Mechanical arm grabbing structure

Abstract

The application relates to the technical field of mechanical arms, in particular to a mechanical arm grabbing structure, which comprises a telescopic cylinder, a supporting plate is installed on the bottom movable end of the telescopic cylinder, and a driving gear is installed at one end of the bottom of the supporting plate. The mechanical arm grabbing structure is driven to rotate by a servo motor, the driving gear is synchronously driven to rotate by the servo motor, the driving gear is driven to rotate by a rotating shaft to adjust the angle of two groups of movable clamping jaws, so that the clamping use effect is wider, the fixed block is driven to ascend by the contraction of an electric telescopic rod, and the clamping operation of the two groups of movable clamping jaws is realized by arranging four groups of supporting rods. When the two movable clamping jaws clamp an article, the two clamping plates are tightly attached to the outer side of the article, the sliding block is slid in the sliding groove by the adjusting rod and the reset spring is compressed, so that the movable clamping jaws play a buffering role when clamping the article, damage to the clamped article is avoided, and the practicability is better.

Description

Technical Field

[0001] This application relates to the technical field of robotic arms, and in particular to a robotic arm grasping structure. Background Technology

[0002] A robotic arm is a complex system with high precision, multiple inputs and multiple outputs, high nonlinearity, and strong coupling. With its end effector gripping mechanism, it can perform tasks such as gripping, moving, and placing workpieces. Due to its unique operational flexibility, it has been widely used in industrial assembly, safety and explosion protection, and other fields.

[0003] A robotic arm gripping device, disclosed on the Chinese Patent Network (publication number CN214446474U), includes a base, a telescopic cylinder, a hinge, a gripper assembly, and a connecting rod. The base has hinge blocks on its symmetrical sides. The telescopic cylinder body is fixed to the top of the base, with its piston rod extending to the bottom of the base. The hinge is fixed to the outer wall of the piston rod of the telescopic cylinder, and has hinge rings at both ends. The gripper assembly includes a rotating rod with one end hinged to the hinge block and a gripper disposed on the inner wall of the other end of the rotating rod. One end of the connecting rod is hinged to the hinge ring, and the other end is hinged to the middle of the rotating rod. This robotic arm gripping device uses the telescopic cylinder as a drive source to drive the hinge to move up and down, and the connecting rod as a transmission component to drive the gripper assembly to grip the workpiece. It has a simple structure, and the hinged connections of each component facilitate disassembly, maintenance, and replacement of individual components.

[0004] The solution also has the following problems: the gripper of the robotic arm is not easy to adjust the angle when grasping, and the lack of a buffer when gripping makes it easy to damage the gripped object, so it has certain drawbacks.

[0005] Therefore, in order to solve the above problems, this application provides a robotic arm grasping structure. Utility Model Content

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

[0007] To achieve the above objectives, this utility model provides the following technical solution: a robotic arm gripping structure, including a telescopic cylinder, a support plate mounted on the bottom movable end of the telescopic cylinder, a drive gear mounted on one bottom end of the support plate, a rotating shaft mounted on the bottom end of the support plate away from the drive gear, a driven gear mounted on the outside of the rotating shaft, a support frame mounted on the bottom of the rotating shaft, an electric telescopic rod mounted on the bottom of the support frame, a fixed block mounted on the bottom movable end of the electric telescopic rod, movable grippers symmetrically mounted on both ends of the fixed block, two sets of sliding grooves symmetrically formed on the inner sidewall of the movable grippers, a return spring mounted on one sidewall of the inner sidewall of the sliding groove, a slider mounted on one end of the return spring, an adjusting rod mounted on the outer end of the slider, and a clamping plate mounted on the end of the adjusting rod away from the slider.

[0008] Preferably, a servo motor is installed at one top end of the support plate, the output shaft of the servo motor passes through to the bottom of the support plate and is connected to the drive gear, and the drive gear and the driven gear mesh with each other. The top of the rotating shaft is rotatably connected to the bottom of the support plate, and a protective cover is installed at the bottom edge of the support plate.

[0009] Preferably, the two outer ends of the fixed block are rotatably connected to the two movable grippers, and support rods are rotatably connected to the four corners of the bottom of the support frame, with one bottom end of each support rod rotatably connected to the two sets of movable grippers respectively.

[0010] Preferably, the outer side of the slider is slidably connected to the inner sidewall of the groove, and both ends of the adjusting rod are rotatably connected to the slider and the clamping plate.

[0011] Preferably, limit rods are symmetrically installed at both ends of the outer side of the clamping plate, one end of the limit rod passes through the movable gripper and extends to its outside, and the outer ring surface of the limit rod is slidably connected to the inside of the movable gripper.

[0012] Preferably, a protective pad is provided at the outer end of the clamp plate away from the two limiting rods.

[0013] In summary, this application includes the following beneficial technical effects:

[0014] This robotic arm gripping structure uses a servo motor to drive the active gear, which in turn drives the driven gear. The driven gear, in turn, adjusts the angle of two sets of movable grippers via a rotating shaft, thus broadening the gripping range. An electric telescopic rod retracts, raising the fixed block. Four support rods further support the gripping operation of the two sets of movable grippers. When the two movable grippers grasp an item, the two clamping plates press tightly against the outside of the item. An adjusting rod compresses the slider, causing it to slide inside the groove and the return spring to compress. This cushions the gripper's movement, preventing damage and enhancing practicality. Attached Figure Description

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

[0016] Figure 2 This is a utility model Figure 1 Structural diagram viewed from below;

[0017] Figure 3 This is a utility model Figure 1 Partial structural diagram;

[0018] Figure 4 This is a utility model Figure 3 Partial structural diagram.

[0019] Explanation of reference numerals in the attached drawings: 1. Telescopic cylinder; 2. Support plate; 3. Drive gear; 4. Driven gear; 5. Rotating shaft; 6. Support frame; 7. Electric telescopic rod; 8. Fixed block; 9. Movable gripper; 901. Slide groove; 10. Return spring; 11. Slider; 12. Adjusting rod; 13. Clamping plate; 14. Servo motor; 15. Protective cover; 16. Support rod; 17. Limiting rod; 18. Protective pad. Detailed Implementation

[0020] The following is in conjunction with the appendix Figure 1 - Figure 4 This application will be described in further detail.

[0021] A robotic arm grasping structure, as shown in the reference Figure 1 - Figure 4The system includes a telescopic cylinder 1, a support plate 2 mounted on the bottom movable end of the telescopic cylinder 1, a drive gear 3 mounted on one bottom end of the support plate 2, a rotating shaft 5 mounted on the bottom end of the support plate 2 away from the drive gear 3, a driven gear 4 mounted on the outside of the rotating shaft 5, a support frame 6 mounted on the bottom of the rotating shaft 5, an electric telescopic rod 7 mounted on the bottom of the support frame 6, a fixed block 8 mounted on the bottom movable end of the electric telescopic rod 7, movable grippers 9 symmetrically mounted on both ends of the fixed block 8, two sets of sliding grooves 901 symmetrically opened on the inner side wall of the movable grippers 9, a return spring 10 mounted on one side wall of the inner side of the sliding groove 901, a slider 11 mounted on one end of the return spring 10, an adjusting rod 12 mounted on one outer end of the slider 11, and a clamping plate 13 mounted on the end of the adjusting rod 12 away from the slider 11.

[0022] Reference Figure 1 - Figure 2 A servo motor 14 is installed at the top end of the support plate 2. The output shaft of the servo motor 14 passes through to the bottom of the support plate 2 and is connected to the drive gear 3. The drive gear 3 and the driven gear 4 mesh with each other. The top of the rotating shaft 5 is rotatably connected to the bottom of the support plate 2. The drive gear 3 is driven to rotate by the servo motor 14. The rotation of the drive gear 3 synchronously drives the driven gear 4 to rotate. The rotation of the driven gear 4 adjusts the angle of the two sets of movable grippers 9 through the rotating shaft 5, thereby making the gripping effect more extensive. A protective cover 15 is installed at the bottom edge of the support plate 2 to protect the drive gear 3 and the driven gear 4.

[0023] Reference Figure 1 - Figure 3 The fixed block 8 is rotatably connected to the two movable grippers 9 at both ends. Support rods 16 are rotatably connected to the four corners of the bottom of the support frame 6. The bottom end of the support rod 16 is rotatably connected to the two sets of movable grippers 9 respectively. The fixed block 8 is raised by the retraction of the electric telescopic rod 7. The two sets of support rods 16 are used to perform the gripping operation of the two sets of movable grippers 9. The outer side of the slider 11 is slidably connected to the inner side wall of the slide groove 901. Both ends of the adjusting rod 12 are rotatably connected to the slider 11 and the clamping plate 13. When the two movable grippers 9 grip the item, the two clamping plates 13 will be close to the outside of the item. The adjusting rod 12 will squeeze the slider 11 to slide inside the slide groove 901 and the return spring 10 will be compressed. This makes the movable grippers 9 play a buffering role when gripping the item, so as to avoid damage to the gripped item.

[0024] Reference Figure 3 - Figure 4Limiting rods 17 are symmetrically installed at both ends of the outer side of the clamping plate 13. One end of the limiting rod 17 passes through the movable gripper 9 and extends to its outside. The outer ring surface of the limiting rod 17 is slidably connected to the inside of the movable gripper 9. When the clamping plate 13 moves close to the object, it synchronously drives the limiting rod 17 to slide on the movable gripper 9, thereby increasing the stability of the movement of the clamping plate 13.

[0025] Reference Figure 4 The outer end of the clamping plate 13 away from the two limiting rods 17 is provided with a protective pad 18. The protective pad 18 increases the friction between the clamping plate 13 and the object being clamped, preventing it from falling off during clamping.

[0026] The implementation principle of the robotic arm gripping structure in this embodiment is as follows: During the use of the device, the telescopic cylinder 1 is activated to facilitate the lifting and lowering of the entire movable gripper 9. The servo motor 14 drives the drive gear 3 to rotate, and the rotation of the drive gear 3 synchronously drives the driven gear 4 to rotate. The rotation of the driven gear 4 adjusts the angle of the two sets of movable grippers 9 through the rotating shaft 5, thereby making the gripping effect more extensive. A protective cover 15 is installed at the bottom edge of the support plate 2 to protect the drive gear 3 and the driven gear 4. The electric telescopic rod 7 retracts to drive the fixed block 8 to rise, and four sets of support rods 1 are provided. 6. The device enables the gripping operation of two sets of movable grippers 9. When the two movable grippers 9 grip an item, the two clamping plates 13 will be in close contact with the outside of the item. The adjusting rod 12 will squeeze the slider 11 to slide inside the slide groove 901 and compress the return spring 10, so that the movable grippers 9 can buffer the gripping of the item and avoid damage to the gripped item. When the clamping plates 13 move close to the item, they will simultaneously drive the limiting rod 17 to slide on the movable grippers 9, thereby increasing the stability of the movement of the clamping plates 13. In addition, the protective pad 18 increases the friction between the clamping plates 13 and the gripped item, preventing it from falling off during gripping, thus improving its practicality.

[0027] Finally, the following points should be noted: First, in the description of this application, it should be noted that, unless otherwise specified and limited, the terms "installation", "connection", and "linkage" should be interpreted broadly, and can be mechanical or electrical connections, or internal connections between two components, or direct connections. "Up", "down", "left", "right", etc. are only used to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship may change.

[0028] Secondly: The accompanying drawings of the embodiments disclosed in this utility model only involve the structures involved in the embodiments disclosed in this utility model. Other structures can refer to the general design. In the absence of conflict, the same embodiment and different embodiments of this utility model can be combined with each other.

[0029] Finally: The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

[0030] 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 robotic arm grasping structure, comprising a telescopic cylinder (1), characterized in that: A support plate (2) is installed on the bottom movable end of the telescopic cylinder (1). A drive gear (3) is installed at one bottom end of the support plate (2). A rotating shaft (5) is installed at the bottom end of the support plate (2) away from the drive gear (3). A driven gear (4) is installed on the outside of the rotating shaft (5). A support frame (6) is installed at the bottom of the rotating shaft (5). An electric telescopic rod (7) is installed at the bottom of the support frame (6). A drive gear (4) is installed on the bottom movable end of the electric telescopic rod (7). A fixed block (8) is provided with movable grippers (9) symmetrically installed at both ends of the fixed block (8). Two sets of sliding grooves (901) are symmetrically opened on the inner sidewall of the movable grippers (9). A return spring (10) is installed on the inner sidewall of the sliding groove (901). A slider (11) is installed at one end of the return spring (10). An adjusting rod (12) is installed at one end of the slider (11). A clamping plate (13) is installed at the end of the adjusting rod (12) away from the slider (11).

2. The robotic arm grasping structure according to claim 1, characterized in that: A servo motor (14) is installed at one top end of the support plate (2). The output shaft of the servo motor (14) passes through the bottom of the support plate (2) and is connected to the drive gear (3). The drive gear (3) and the driven gear (4) mesh with each other. The top of the rotating shaft (5) is rotatably connected to the bottom of the support plate (2). A protective cover (15) is installed at the bottom edge of the support plate (2).

3. The robotic arm grasping structure according to claim 1, characterized in that: The two outer ends of the fixed block (8) are rotatably connected to two movable grippers (9). Support rods (16) are rotatably connected to the four corners of the bottom of the support frame (6). The bottom end of the support rods (16) is rotatably connected to two sets of movable grippers (9).

4. The robotic arm grasping structure according to claim 1, characterized in that: The outer side of the slider (11) is slidably connected to the inner sidewall of the groove (901), and both ends of the adjusting rod (12) are rotatably connected to the slider (11) and the clamp (13).

5. The robotic arm grasping structure according to claim 1, characterized in that: Limiting rods (17) are symmetrically installed on both ends of the outer side of the clamping plate (13). One end of the limiting rod (17) passes through the movable gripper (9) and extends to its outside. The outer ring surface of the limiting rod (17) is slidably connected to the inside of the movable gripper (9).

6. The robotic arm grasping structure according to claim 5, characterized in that: Protective pads (18) are provided on the outer end of the clamp (13) away from the two limiting rods (17).

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