A micro robot arm

Abstract

The utility model relates to the field of micro -mechanical arm discloses a micro -mechanical arm, including drive arm, the lower surface of drive arm is provided with drive board, the bottom of drive board is provided with clamping component, clamping component includes mounting plate, the lower surface of drive board is installed in mounting plate, the inner surface of mounting plate is fixedly installed with pivot through quick -detachable component, the outer wall rotation of pivot is connected with connecting block, the right surface fixed connection of connecting block has clamping plate, in the utility model, through the cooperation of each component in clamping component, can promote the clamping stability to special-shaped workpiece, when clamping, the clamping plate can rotate around the pivot, makes the clamping block to adhere to the surface of the workpiece that is clamped, and the clamping block can slide along the arc -shaped guide groove and produce autorotation by the guide block, further adhere to the surface of the workpiece that is clamped, ensure the clamping point balance, ensure the clamping stability, and the design of the wave -shaped clamping surface can enhance the pressure of the clamping point, enhance the clamping stability.

Description

Technical Field

[0001] This utility model relates to the field of micro robotic arms, and more particularly to a micro robotic arm. Background Technology

[0002] In fields such as industrial manufacturing and precision assembly, robotic arms, as components of automated operations, directly determine production efficiency and quality. With the increasing demand for refined operations in the industry, miniature robotic arms, with their advantages of small size and flexible movement, are gradually being applied to scenarios such as electronic component assembly and small parts sorting.

[0003] As a component of a micro robotic arm that holds workpieces, the gripper's gripping stability is crucial. Although conventional grippers can hold workpieces, there are still problems that need to be improved in actual use.

[0004] Conventional grippers typically have fixed clamping surfaces, which can be inadequate when clamping spherical, curved, or irregularly shaped workpieces. On one hand, the clamping surfaces of the grippers are difficult to adapt to the surfaces of these workpieces, making it difficult to guarantee the contact points during clamping. This can result in a large difference in the number of clamping points between the grippers and different positions on the workpiece surface, leading to uneven force distribution and difficulty in ensuring clamping stability. Utility Model Content

[0005] To overcome the above shortcomings, this utility model provides a miniature robotic arm, which aims to improve the problem that conventional grippers in the prior art have fixed gripping surfaces, making it difficult to adapt to spherical, arc-shaped and irregularly shaped workpieces, resulting in uneven force and difficulty in ensuring stability during gripping.

[0006] To achieve the above objectives, the present invention adopts the following technical solution: a micro robotic arm, including a drive arm, a drive plate is provided on the lower surface of the drive arm, and a clamping assembly is provided at the bottom end of the drive plate; The clamping assembly includes a mounting plate, which is mounted on the lower surface of the drive plate. A rotating shaft is fixedly mounted on the inner surface of the mounting plate via a quick-release assembly. A connecting block is rotatably connected to the outer wall of the rotating shaft. A clamping plate is fixedly connected to the right surface of the connecting block. A guide groove is formed on the right surface of the clamping plate. A guide block is slidably connected to the inner wall of the guide groove. A clamping block is fixedly connected to the right surface of the guide block. A baffle is fixedly connected to the top of the left surface of the rotating shaft.

[0007] As a further description of the above technical solution: The quick-release assembly includes a plug block, which is fixedly connected to the upper surface of the rotating shaft. The lower surface of the mounting plate has a plug hole, and the inner surface of the plug block has a through mounting hole. Bolts are fixedly installed on the inner surface of the mounting plate.

[0008] As a further description of the above technical solution: The clamping assembly is provided in two sets, and the two sets of clamping assemblies are symmetrically distributed about the center line of the drive plate.

[0009] As a further description of the above technical solution: The guide groove is arc-shaped, and the cross-section of the guide groove from front to back is "T-shaped". The guide block is set in "T-shape".

[0010] As a further description of the above technical solution: The right surface of the clamping block is wavy, and the clamping block is semi-disc shaped.

[0011] As a further description of the above technical solution: The right surface of the clamping block protrudes from the right surface of the clamping plate.

[0012] As a further description of the above technical solution: The plug is inserted into the inner wall of the socket, and the upper surface edge of the plug has a chamfer.

[0013] As a further description of the above technical solution: The bolt penetrates the inner surface of the mounting hole.

[0014] This utility model has the following beneficial effects: 1. In this utility model, the clamping stability of irregular workpieces can be improved by the cooperation of various components in the clamping assembly. During clamping, the clamping plate can rotate around the pivot, so that the clamping block is in contact with the surface of the workpiece being clamped. The clamping block can also rotate by sliding along the arc-shaped guide groove with the guide block, further in contact with the surface of the workpiece, ensuring balanced clamping points and clamping stability. In addition, the design of the wavy clamping surface can enhance the pressure at the clamping points and enhance clamping stability.

[0015] 2. In this utility model, the rotating shaft can be removed by unscrewing the bolt and pulling out the insert block under the action of the quick-release component, so as to realize the quick disassembly of the clamping block. By inserting the insert block and the insertion hole and tightening the bolt, the clamping block can be quickly installed, realizing the quick replacement of the worn clamping block and improving the convenience and practicality of the device. Attached Figure Description

[0016] Figure 1 This is a front view of the three-dimensional structure of the overall device in this utility model; Figure 2 This is a bottom view of the three-dimensional structure of the drive plate and clamping assembly in this utility model; Figure 3 This is a three-dimensional cross-sectional diagram of the clamping component and quick-release component in this utility model. Figure 4 This is a three-dimensional cross-sectional diagram of the clamping component in this utility model.

[0017] Legend: 1. Drive arm; 2. Drive plate; 3. Clamping assembly; 31. Rotary shaft; 32. Connecting block; 33. Clamping plate; 34. Guide groove; 35. Guide block; 36. Clamping block; 37. Baffle; 38. Mounting plate; 4. Quick release assembly; 41. Bolt; 42. Insertion block; 43. Insertion hole; 44. Mounting hole. Detailed Implementation

[0018] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0019] Reference Figure 1 - Figure 3 The present invention provides an embodiment of a micro robotic arm, comprising a drive arm 1, which is a drive unit on the micro robotic arm and is existing technology that can be implemented by those skilled in the art. The drive arm 1 is used to drive the clamping assembly 3 to move so that the clamping assembly 3 can be aligned with the workpiece to be clamped. A drive plate 2 is provided on the lower surface of the drive arm 1. The drive plate 2 is existing technology that can be implemented by those skilled in the art. The drive plate 2 is used to drive the movement of the clamping assembly 3. The bottom end of the drive plate 2 is provided with a clamping assembly 3 for clamping and fixing the workpiece. The clamping assembly 3 can stably clamp workpieces of different shapes.

[0020] Reference Figure 2 - Figure 4 The clamping assembly 3 includes a mounting plate 38, which is mounted on the lower surface of the drive plate 2. The top of the mounting plate 38 is located inside the drive plate 2, and the drive plate 2 can drive the mounting plate 38 to move left and right. A rotating shaft 31 is fixedly mounted on the inner surface of the mounting plate 38 through a quick-release assembly 4. Under the action of the quick-release assembly 4, the rotating shaft 31 can be flexibly disassembled and assembled. A connecting block 32 is rotatably connected to the outer wall of the rotating shaft 31. A clamping plate 33 is fixedly connected to the right surface of the connecting block 32. Both the clamping plate 33 and the connecting block 32 rotate around the axis of the rotating shaft 31. A guide groove 34 is provided on the right surface of the clamping plate 33. A guide block 35 is slidably connected to the inner wall of the guide groove 34. A clamping block 36 is fixedly connected to the right surface of the guide block 35. The clamping block 36 is the clamping part and directly contacts the workpiece. A baffle 37 is fixedly connected to the top of the left surface of the rotating shaft 31. The front half and the rear half of the baffle 37 are mirror images of each other. The baffle 37 can block the clamping plate 33 and limit the rotation angle of the clamping plate 33.

[0021] Reference Figure 2 - Figure 4 The clamping components 3 are provided in two sets, which are symmetrically distributed about the center line of the drive plate 2. Under the drive of the drive plate 2, the two sets of clamping components 3 can move towards or away from each other. The technology of the drive plate 2 driving the mounting plate 38 is a very common technical means in the field and can be implemented by those skilled in the art, so it will not be described in detail. Each set of clamping components 3 has two rotating shafts 31, connecting blocks 32, and clamping plates 33, which are symmetrically distributed about the center line of the mounting plate 38 in each set of clamping components 3. Each clamping plate 33 has two clamping blocks 36, which are symmetrically distributed about the center line of the clamping plate 33. The guide groove 34 is symmetrically distributed front and back, and is arc-shaped. The cross-section of the guide groove 34 from front to back is "T-shaped". The guide block 35 is also set in "T-shape". The "T-shaped" cross-section of the guide groove 34 can prevent the guide block 35 from slipping and loosening. The right surface of the clamping block 36 is set in a wave shape. Under the same clamping force, the pressure at the clamping point is greater, which can ensure the stability of the clamping point. The clamping block 36 is set in a semi-disc shape. The right surface of the clamping block 36 protrudes from the right surface of the clamping plate 33. The center of the clamping block 36 and the guide groove 34 coincide, which allows the clamping block 36 to rotate and fit against the surface of the workpiece during the clamping process.

[0022] Reference Figure 1 - Figure 3 The quick-release assembly 4 includes a plug 42, which is fixedly connected to the upper surface of the rotating shaft 31. The lower surface of the mounting plate 38 has a plug hole 43, and the inner surface of the plug 42 has a through mounting hole 44. The inner surface of the mounting plate 38 is fixedly mounted with a bolt 41.

[0023] Reference Figure 1 - Figure 3 The plug 42 is inserted into the inner wall of the socket 43. The upper surface edge of the plug 42 is chamfered. The chamfer facilitates the insertion of the plug 42 and the socket 43. The bolt 41 passes through the inner surface of the mounting hole 44 and can fix the plug 42.

[0024] Working principle: When using this device, the drive arm 1 first moves the drive plate 2 and the clamping assembly 3, aligning the clamping assembly 3 with the workpiece to be clamped. When the workpiece is located in the gap between the adjacent surfaces of the clamping blocks 36 in the two sets of clamping assemblies 3, the drive plate 2 is activated to move the mounting plates 38 on both sides closer together. The mounting plates 38 will then drive the quick-release assembly 4, the rotating shaft 31, the connecting block 32, the clamping plate 33, and the clamping blocks 36 to move synchronously. When the clamping blocks 36 on both sides come together, they will move closer to the workpiece. When the clamping blocks 36 contact the workpiece, the clamping plate 33 will rotate around the axis of the rotating shaft 31 due to the pushing force, causing the clamping blocks 36 to rotate and fit against the surface of the workpiece. When the clamping plate 33 rotates, the clamping blocks 36 will also drive the guide block 35 to slide along the trajectory of the guide groove 34 due to the pushing force. The clamping blocks 36 will rotate on their own, further fitting against the surface of the clamped workpiece, ensuring the contact point with the workpiece during clamping, and enhancing the stability of the clamped workpiece with an arc or irregular shape. In addition, the design of the wavy clamping surface of the clamping blocks 36 can enhance the pressure at the clamping point under the same clamping force, further enhancing the clamping stability.

[0025] After clamping, the workpiece can be transferred to the designated placement position under the action of the drive arm 1. Then the drive plate 2 drives the clamping assembly 3 to open, placing the workpiece in place, making it convenient to clamp the next workpiece.

[0026] During prolonged clamping, the clamping surface of the clamping block 36 will wear out and need to be replaced. When replacing, unscrew the bolt 41 to disengage it from the contact and mounting hole 44, release the limit on the insert block 42, and then pull out the insert block 42 to complete the disassembly. When installing, align the insert block 42 with the insertion hole 43 and insert it. After insertion, use the bolt 41 to fix it.

[0027] Finally, it should be noted that the above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Although the present utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. 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.

Claims

1. A miniature robotic arm, comprising a drive arm (1), characterized in that: The lower surface of the drive arm (1) is provided with a drive plate (2), and the bottom end of the drive plate (2) is provided with a clamping assembly (3). The clamping assembly (3) includes a mounting plate (38), which is mounted on the lower surface of the drive plate (2). A rotating shaft (31) is fixedly mounted on the inner surface of the mounting plate (38) via a quick-release assembly (4). A connecting block (32) is rotatably connected to the outer wall of the rotating shaft (31). A clamping plate (33) is fixedly connected to the right surface of the connecting block (32). A guide groove (34) is provided on the right surface of the clamping plate (33). A guide block (35) is slidably connected to the inner wall of the guide groove (34). A clamping block (36) is fixedly connected to the right surface of the guide block (35). A baffle (37) is fixedly connected to the top of the left surface of the rotating shaft (31).

2. The miniature robotic arm according to claim 1, characterized in that: The quick-release assembly (4) includes a plug (42), which is fixedly connected to the upper surface of the rotating shaft (31). The lower surface of the mounting plate (38) is provided with a plug hole (43), and the inner surface of the plug (42) is provided with a mounting hole (44). The inner surface of the mounting plate (38) is fixedly installed with a bolt (41).

3. A miniature robotic arm according to claim 1, characterized in that: The clamping assembly (3) is provided in two sets, and the two sets of clamping assemblies (3) are symmetrically distributed on the left and right sides with respect to the center line of the drive plate (2).

4. A miniature robotic arm according to claim 1, characterized in that: The guide groove (34) is arc-shaped, and the cross-section of the guide groove (34) from front to back is "T-shaped". The guide block (35) is set in "T-shaped".

5. A miniature robotic arm according to claim 1, characterized in that: The right surface of the clamp (36) is wavy, and the clamp (36) is semi-disc shaped.

6. A miniature robotic arm according to claim 1, characterized in that: The right surface of the clamping block (36) protrudes from the right surface of the clamping plate (33).

7. A miniature robotic arm according to claim 2, characterized in that: The insert (42) is inserted into the inner wall of the socket (43), and the upper surface edge of the insert (42) is chamfered.

8. A miniature robotic arm according to claim 2, characterized in that: The bolt (41) penetrates the inner surface of the mounting hole (44).

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