper 150 to grasp objects. The rubber pad 153 is an independent replaceable component; after wear, it is not necessary to replace the entire gripper 150, only the rubber pad 153 needs to be replaced. The baffle 158 moves to one side, compressing the spring 157, causing the T-block 154 to lose its limit. The rubber pad 153 can be quickly disassembled by pulling it. The rubber pad 153 and connecting plate 152 are connected to the gripper plate 151 by a snap-fit ​​mechanism, and with the limit provided by the spring 157 and baffle 158, the rubber pad 153 can be quickly installed and removed, greatly reducing maintenance time and improving ease of installation and disassembly.

[0028] Example 2

[0029] Reference Figure 1 , 3 5, is the second embodiment of this utility model, which is based on the previous embodiment.

[0030] In this embodiment, a robotic arm 200 for connection with the robotic arm 100 is also included, and the top of the electric push rod 120 is connected to one end of the robotic arm 200.

[0031] A through groove is provided on one side of the inner cavity of the claw plate 151. The baffle 158 passes through the inner cavity of the through groove and extends to the inner cavity of the groove 155, and is movably connected with the inner cavity of the groove 155.

[0032] like Figure 1 , 3 As shown in Figure 5, the top of the electric push rod 120 is rigidly connected to one end of the robotic arm 200 via bolts, flanges, or quick-connect interfaces to ensure the stability and accuracy of the robotic arm 100 during movement. The robotic arm 200 provides multi-joint movements such as rotation and translation. As an end effector, the robotic arm 100 can perform complex trajectory grasping and placement tasks. The robotic arm 200 bears the overall weight of the robotic arm 100 and the grasped object. A through groove is opened on one side of the inner cavity of the claw plate 151 to provide a movement channel for the baffle 158. The baffle 158 passes through the through groove and extends into the inner cavity of the groove 155, forming a cross-regional movement structure to ensure that the baffle 158 can slide along the direction of the through groove, realizing the limiting and unlocking functions.

[0033] Example 3

[0034] Reference Figure 2-5 This is the third embodiment of the present invention, which is based on the first two embodiments.

[0035] In this embodiment, the T-shaped block 154 extends into the inner cavity of the T-shaped groove 156 and is movably connected to the inner cavity of the T-shaped groove 156. The bottom of the baffle 158 contacts the T-shaped block 154, and one side of the connecting plate 152 contacts the claw plate 151.

[0036] Limiting blocks 158-1 are fixedly connected to both sides of the baffle 158, and limiting grooves 151-1 are opened on both sides of the inner cavity of the claw plate 151. One end of the limiting block 158-1 extends into the inner cavity of the limiting groove 151-1 and is slidably connected to the inner cavity of the limiting groove 151-1.

[0037] like Figure 2-5As shown, the T-block 154 extends into the inner cavity of the T-slot 156, forming an axially sliding snap-fit ​​structure. This design allows the rubber pad 153 and the connecting plate 152 to be inserted or removed along the direction of the T-slot 156, enabling quick assembly and disassembly. The lateral dimension of the T-block 154 is larger than the opening width of the T-slot 156, ensuring that the rubber pad 153 will not fall off due to vibration or external force during the gripping process, thus ensuring structural stability. The bottom of the baffle 158 directly contacts the T-block 154, forming an axial limit. When the baffle 158 is embedded in the T-slot 156, the T-block 154 cannot move axially, and the rubber pad 153 is firmly fixed. The limiting block 158-1 is embedded in the inner cavity of the limiting groove 151-1, forming a linear sliding guide. This design ensures that the baffle 158 moves along a fixed path during pressing or resetting, avoiding deviation or jamming. The limiting groove 151-1 limits the range of motion of the baffle 158.

[0038] In use, the output end of the electric push rod 120 first pushes the movable frame 130 to move linearly. The connecting frame 140, connected by a pin, converts the linear motion into the opening and closing motion of the gripper 150. When the movable frame 130 moves down, the connecting frame 140 pulls the gripper plate 151 of the gripper 150 to rotate inward. The rubber pad 153 contacts the object and applies pressure to complete the gripping. In the initial state, the spring 157 pushes the baffle 158 to embed into the T-slot 156. The bottom of the baffle 158 contacts the T-block 154, restricting the axial movement of the T-block 154. The rubber pad 153 is firmly locked to the connecting plate 152. When unlocking is required, press the baffle 158 to compress the spring 157 and slide along the limiting groove 151-1. The baffle 158 disengages from the T-block 154. At this time, the T-block... 154 can be pulled out axially along the T-slot 156, and the rubber pad 153 and the connecting plate 152 are quickly disassembled. When reinstallation is required, the rubber pad 153 and the T-block 154 of the connecting plate 152 are aligned and inserted into the T-slot 156. Then, the baffle 158 is released, and the spring 157 pushes the baffle 158 to reset and embed into the T-slot 156, restricting the axial movement of the T-block 154, thus completing the installation. Since the replacement of traditional adhesive anti-slip pads requires stopping the machine, heating, or destructive disassembly, the rubber pad 153 in this structure is an independent replaceable part. After wear, there is no need to replace the entire clamp 150, only the rubber pad 153 needs to be replaced. Moreover, during replacement, only the baffle 158 needs to be pressed to compress the spring 157, and after the T-block 154 is released from the limit, the rubber pad 153 can be pulled out directly, which greatly shortens the maintenance time.

[0039] All standard parts used in this application can be purchased from the market, and can be customized according to the description and drawings. The specific connection methods of each part adopt conventional methods such as bolts, rivets, and welding that are mature in the prior art. The machinery, parts and equipment adopt conventional models in the prior art. The control method is automatic control through a controller. The control circuit of the controller can be implemented by simple programming by those skilled in the art and is common knowledge in the field. Since this application is mainly used to protect mechanical devices, the control method and circuit connection will not be explained in detail in this application.

[0040] Although the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the present invention. Those skilled in the art to which this invention pertains can make various modifications and refinements without departing from the spirit and scope of the present invention. Therefore, the scope of protection of this invention shall be determined by the claims.

Claims

1. A robotic arm structure for convenient grasping, characterized in that: include, The robotic arm (100) includes a fixed frame (110), an electric push rod (120) fixedly connected to the inner cavity of the fixed frame (110), a movable frame (130) fixedly connected to the output end of the electric push rod (120), a connecting frame (140) movably connected to both sides of the movable frame (130) via a pin, and a gripper (150) connected to one end of the connecting frame (140). The gripper (150) includes a gripper plate (151), a connecting plate (152) movably connected to one side of the gripper plate (151), a rubber pad (153) fixedly connected to one side of the connecting plate (152), a T-shaped block (154) fixedly connected to the other side of the connecting plate (152), a groove (155) opened on the front of the gripper plate (151), a T-shaped groove (156) opened at the bottom of the inner cavity of the groove (155), a spring (157) fixedly connected to the inner cavity of the gripper plate (151), and a baffle (158) fixedly connected to one end of the spring (157).

2. The robotic arm structure for convenient grasping as described in claim 1, characterized in that: It also includes a robotic arm (200) for connection with the robotic hand (100), the top of which is connected to one end of the robotic arm (200).

3. The robotic arm structure for convenient grasping as described in claim 1, characterized in that: A through groove is provided on one side of the inner cavity of the claw plate (151), and the baffle (158) passes through the inner cavity of the through groove and extends to the inner cavity of the groove (155), and is movably connected to the inner cavity of the groove (155).

4. The robotic arm structure for convenient grasping as described in claim 1, characterized in that: The T-shaped block (154) extends into the inner cavity of the T-shaped groove (156) and is movably connected to the inner cavity of the T-shaped groove (156). The bottom of the baffle (158) is in contact with the T-shaped block (154), and one side of the connecting plate (152) is in contact with the claw plate (151).

5. The robotic arm structure for convenient grasping as described in claim 1, characterized in that: Both sides of the baffle (158) are fixedly connected to limit blocks (158-1), and both sides of the inner cavity of the claw plate (151) are provided with limit grooves (151-1). One end of the limit block (158-1) extends into the inner cavity of the limit groove (151-1) and is slidably connected to the inner cavity of the limit groove (151-1).

Images