Parallel gripper for a robot arm

Abstract

The utility model discloses a parallel gripper for mechanical arm, including upper top shell and lower bottom shell, upper top shell is connected with lower bottom shell and forms the cavity, and the bottom detachable connection of lower bottom shell has servo motor, and servo motor output end is connected with the rotating disc in the cavity, and both sides pin shaft of rotating disc are connected with transmission connecting rod, and both sides transmission connecting rod are connected with transmission block away from rotating disc one end, is provided with the sliding block on transmission block, and the upper top shell is connected with the linear guide rail in the cavity, and the sliding block slides along the linear guide rail, and the upper top shell top surface both sides parallel opposite setting has the chuck, and the chuck detachable connection is in transmission block, and servo motor drives rotating disc rotation, and rotating disc rotates and drives transmission connecting rod to make reciprocating swing, and swing is converted into the linear motion of sliding block through transmission block, and transmission connecting rod drives the sliding block along the linear guide rail sliding through transmission block, and then drive both sides chuck relative movement clamping work piece, the utility model discloses, has simple structure and reliable performance's characteristics.

Description

Technical Field

[0001] This utility model relates to the field of robot end effector technology, specifically a parallel gripper for a robotic arm. Background Technology

[0002] In modern industrial production, robotic arm grippers are core components for operations such as workpiece grasping, handling, and assembly. By controlling the opening and closing of the grippers, robotic arms can quickly and stably grasp workpieces of different shapes and sizes.

[0003] However, existing grippers often employ complex structural designs, integrating multi-stage gear transmissions and complex hydraulic drive systems. This not only significantly increases manufacturing costs but also makes the assembly process cumbersome. The complex structure increases the failure rate of the grippers, leading to greater difficulty in daily maintenance and repair. Furthermore, the excessive number of grippers in the structure places high demands on the space required for the robotic arm during installation, limiting its application in space-constrained scenarios and making it difficult to meet the needs of different industrial scenarios.

[0004] Therefore, it is necessary to design a parallel gripper for a robotic arm that is simple in structure and reliable in performance. Utility Model Content

[0005] The purpose of this invention is to provide a parallel gripper for a robotic arm to solve the problems mentioned in the background art.

[0006] To solve the above-mentioned technical problems, this utility model provides the following technical solution: a parallel gripper for a robotic arm, comprising an upper top shell and a lower bottom shell, wherein the upper top shell and the lower bottom shell are connected to form a cavity, a servo motor is detachably connected to the bottom of the lower bottom shell, the output end of the servo motor is connected to a rotating disk inside the cavity, transmission connecting rods are connected to both sides of the rotating disk by pins, and a transmission block is connected to one end of the transmission connecting rods away from the rotating disk, a slider is provided on the transmission block, a linear guide rail is connected to the upper top shell inside the cavity, the slider slides along the linear guide rail, and grippers are arranged parallel to each other on both sides of the top surface of the upper top shell, the grippers are detachably connected to the transmission block, the servo motor drives the rotating disk to rotate, and when the rotating disk rotates, it drives the transmission connecting rods to reciprocate, the reciprocating motion is converted into linear motion of the slider through the transmission block, the transmission connecting rods drive the slider to slide along the linear guide rail through the transmission block, thereby driving the grippers on both sides to move relative to each other to clamp the workpiece.

[0007] According to the above technical solution, several photoelectric sensors are equidistantly arranged on both sides of the top surface of the upper shell, and a sensing plate is arranged around the chuck. The photoelectric sensor is provided with a sensing groove. When the sensing plate passes through the sensing groove, the photoelectric sensor uploads the displacement information of the chuck to the control system to monitor the opening and closing state of the chuck in real time.

[0008] According to the above technical solution, straight slots are provided on both sides of the top surface of the upper shell, and several sets of collet bolts are connected parallel and equidistantly on both sides of the collet. The collet bolts pass through the straight slots and are connected to the transmission block.

[0009] According to the above technical solution, the chuck can be rotated 180 degrees and fixed on the transmission block to clamp the inner wall of the workpiece.

[0010] According to the above technical solution, the transmission block is provided with a slider groove, and the slider is installed and fixed inside the slider groove.

[0011] According to the above technical solution, the servo motor is fitted with a motor mounting shell, and the motor mounting shell and the bottom shell are provided with corresponding connection holes for connecting bolts.

[0012] According to the above technical solution, the clamping end of the chuck is provided with anti-slip texture to increase friction.

[0013] Compared with the prior art, the beneficial effects achieved by this utility model are: (1) By setting up a chuck, a rotating disk, a transmission link, a transmission block, a slider, a linear guide and a servo motor, the servo motor drives the rotating disk to rotate. In conjunction with the transmission link, transmission block, slider and linear guide, the rotational motion is directly converted into the parallel linear motion of the chuck. This reduces the structure of the transmission components, reduces the complexity of the manufacturing process and the difficulty of assembly, and effectively controls the production cost. At the same time, the simplified transmission components and integrated layout greatly reduce the overall volume and weight of the gripper, making it adaptable to the load requirements and installation space limitations of various types of robotic arms. (2) By setting up photoelectric sensors and sensing plates, the opening and closing status of the chuck can be monitored in real time. Compared with the traditional open-loop control method that relies on mechanical limit or preset stroke, this design can realize dynamic adjustment of the chuck position, avoid clamping deviation, and effectively reduce the workpiece damage rate. Attached Figure Description

[0014] The accompanying drawings are provided to further illustrate the present invention and form part of the specification. They are used together with the embodiments of the present invention to explain the present invention, but do not constitute a limitation thereof. In the drawings: Figure 1 This is a schematic diagram of the structural composition of this utility model; Figure 2 This is an exploded view of the present invention; Figure 3 This is a schematic diagram of the structure of the sensing sheet and sensing groove of this utility model; In the diagram: 10. Top shell; 11. Linear guide rail; 12. Chuck; 121. Sensor plate; 122. Chuck bolt; 13. Photoelectric sensor; 131. Sensor groove; 14. Straight groove opening; 20. Bottom shell; 21. Servo motor; 211. Motor mounting shell; 212. Connecting hole; 22. Rotary disk; 221. Transmission connecting rod; 23. Transmission block; 231. Slider; 232. Slider groove; 30. Cavity. Detailed Implementation

[0015] To enable those skilled in the art to better understand the present invention, the solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the protection scope of the present invention.

[0016] This utility model provides a technical solution: a parallel gripper for a robotic arm, comprising an upper top shell 10 and a lower bottom shell 20. The upper top shell 10 and the lower bottom shell 20 are connected to form a cavity 30. A servo motor 21 is detachably connected to the bottom of the lower bottom shell 20. The output end of the servo motor 21 is connected to a rotating disk 22 inside the cavity 30. Transmission connecting rods 221 are connected to both sides of the rotating disk 22 by pins. A transmission block 23 is connected to the end of the transmission connecting rods 221 away from the rotating disk 22. A slider 231 is provided on the transmission block 23. The upper top shell 10 is connected inside the cavity 30. A linear guide rail 11 is connected, and a slider 231 slides along the linear guide rail 11. Two chucks 12 are arranged parallel to each other on the top surface of the upper shell 10. The chucks 12 are detachably connected to the transmission block 23. The servo motor 21 drives the rotary disk 22 to rotate. When the rotary disk 22 rotates, it drives the transmission link 221 to reciprocate. The reciprocating motion is converted into linear motion of the slider 231 through the transmission block 23. The transmission link 221 drives the slider 231 to slide along the linear guide rail 11 through the transmission block 23, thereby driving the two chucks 12 to move relative to each other to clamp the workpiece.

[0017] With this technical solution, the rotating disk 22, transmission link 221, transmission block 23, slider 231 and linear guide rail 11 constitute a simple and reliable transmission structure. When the servo motor 21 drives the rotating disk 22 to rotate, the transmission link 221 converts the rotational motion into linear motion, which drives the slider 231 to slide along the linear guide rail 11, thereby enabling the two clamps 12 to move synchronously and smoothly relative to each other, and accurately complete the gripping and releasing action of the material.

[0018] Furthermore, several photoelectric sensors 13 are equidistantly arranged on both sides of the top surface of the upper shell 10, and sensing plates 121 are arranged around the chuck 12. The photoelectric sensors 13 are provided with sensing grooves 131. When the sensing plate 121 passes through the sensing grooves 131, the photoelectric sensors 13 upload the displacement information of the chuck 12 to the control system to monitor the opening and closing status of the chuck 12 in real time. Through this technical solution, the photoelectric sensor 13 and the sensing plate 121 work together to capture the displacement information of the sensing plate 121 as it passes through the sensing groove 131 in real time during the opening and closing of the chuck 12, and upload it to the control system in an instant. The control system determines whether the current position of the chuck 12 meets the requirements. If an abnormality occurs, it immediately adjusts the running status of the servo motor 21 to ensure the accuracy and safety of the clamping action.

[0019] Furthermore, straight slots 14 are provided on both sides of the top surface of the upper shell 10, and several sets of collet bolts 122 are connected parallel and equidistantly on both sides of the collet 12. The collet bolts 122 pass through the straight slots 14 and are connected to the transmission block 23. With this technical solution, the collet bolt 122 passes through the straight slot 14 of the upper top shell 10, and rigidly connects the collet 12 to the transmission block 23. When the transmission block 23 is driven by the servo motor 21, it will drive the collet 12 to move synchronously through the collet bolt 122.

[0020] Furthermore, the chuck 12 can be rotated 180 degrees and fixed on the transmission block 23 to clamp the inner wall of the workpiece; This technical solution allows operators to quickly reverse the installation direction of the chuck 12 by removing the chuck bolt 122. When the chuck 12 is installed in the forward direction, conventional internal clamping operations can be performed. When the chuck 12 is installed in the reverse direction, external clamping functions can be achieved, thus improving the applicability of the gripper in diverse production scenarios.

[0021] Furthermore, a slider groove 232 is provided on the transmission block 23, and the slider 231 is installed and fixed inside the slider groove 232; Through this technical solution, the slider groove 232 limits and fixes the slider 231, preventing the slider 231 from shifting or falling off during the sliding process, and ensuring the synchronicity and stability of the parallel movement of the two clamps 12.

[0022] Furthermore, the servo motor 21 is fitted with a motor mounting shell 211, and the motor mounting shell 211 and the lower bottom shell 20 are provided with corresponding connection holes 212 for connecting bolts. With this technical solution, the motor mounting housing 211 is bolted to the lower housing 20 through the connecting hole 212, which provides reliable support and protection for the servo motor 21 and facilitates the quick disassembly and replacement of the servo motor 21, thereby improving equipment maintenance efficiency.

[0023] Furthermore, the clamping end of the chuck 12 is provided with anti-slip texture to increase friction; This technical solution increases the contact friction between the chuck 12 and the workpiece surface, preventing slippage due to the smoothness of the workpiece surface during gripping, and effectively improving the gripping reliability of the chuck.

[0024] Working principle: When the robotic arm receives the gripping command, the control system sends a start signal to the servo motor 21. The servo motor 21 starts to drive the rotating disk 22 to rotate inside the cavity 30. The transmission linkages 221 on both sides of the rotating disk 22 convert the circular motion of the rotating disk 22 into linear motion, which pulls the transmission block 23 to move along the linear guide rail 11. The slider 231 on the transmission block 23 is in close cooperation with the linear guide rail 11 to ensure that the transmission block 23 slides smoothly, thereby driving the grippers 12 on both sides to make relative linear motion and controlling the opening and closing state of the grippers. During the movement of the chuck 12, the surrounding sensing plates 121 move with the chuck 12. When they pass through the sensing groove 131 of the photoelectric sensor 13 on the top surface of the upper shell 10, the photoelectric sensor 13 feeds the displacement information back to the control system in real time, realizing dynamic monitoring and precise control of the opening and closing state of the gripper.

[0025] In the description of this utility model, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings and 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 specific orientation structure and operation, and therefore should not be construed as a limitation of this utility model; the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance. In addition, unless otherwise explicitly specified and limited, the terms "installed," "connected," and "linked" should be interpreted broadly, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be a connection within two components. For those skilled in the art, the specific meaning of the above terms in this utility model can be understood according to the specific circumstances.

[0026] In the description of this utility model, the terms "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of this utility model. In this utility model, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in a suitable manner in any one or more embodiments or examples. Furthermore, those skilled in the art can combine different embodiments or examples and features of different embodiments or examples described in this utility model without contradiction.

[0027] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A parallel gripper for a robotic arm, comprising an upper top shell (10) and a lower bottom shell (20), characterized in that: The upper top shell (10) and the lower bottom shell (20) are connected to form a cavity (30). A servo motor (21) is detachably connected to the bottom of the lower bottom shell (20). The output end of the servo motor (21) is connected to a rotating disk (22) inside the cavity (30). A transmission connecting rod (221) is connected to both sides of the rotating disk (22) by pins. A transmission block (23) is connected to one end of the transmission connecting rod (221) away from the rotating disk (22). A slider (231) is provided on the transmission block (23). A linear guide rail (11) is connected to the upper top shell (10) inside the cavity (30). The slider (231) moves along the linear guide rail (11). The linear guide (11) slides inside. The top surface of the upper shell (10) is provided with chucks (12) on both sides. The chucks (12) are detachably connected to the transmission block (23). The servo motor (21) drives the rotating disk (22) to rotate. When the rotating disk (22) rotates, it drives the transmission link (221) to swing back and forth. The swing is converted into the linear motion of the slider (231) through the transmission block (23). The transmission link (221) drives the slider (231) to slide along the linear guide (11) through the transmission block (23), thereby driving the chucks (12) on both sides to move relative to each other to clamp the workpiece.

2. The parallel gripper for a robotic arm according to claim 1, characterized in that: Several photoelectric sensors (13) are equidistantly arranged on both sides of the top surface of the upper shell (10). A sensing plate (121) is arranged around the clamp (12). A sensing groove (131) is provided on the photoelectric sensor (13). When the sensing plate (121) passes through the sensing groove (131), the photoelectric sensor (13) uploads the displacement information of the clamp (12) to the control system to monitor the opening and closing state of the clamp (12) in real time.

3. The parallel gripper for a robotic arm according to claim 1, characterized in that: The top shell (10) has straight slots (14) on both sides of its top surface. Several sets of collet bolts (122) are connected parallel and equidistantly on both sides of the collet (12). The collet bolts (122) pass through the straight slots (14) and are connected to the transmission block (23).

4. A parallel gripper for a robotic arm according to claim 3, characterized in that: The chuck (12) can be rotated 180 degrees and fixed on the transmission block (23) to clamp the inner wall of the workpiece.

5. A parallel gripper for a robotic arm according to claim 1, characterized in that: The transmission block (23) has a slider groove (232), and the slider (231) is installed and fixed inside the slider groove (232).

6. A parallel gripper for a robotic arm according to claim 1, characterized in that: The servo motor (21) is fitted with a motor mounting shell (211), and the motor mounting shell (211) and the lower bottom shell (20) are provided with corresponding connecting holes (212) for connecting bolts.

7. A parallel gripper for a robotic arm according to claim 1, characterized in that: The clamping end of the chuck (12) is provided with anti-slip texture to increase friction.

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