Large arc-shaped clamping jaw for robot arm

Abstract

The utility model discloses a big arc shape clamping jaw for mechanical arm, including main body support, the fixed mounting of main body support has the clamping jaw cylinder, is equipped with the piston rod that can be opposite its axial telescoping in the clamping jaw cylinder, be equipped with first chamber and second chamber respectively between the clamping jaw cylinder and piston rod, be equipped with the first oil inlet that communicates with first chamber on the clamping jaw cylinder, still be equipped with the second oil inlet that communicates with second chamber on the clamping jaw cylinder, be equipped with hollowly arranged sensor seat between the clamping jaw cylinder and piston rod, be equipped with the oil inlet flow channel that communicates first oil inlet between sensor seat and clamping jaw cylinder, be equipped with the adapter of rotary connection with its in main body support, and the adapter is set up in pairs, and the fixed mounting of each adapter has clamping jaw subassembly, be equipped with the transmission assembly for transmission between piston rod and adapter. The piston rod and transmission assembly of this embodiment are all built -in installation, and stable and reliable are used, and clamping jaw subassembly sets up in pairs, and the general performance is good to clamping stability.

Description

Technical Field

[0001] This utility model belongs to the field of mechanical gripper technology, specifically relating to a large arc-shaped gripper for a robotic arm. Background Technology

[0002] The end effector of a robotic arm is typically equipped with grippers for holding objects, making it convenient to transfer objects using the robotic arm. A patent with publication number CN120646554A discloses a bamboo tube transfer clamp, including a fixed plate, an arc-shaped gripper, a first cylinder, and a connecting plate. The fixed plate has first limiting rods arranged symmetrically on both sides. The arc-shaped gripper has limiting holes corresponding to the first limiting rods, allowing it to swing around the first limiting rods through the limiting holes. The first cylinder is fixedly mounted on the fixed plate and connected to the connecting plate via a piston rod. The connecting plate has a second limiting rod, and the head end of the arc-shaped gripper has a strip-shaped hole adapted to the second limiting rod. The first cylinder drives the connecting plate downwards, and under the action of the second limiting rod, the arc-shaped gripper opens. The first cylinder drives the connecting plate upwards, and similarly, the arc-shaped gripper closes, thus enabling the clamping of the bamboo tube. The piston rod and connecting plate of the existing publicly available clamps are both externally mounted, resulting in poor sealing; the connecting plate is prone to jamming during use, leading to poor stability; at the same time, the clamping range of the arc-shaped grippers is small, resulting in poor versatility. Summary of the Invention

[0003] This utility model addresses the problems existing in the prior art by designing a large arc-shaped gripper for a robotic arm. The piston rod and transmission components of this utility model are both built-in, ensuring stable and reliable use. The gripper components are arranged in pairs, providing stable clamping and good versatility.

[0004] The objective of this invention is achieved through the following technical solution: a large arc-shaped gripper for a robotic arm, comprising a main support, on which a gripper cylinder is fixedly mounted, and a piston rod capable of axial extension and retraction is provided within the gripper cylinder; a first chamber and a second chamber are respectively provided between the gripper cylinder and the piston rod; a first oil inlet communicating with the first chamber is provided on the gripper cylinder, and a second oil inlet communicating with the second chamber is also provided on the gripper cylinder; a hollow sensor seat is also provided between the gripper cylinder and the piston rod, and an oil inlet channel communicating with the first oil inlet is provided between the sensor seat and the gripper cylinder; a transition piece rotatably connected to the main support is provided within the main support, the transition pieces are arranged in pairs, and a gripper assembly is fixedly mounted on each transition piece; a transmission assembly for transmission is provided between the piston rod and the transition piece.

[0005] Preferably, the transmission assembly includes a transmission shaft and a pair of rotating sliders; the transmission shaft is fixedly mounted at the end of the piston rod, and a pin assembly is provided between the adapter and the main support to hinge the two; the adapter has a mounting groove for mounting the rotating slider, and the adapter and the rotating slider can rotate relative to each other; the adapter is rotatably mounted in a groove of the main support, and the end of the rotating slider is adjacent to the inner wall of the main support; the rotating slider is sleeved on the outer layer of the transmission shaft, and when the piston rod pushes the transmission shaft to move, the rotating slider drives the adapter to rotate relative to the main support.

[0006] Preferably, the rotating slider has a first through hole for inserting the drive shaft, and when the drive shaft is inserted into the first through hole, there is a gap between the drive shaft and the inner wall of the mounting groove.

[0007] When the piston rod extends or retracts relative to the main support, it pushes the drive shaft to move up and down. Since the adapter is connected to the main support via a pin assembly, the movement of the drive shaft drives the rotating slider. The movement of the rotating slider pushes the adapter to rotate relative to the main support, thus allowing the adapter to control the opening and closing state of the gripper assembly. A mounting slot facilitates the placement of the rotating slider within the adapter; a first through hole facilitates the installation of the drive shaft.

[0008] Preferably, the main support is sealed to the gripper cylinder, and the piston rod is telescopically slidable relative to the main support and is sealed to the main support; the piston rod includes a piston body and a hollow cylindrical shaft, which are integrally formed; the upper part of the piston body and the inner wall of the gripper cylinder form a first chamber, and the piston body, gripper cylinder and main support mutually surround each other to form a second chamber; the sensor seat is fixedly installed inside the gripper cylinder, and the sensor seat extends into the hollow cylindrical shaft.

[0009] Preferably, the sensor seat is hollow, and its bottom extends into the hollow cylindrical shaft; a first sealing element is provided between the sensor seat and the inner wall of the hollow cylindrical shaft for sealing, and the first sealing element is located between the first chamber and the chamber of the hollow cylindrical shaft; a gap is left between the outer wall of the sensor seat and the inner wall of the hollow cylindrical shaft; a flow hole is provided in the piston body, and the flow hole respectively connects the chamber in the hollow cylindrical shaft and the second chamber; a second sealing element is provided between the top of the sensor seat and the inner wall of the gripper cylinder, and a second oil inlet is provided on the side wall of the gripper cylinder that communicates with the sensor seat.

[0010] Preferably, the side wall of the gripper cylinder is provided with a first oil inlet, and the first oil inlet and the second oil inlet are arranged side by side and adjacent to each other; the second seal is disposed between the first oil inlet and the second oil inlet; the outer wall of the sensor seat and the inner wall of the gripper cylinder form an oil inlet channel, and the oil inlet channel is connected to the first chamber and the first oil inlet respectively.

[0011] The piston body has a first chamber and a second chamber at each end. Injecting hydraulic oil into the first and second chambers controls the extension and retraction of the piston rod. When oil is injected into the gripper cylinder through the first inlet, the hydraulic oil enters the first chamber along the inlet channel. Because the first and second chambers are separated vertically, the piston rod extends, thus controlling the gripper assembly to open. A first seal and a second seal are provided to ensure independent oil supply from the first and second inlets. When oil is supplied through the second inlet, the hydraulic oil enters the hollow cylindrical shaft along the channel of the sensor seat. A gap exists between the hollow cylindrical shaft and the sensor seat, allowing the hydraulic oil to enter the second chamber through the flow hole. At this time, the piston rod retracts relative to the main support, thus controlling the gripper assembly to close.

[0012] Preferably, the gripper assemblies are arranged in pairs, with each gripper assembly fixedly mounted on the adapter; the gripper assembly includes a pair of gripper bodies, with a plurality of connecting screws for fixed support between the two gripper bodies; the two sets of gripper assemblies are arranged opposite to each other, with one set of gripper bodies located outside the other set of gripper bodies.

[0013] Preferably, the gripper body is in the shape of an arc opening, the opening size of the two gripper assemblies is 600mm, and the gripping range of the gripper assembly is between 180-400mm.

[0014] The gripper bodies are arranged in pairs, resulting in a larger contact area and better gripping effect. The gripper bodies are fixed together by connecting screws, making the overall structure of the gripper assembly more robust. The gripping range of the gripper assembly is between 180-400mm, providing a wide gripping range.

[0015] Compared with the prior art, the present invention has the following advantages: 1. The present invention drives the adapter to rotate through the piston rod and the transmission assembly, thereby controlling the opening and closing state of the gripper assembly through the adapter, resulting in good and stable transmission effect; 2. The transmission assembly and the piston rod are both built-in, making the operation more stable and reliable; 3. Oil is supplied through the first chamber and the second chamber respectively, which facilitates the control of the extension and retraction state of the piston rod; 4. The gripper assembly has a wide clamping range and good versatility. Attached Figure Description

[0016] Figure 1 This is a perspective view of the present utility model; Figure 2 This is a perspective view of the present invention from another angle; Figure 3 This is a schematic diagram of the internal structure of the concealed gripper assembly of this utility model; Figure 4 for Figure 3 A magnified view of a portion of position A in the middle; Figure 5 for Figure 3 A magnified view of a portion of position B in the middle; Figure 6 This is an exploded view of the concealed gripper assembly of this utility model; The markings in the diagram are as follows: 1. Main support; 2. Gripper cylinder; 3. Piston rod; 31. Piston body; 32. Hollow cylindrical shaft; 33. Flow hole; 4. First chamber; 5. Second chamber; 6. First oil inlet; 7. Second oil inlet; 8. Sensor seat; 9. Oil inlet channel; 10. Adapter; 101. Mounting groove; 11. Gripper assembly; 111. Gripper body; 112. Connecting screw; 12. Transmission assembly; 121. Transmission shaft; 122. Rotary slider; 123. First through hole; 13. Pin assembly; 14. First seal; 15. Second seal. Detailed Implementation

[0017] The present invention will be further described below with reference to the embodiments shown in the accompanying drawings: like Figures 1 to 6 As shown, this embodiment discloses a large arc-shaped gripper for a robotic arm, including a main support 1, a gripper cylinder 2 fixedly mounted on the main support 1, and a piston rod 3 that can extend and retract relative to its axial direction inside the gripper cylinder 2; a first chamber 4 and a second chamber 5 are respectively provided between the gripper cylinder 2 and the piston rod 3; the gripper cylinder 2 is provided with a first oil inlet 6 communicating with the first chamber 4, and a second oil inlet 7 communicating with the second chamber 5; a hollow sensor seat 8 is also provided between the gripper cylinder 2 and the piston rod 3, and an oil inlet channel 9 communicating with the first oil inlet 6 is provided between the sensor seat 8 and the gripper cylinder 2; a transition component 10 rotatably connected to the main support 1 is provided inside the main support 1, the transition components 10 are arranged in pairs, and a gripper assembly 11 is fixedly mounted on each transition component 10; a transmission assembly 12 for transmission is provided between the piston rod 3 and the transition component 10.

[0018] The transmission assembly 12 includes a transmission shaft 121 and a pair of rotating sliders 122. The transmission shaft 121 is fixedly mounted at the end of the piston rod 3. A pin assembly 13 is provided between the adapter 10 and the main support 1 to hinge the two. The adapter 10 has a mounting groove 101 for mounting the rotating slider 122, and the adapter 10 and the rotating slider 122 can rotate relative to each other. The adapter 10 is rotatably mounted in a groove in the main support 1, and the end of the rotating slider 122 is adjacent to the inner wall of the main support 1. The rotating slider 122 is sleeved on the outer layer of the transmission shaft 121. When the piston rod 3 pushes the transmission shaft 121 to move, the rotating slider 122 drives the adapter 10 to rotate relative to the main support 1. The rotating slider 122 has a first through hole 123 for inserting the transmission shaft 121. When the transmission shaft 121 is inserted into the first through hole 123, a gap is left between the transmission shaft 121 and the inner wall of the mounting groove 101.

[0019] The main support 1 is sealed to the gripper cylinder 2, and the piston rod 3 can slide telescopically relative to the main support 1 and is sealed to the main support 1. The piston rod 3 includes a piston body 31 and a hollow cylindrical shaft 32, which are integrally formed. The upper part of the piston body 31 surrounds the inner wall of the gripper cylinder 2 to form a first chamber 4, and the piston body 31, the gripper cylinder 2, and the main support 1 surround each other to form a second chamber 5. The sensor seat 8 is fixedly installed inside the gripper cylinder 2, and the sensor seat 8 extends into the hollow cylindrical shaft 32. The sensor seat 8 is hollow, and its bottom extends into the hollow cylindrical shaft 32. A first sealing element 14 is provided between the sensor seat 8 and the inner wall of the hollow cylindrical shaft 32 for sealing. The first sealing element 14 is located between the first chamber 4 and the chamber of the hollow cylindrical shaft 32. A gap is left between the outer wall of the sensor seat 8 and the inner wall of the hollow cylindrical shaft 32. A flow hole 33 is provided in the piston body 31, which connects the chamber in the hollow cylindrical shaft 32 to the second chamber 5. A second sealing element 15 is provided between the top of the sensor seat 8 and the inner wall of the gripper cylinder 2. A second oil inlet 7 is provided on the side wall of the gripper cylinder 2, which communicates with the sensor seat 8. The side wall of the gripper cylinder 2 is also provided with a first oil inlet 6, and the first oil inlet 6 and the second oil inlet 7 are arranged side by side and adjacent to each other; the second seal 15 is arranged between the first oil inlet 6 and the second oil inlet 7; the outer wall of the sensor seat 8 and the inner wall of the gripper cylinder 2 surround each other to form an oil inlet channel 9, and the oil inlet channel 9 is connected to the first chamber 4 and the first oil inlet 6 respectively.

[0020] The gripper assemblies 11 are arranged in pairs, with each gripper assembly 11 fixedly mounted on the adapter 10. Each gripper assembly 11 includes a pair of gripper bodies 111, with several connecting screws 112 for fixed support between the two gripper bodies 111. The two sets of gripper assemblies 11 are arranged opposite each other, with one set of gripper bodies 111 positioned outside the other set. Each gripper body 111 has an arc-shaped opening, with the opening size of the two gripper assemblies 11 being 600mm, and the gripping range of each gripper assembly 11 being between 180-400mm.

[0021] The specific operation process of this embodiment is as follows: The piston body 31 has a first chamber 4 and a second chamber 5 at both ends. Injecting hydraulic oil into the first chamber 4 and the second chamber 5 controls the extension and retraction of the piston rod 3. When oil is injected into the gripper cylinder 2 through the first oil inlet 6, the hydraulic oil enters the first chamber 4 along the oil inlet channel 9. Since the first chamber 4 and the second chamber 5 are separated vertically, the piston rod 3 extends, thereby controlling the gripper assembly 11 to open. A first seal 14 and a second seal 15 are provided to ensure that the first oil inlet 6 and the second oil inlet 7 can supply oil independently. When oil is supplied through the second oil inlet 7, the hydraulic oil enters the hollow cylindrical shaft 32 along the channel of the sensor seat 8. A gap exists between the hollow cylindrical shaft 32 and the sensor seat 8, allowing the hydraulic oil to enter the second chamber 5 along the flow hole 33. At this time, the piston rod 3 retracts relative to the main support 1, thereby controlling the gripper assembly 11 to close.

[0022] When the piston rod 3 extends or retracts relative to the main support 1, it pushes the transmission shaft 121 to move up and down. Since the adapter 10 is connected to the main support 1 via the pin assembly 13, the movement of the transmission shaft 121 drives the rotating slider 122 to move. The movement of the rotating slider 122 pushes the adapter 10 to rotate relative to the main support 1, thus allowing the adapter 10 to control the opening and closing state of the gripper assembly 11. The mounting groove 101 facilitates the placement of the rotating slider 122 within the adapter 10; the first through hole 123 facilitates the installation of the transmission shaft 121. The gripper bodies 111 are arranged in pairs, resulting in a larger contact area and better gripping effect. The gripper bodies 111 are fixed together by connecting screws 112, making the overall structure of the gripper assembly 11 more robust. The gripping range of the gripper assembly 11 is between 180-400mm, providing a wide gripping range.

[0023] The specific embodiments described herein are merely illustrative examples illustrating the spirit of this utility model. Those skilled in the art to which this utility model pertains may make various modifications or additions to the described specific embodiments or use similar methods to replace them, without departing from the spirit of this utility model or exceeding the scope defined by the appended claims.

Claims

1. A large arc-shaped gripper for a robotic arm, comprising a main support (1), on which a gripper cylinder (2) is fixedly mounted, characterized in that, The gripper cylinder (2) is provided with a piston rod (3) that can extend and retract relative to its axial direction; a first chamber (4) and a second chamber (5) are respectively provided between the gripper cylinder (2) and the piston rod (3); the gripper cylinder (2) is provided with a first oil inlet (6) that communicates with the first chamber (4); the gripper cylinder (2) is also provided with a second oil inlet (7) that communicates with the second chamber (5); a hollow sensor seat (8) is also provided between the gripper cylinder (2) and the piston rod (3); an oil inlet channel (9) that communicates with the first oil inlet (6) is provided between the sensor seat (8) and the gripper cylinder (2); a transition piece (10) is provided in the main support (1) and rotates therewith; the transition pieces (10) are arranged in pairs, and a gripper assembly (11) is fixedly installed on each transition piece (10); a transmission assembly (12) for transmission is provided between the piston rod (3) and the transition piece (10).

2. The large arc-shaped gripper for a robotic arm according to claim 1, characterized in that, The transmission assembly (12) includes a transmission shaft (121) and a pair of rotating sliders (122); the transmission shaft (121) is fixedly installed at the end of the piston rod (3), and a pin assembly (13) is provided between the adapter (10) and the main support (1) to hinge the two; the adapter (10) is provided with a mounting groove (101) for mounting the rotating slider (122), and the adapter (10) and the rotating slider (122) can rotate relative to each other; the adapter (10) is rotatably installed in the groove of the main support (1), and the end of the rotating slider (122) is adjacent to the inner wall of the main support (1); the rotating slider (122) is sleeved on the outer layer of the transmission shaft (121), and when the piston rod (3) pushes the transmission shaft (121) to move, the rotating slider (122) drives the adapter (10) to rotate relative to the main support (1).

3. The large arc-shaped gripper for a robotic arm according to claim 2, characterized in that, The rotating slider (122) has a first through hole (123) for inserting the drive shaft (121). When the drive shaft (121) is inserted into the first through hole (123), there is a gap between the drive shaft (121) and the inner wall of the mounting groove (101).

4. The large arc-shaped gripper for a robotic arm according to claim 1, characterized in that, The main support (1) is sealed to the gripper cylinder (2), and the piston rod (3) can slide relative to the main support (1) and is sealed to the main support (1); the piston rod (3) includes a piston body (31) and a hollow cylindrical shaft (32), and the piston body (31) and the hollow cylindrical shaft (32) are integrally formed; the upper part of the piston body (31) and the inner wall of the gripper cylinder (2) surround each other to form a first chamber (4), and the piston body (31), the gripper cylinder (2) and the main support (1) surround each other to form a second chamber (5); the sensor seat (8) is fixedly installed in the gripper cylinder (2), and the sensor seat (8) extends into the hollow cylindrical shaft (32).

5. The large arc-shaped gripper for a robotic arm according to claim 4, characterized in that, The sensor seat (8) is hollow, and the bottom of the sensor seat (8) extends into the hollow cylindrical shaft (32); a first sealing element (14) for sealing is provided between the sensor seat (8) and the inner wall of the hollow cylindrical shaft (32), and the first sealing element (14) is provided between the first chamber (4) and the chamber of the hollow cylindrical shaft (32); a gap is left between the outer wall of the sensor seat (8) and the inner wall of the hollow cylindrical shaft (32), and a flow hole (33) is provided in the piston body (31), and the flow hole (33) respectively connects the chamber in the hollow cylindrical shaft (32) and the second chamber (5); a second sealing element (15) is provided between the top of the sensor seat (8) and the inner wall of the gripper cylinder (2), and a second oil inlet (7) that communicates with the sensor seat (8) is provided on the side wall of the gripper cylinder (2).

6. The large arc-shaped gripper for a robotic arm according to claim 5, characterized in that, The side wall of the gripper cylinder (2) is also provided with a first oil inlet (6), and the first oil inlet (6) and the second oil inlet (7) are arranged side by side and adjacent to each other; the second seal (15) is arranged between the first oil inlet (6) and the second oil inlet (7); the outer wall of the sensor seat (8) and the inner wall of the gripper cylinder (2) form an oil inlet channel (9), and the oil inlet channel (9) is connected to the first chamber (4) and the first oil inlet (6) respectively.

7. The large arc-shaped gripper for a robotic arm according to claim 1, characterized in that, The gripper assemblies (11) are arranged in pairs, and each gripper assembly (11) is fixedly mounted on the adapter (10). The gripper assembly (11) includes a pair of gripper bodies (111), and a plurality of connecting screws (112) for fixed support are provided between the two gripper bodies (111). The two sets of gripper assemblies (11) are arranged opposite to each other, and one set of gripper bodies (111) is located outside the other set of gripper bodies (111).

8. The large arc-shaped gripper for a robotic arm according to claim 7, characterized in that, The gripper body (111) is in the shape of an arc opening, the opening size of the two gripper assemblies (11) is 600mm, and the gripping range of the gripper assembly (11) is between 180-400mm.

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