High-precision manipulator with quick-mounting clamping jaw

Abstract

This utility model discloses a high-precision manipulator with quick-release grippers, including a cylinder. A symmetrical slider is slidably connected to the lower end of the cylinder. Each slider has a mounting block at its lower end, and each mounting block has a gripper on its lower side. Trapezoidal grooves are formed at opposite ends of the grippers. Trapezoidal blocks are formed on the inner ends of the mounting blocks and are inserted into longitudinally adjacent trapezoidal grooves. The manipulator also includes a fixing mechanism. The fixing mechanism includes an adjustment cavity, insertion holes, guide rods, sliding plates, and insertion rods. An adjustment cavity is formed inside each mounting block. Symmetrical guide rods are fixedly connected between the upper inner walls of the adjustment cavities. A sliding plate is slidably connected between two laterally adjacent guide rods. Symmetrical insertion rods are fixedly connected to the lower ends of the sliding plates. This high-precision manipulator with quick-release grippers requires fewer installation steps, does not require external tools, and provides a more secure gripper fixation.

Description

Technical Field

[0001] This utility model relates to the field of high-precision robotic arm technology, specifically a high-precision robotic arm with quick-release grippers. Background Technology

[0002] A high-precision robotic arm is a robotic system capable of performing minute or complex operations with extremely high precision, repeatability, and stability. It is not just a robotic arm, but also an ultra-stable and skillful hand in the modern industrial and technological fields. It is not only a tool for realizing automated production, but also a key enabling technology that drives the development of cutting-edge technologies. It is constantly breaking through the physical limits of human operation and creating miracles in the microscopic world. A high-precision robotic arm with a quick-release gripper is an industrial robot system that integrates high-precision motion control and quick-change end effector functions. The existing authorization announcement number CN223289830U2 discloses a quick-change gripper finger for a robotic arm, comprising a finger cylinder and two fixed blocks fixedly mounted on a slider of the finger cylinder. Two through holes are provided at the lower part of each fixed block, and two fasteners are detachably inserted into each of the through holes. Each fastener includes a limiting part and a rod fixedly connected to one side of the limiting part and inserted into the through hole of the fixed block. A transverse spring is sleeved on the rod inside the fixed block, and a clamping block is detachably fixedly connected to the rod inside the transverse spring. When the two clamping blocks clamp a workpiece, the clamping blocks can compress the transverse spring, and the fasteners can move relative to the through holes of the fixed blocks. This invention enables quick replacement of the clamping part of the robotic arm gripper and allows for flexible clamping of the workpiece. Existing high-precision robotic arms with quick-release grippers have the following problems: when replacing the grippers, there are many installation steps and multiple external tools are required, and the grippers are not securely fixed. Therefore, we propose a high-precision robotic arm with quick-release grippers. Utility Model Content

[0003] The technical problem to be solved by this utility model is to overcome the existing defects and provide a high-precision robotic arm with quick-release grippers. When replacing the grippers, there are fewer installation steps, no external tools are needed, and the grippers are more firmly fixed, which can effectively solve the problems in the background art.

[0004] To achieve the above objectives, this utility model provides the following technical solution: a high-precision manipulator with quick-release grippers, comprising a cylinder, wherein the lower end of the cylinder is slidably connected to a front-to-back symmetrical slider, the lower end of the slider is provided with a mounting block, the lower side of the mounting block is provided with a gripper, the opposite ends of the grippers are provided with trapezoidal grooves, the inner end of the mounting block is provided with a trapezoidal block, the trapezoidal block is inserted into the longitudinally adjacent trapezoidal groove, and a fixing mechanism is also included; The fixing mechanism includes an adjustment cavity, a insertion hole, a guide rod, a sliding plate, and a insertion rod. The mounting block has an adjustment cavity inside each of the mounting cavities. The upper inner walls of the adjustment cavities are fixedly connected to symmetrical guide rods. Sliding plates are slidably connected between two horizontally adjacent guide rods. The lower ends of the sliding plates are fixedly connected to symmetrical insertion rods. The upper ends of the claws have symmetrical insertion holes. The insertion rods are inserted into the vertically adjacent insertion holes. When replacing the claws, the installation steps are fewer, no external tools are needed, and the claws are more firmly fixed.

[0005] Furthermore, the fixing mechanism also includes a driving assembly, which includes an internal threaded cylinder and a threaded rod. The upper end of the sliding plate is fixedly connected to the internal threaded cylinder, and the threaded rod is rotatably connected to the top wall of the adjustment cavity. The threaded rod is threadedly connected to the vertically adjacent internal threaded cylinder and is connected by transmission.

[0006] Furthermore, the upper part of the mounting block is provided with strip-shaped cavities. The worm gears are fixedly connected to the upper ends of the threaded rods extending into the vertically adjacent strip-shaped cavities via rotating shafts. Worms are rotatably connected between the left and right inner walls of the strip-shaped cavities. The worm gears are meshed with the longitudinally adjacent worms to provide a transmission connection.

[0007] Furthermore, the internal hexagon heads are fixedly connected to the left end of the worm gear for easy adjustment.

[0008] Furthermore, it also includes auxiliary installation components, which include positioning grooves, positioning balls, and circular grooves. Circular grooves are respectively opened on the left and right sides of the lower end of the installation block, and positioning balls are provided on the lower side inside the circular grooves. The upper ends of the claws are respectively opened with symmetrical positioning grooves. The positioning balls are respectively installed in conjunction with the vertically adjacent positioning grooves to provide limiting.

[0009] Furthermore, the auxiliary installation assembly also includes telescopic rods and springs. Telescopic rods are fixedly connected between the top wall of the circular groove and the outer surface of the vertically adjacent positioning ball, and springs are respectively sleeved on the outside of the telescopic rods to facilitate rebound.

[0010] Furthermore, bellows are fixedly connected between the top wall of the adjustment cavity and the upper edge of the vertically adjacent internal threaded cylinder, respectively. The bellows are respectively sleeved on the outside of the threaded rod located inside the adjustment cavity for protection.

[0011] Compared with the prior art, the beneficial effects of this utility model are as follows: This high-precision robotic arm with quick-release grippers has the following advantages: The chuck is longitudinally locked by the mounting block and trapezoidal groove. Then, the chuck is positioned by the positioning groove, positioning ball, telescopic rod and compression spring. The internal hexagon head and the meshing worm gear drive the threaded rod to move the internal threaded cylinder downward, which in turn causes the sliding plate to move downward along the guide rod and precisely insert the plug rod into the plug hole, thus completely locking the chuck and the mounting block. At this time, the chuck cannot move. When replacing the chuck, the installation steps are fewer, no external tools are needed, and the chuck is more firmly fixed. Attached Figure Description

[0012] Figure 1 This is a schematic diagram of the structure of this utility model; Figure 2 This is a cross-sectional structural diagram of the present invention; Figure 3 This is an enlarged structural diagram of point A in this utility model; Figure 4 This is an enlarged structural diagram of section B of the present invention; Figure 5 This is an enlarged structural diagram of point C in this utility model.

[0013] In the diagram: 1. Cylinder, 2. Slider, 3. Mounting block, 4. Trapezoidal block, 5. Trapezoidal groove, 6. Claw, 7. Fixing mechanism, 71. Adjustment cavity, 72. Insertion hole, 73. Guide rod, 74. Sliding plate, 75. Insertion rod, 76. Drive assembly, 761. Internal threaded cylinder, 762. Threaded rod, 763. Worm gear, 764. Worm, 765. Internal hexagon head, 8. Auxiliary mounting assembly, 81. Positioning groove, 82. Positioning ball, 83. Circular groove, 84. Telescopic rod, 85. Spring, 9. Bellows. Detailed Implementation

[0014] 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.

[0015] Please see Figure 1-5This embodiment provides a technical solution: a high-precision manipulator with quick-release grippers, including a cylinder 1, with a symmetrically arranged slider 2 slidably connected to the lower end of the cylinder 1, mounting blocks 3 respectively provided at the lower end of the slider 2, grippers 6 respectively provided on the lower side of the mounting blocks 3, trapezoidal grooves 5 respectively opened at opposite ends of the grippers 6, trapezoidal blocks 4 respectively provided on the inner end of the mounting blocks 3, and trapezoidal blocks 4 respectively inserted into the longitudinally adjacent trapezoidal grooves 5, and also includes a fixing mechanism 7. When the cylinder 1 is ventilated and working, the output end of the cylinder 1 drives the symmetrically arranged slider 2 to slide along the guide rail at the lower end of the cylinder 1, and the mounting blocks 3 fixed at the lower end of the slider 2 move synchronously with the slider 2, while the grippers 6 are connected through the mounting blocks 3, finally realizing the opening and closing action of the grippers 6, and completing the clamping or releasing of the workpiece; Fixing mechanism 7: It includes an adjustment cavity 71, a insertion hole 72, a guide rod 73, a sliding plate 74, and an insertion rod 75. The mounting block 3 has an adjustment cavity 71. The upper inner walls of the adjustment cavity 71 are fixedly connected with symmetrical guide rods 73. The two horizontally adjacent guide rods 73 are slidably connected with a sliding plate 74. (The outer surface of the guide rod 73 is slidably connected to the corresponding sliding opening on the sliding plate 74. A circular limiting piece can be provided at the bottom of the guide rod 73. The diameter of the circular limiting piece is larger than the diameter of the sliding opening.) The lower end of the sliding plate 74 is fixedly connected with symmetrical insertion rods 75. The upper end of the claw 6 has symmetrical insertion holes 72. The insertion rods 75 are inserted into the vertically adjacent insertion holes 72. The sliding plate 74 will drive the insertion rods 75 to move downwards and finally accurately insert them into the insertion holes 72 at the upper end of the claw 6 to completely lock the claw 6 and the mounting block 3. At this time, the claw 6 cannot move. The fixing mechanism 7 also includes a drive assembly 76, which includes an internal threaded cylinder 761 and a threaded rod 762. The upper end of the sliding plate 74 is fixedly connected to the internal threaded cylinder 761, and the threaded rod 762 is rotatably connected to the top wall of the adjusting cavity 71. The threaded rod 762 is threadedly connected to the vertically adjacent internal threaded cylinder 761. The drive assembly 76 also includes a worm gear 763 and a worm 764. The upper end of the mounting block 3 is provided with a strip-shaped cavity, through which the worm gear 763 passes. The upper ends of the threaded rod 762, which extends vertically into the adjacent strip cavity, are fixedly connected to the rotating shaft. Worms 764 are rotatably connected between the left and right inner walls of the strip cavity. Worm wheels 763 mesh with the longitudinally adjacent worms 764. The drive assembly 76 also includes an internal hexagon head 765, which is fixedly connected to the left end of the worm 764. Bellows are fixedly connected between the top wall of the adjusting cavity 71 and the upper edge of the vertically adjacent internal threaded cylinder 761. 9. Bellows 9 are respectively sleeved on the outside of the threaded rod 762 located inside the adjusting cavity 71. (The bellows 9 protect the threaded rod 762, preventing dust from entering and ensuring the sealing and lubrication of the threaded rod 762. The worm gear 763 and worm 764 are located in the sealed space of the strip cavity, preventing dust from adhering and affecting the transmission effect. The two mounting blocks 3 are bolted to their opposite outer sides with sealing plates, which seal the strip cavity and the adjusting cavity 71. They are removed for maintenance.) Remove the sealing plate to expose the strip cavity and adjustment cavity 71 (to protect the internal transmission components). Then, turn the internal hex head 765. The internal hex head 765 drives the worm gear 764 to rotate. The worm gear 764 drives the meshing worm wheel 763 to rotate, which in turn causes the threaded rod 762 to rotate. The threaded rod 762 is threadedly connected to the internal threaded cylinder 761. The rotation of the threaded rod 762 will be converted into the axial linear motion of the internal threaded cylinder 761, which in turn drives the sliding plate 74 to move downward along the guide rod 73. It also includes an auxiliary installation component 8, which includes a positioning groove 81, a positioning ball 82, and a circular groove 83. Circular grooves 83 are respectively opened on the left and right sides of the lower end of the mounting block 3. A positioning ball 82 is located on the lower side inside the circular groove 83. The upper end of the claw 6 has symmetrically arranged positioning grooves 81. The positioning balls 82 are respectively installed in conjunction with the vertically adjacent positioning grooves 81. The auxiliary installation component 8 also includes a telescopic rod 84 and a spring 85. A telescopic rod 84 is fixedly connected between the top wall of the circular groove 83 and the outer surface of the vertically adjacent positioning ball 82. A spring 85 is sleeved on the outside of the telescopic rod 84. (The positioning ball 82 is installed at the lower end of the telescopic rod 84 by a thread. The spring 85 will lose its elasticity after long-term use and needs to be replaced. When the spring 85 needs to be replaced...) First, unscrew the positioning ball 82, then remove the spring 85 and install a new spring 85. Next, screw the positioning ball 82 back on (ensuring the elasticity of the spring 85). When installing the claw, the trapezoidal block 4 on the inner side of the mounting block 3 will precisely engage with the trapezoidal groove 5 at the opposite end of the claw 6, ensuring that the claw 6 is locked longitudinally. At the same time, the upper edge of the claw 6 first contacts the positioning ball 82 and applies upward pressure to the positioning ball 82, compressing the spring 85 and the telescopic rod 84, causing the positioning ball 82 to retract into the circular groove 83. Continue to push the positioning ball 82 until the positioning groove 81 on the claw 6 is vertically aligned with the circular groove 83 of the mounting block. At this time, the spring 85 elastically resets, pushing the positioning ball 82 out of the circular groove 83 and into the positioning groove 81, completing the mechanical positioning of the claw. At this time, the insertion rod 75 and the insertion hole 72 are in one-to-one correspondence.

[0016] The working principle of the high-precision robotic arm with quick-release grippers provided by this utility model is as follows: When installing the grippers, the trapezoidal block 4 on the inner side of the mounting block 3 will precisely insert into the trapezoidal groove 5 at the opposite end of the gripper 6, ensuring that the gripper 6 is locked longitudinally. At the same time, the upper edge of the gripper 6 first contacts the positioning ball 82 and applies upward pressure to the positioning ball 82, compressing the spring 85 and the telescopic rod 84, causing the positioning ball 82 to retract into the circular groove 83. Continue to push the positioning ball 82 until the positioning groove 81 on the gripper 6 is vertically aligned with the circular groove 83 of the mounting block. At this time, the spring 85 elastically returns to its original position, pushing the positioning ball 82 out of the circular groove 83 and into the positioning groove 81, completing the mechanical positioning of the gripper. At this time, the insertion rod 75 and the insertion hole 72 are in one-to-one correspondence. Then, the internal hex head 765 is turned. The worm gear 764 rotates, which in turn drives the meshing worm wheel 763 to rotate, thereby causing the threaded rod 762 to rotate. The threaded rod 762 is threadedly connected to the internal threaded cylinder 761. The rotation of the threaded rod 762 is converted into the axial linear motion of the internal threaded cylinder 761, which in turn drives the sliding plate 74 to move downward along the guide rod 73. The sliding plate 74 drives the insertion rod 75 to move downward, and finally precisely inserts it into the insertion hole 72 at the upper end of the chuck 6 to completely lock the chuck 6 and the mounting block 3. At this time, the chuck 6 cannot move. When the cylinder 1 is working, the output end of the cylinder 1 drives the symmetrical slider 2 to slide along the guide rail at the lower end of the cylinder 1. The mounting block 3 fixed at the lower end of the slider 2 moves synchronously with the slider 2. The chuck 6 is connected through the mounting block 3, which finally realizes the opening and closing action of the chuck 6, completing the clamping or releasing of the workpiece.

[0017] The above description is merely an embodiment of this utility model and does not limit the patent scope of this utility model. Any equivalent structural or procedural transformations made based on the description and drawings of this utility model, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this utility model.

Claims

1. A high-precision robotic arm with quick-release grippers, comprising a cylinder (1), wherein the lower end of the cylinder (1) is slidably connected to a front-to-back symmetrical slider (2), the lower end of the slider (2) is provided with mounting blocks (3), the lower side of the mounting blocks (3) is provided with grippers (6), the opposite ends of the grippers (6) are respectively provided with trapezoidal grooves (5), the inner end of the mounting blocks (3) is respectively provided with trapezoidal blocks (4), the trapezoidal blocks (4) are respectively inserted into the longitudinally adjacent trapezoidal grooves (5), characterized in that: It also includes fixed mechanisms (7); Fixing mechanism (7): It includes adjustment cavity (71), insertion hole (72), guide rod (73), sliding plate (74) and insertion rod (75). The mounting block (3) is provided with adjustment cavity (71) respectively. The upper inner wall of adjustment cavity (71) is fixedly connected with left and right symmetrical guide rod (73). The two horizontally adjacent guide rods (73) are slidably connected with sliding plate (74). The lower end of sliding plate (74) is fixedly connected with left and right symmetrical insertion rod (75). The upper end of claw (6) is provided with left and right symmetrical insertion hole (72). The insertion rod (75) is inserted into the vertically adjacent insertion hole (72) respectively.

2. The high-precision manipulator with quick-mounting clamping jaws according to claim 1, characterized in that: The fixing mechanism (7) further includes a driving assembly (76), which includes an internal threaded cylinder (761) and a threaded rod (762). The upper end of the sliding plate (74) is fixedly connected to the internal threaded cylinder (761), and the threaded rod (762) is rotatably connected to the top wall of the adjustment cavity (71). The threaded rod (762) is threadedly connected to the vertically adjacent internal threaded cylinder (761).

3. The high-precision manipulator with quick-mounting clamping jaws according to claim 2, characterized in that: The drive assembly (76) also includes a worm gear (763) and a worm (764). The upper part of the mounting block (3) is provided with a strip cavity. The worm gear (763) is fixedly connected to the upper part of the threaded rod (762) extending to the vertically adjacent strip cavity through a rotating shaft. The worm (764) is rotatably connected between the left and right inner walls of the strip cavity. The worm gear (763) is meshed with the longitudinally adjacent worm (764).

4. The high-precision manipulator with quick-mounting clamping jaws according to claim 3, characterized in that: The drive assembly (76) also includes an internal hex head (765), which is fixedly connected to the left end of the worm (764).

5. The high-precision manipulator with quick-mounting clamping jaws according to claim 1, characterized in that: It also includes an auxiliary installation component (8), which includes a positioning groove (81), a positioning ball (82) and a circular groove (83). The lower end of the mounting block (3) is provided with circular grooves (83) on the left and right sides respectively. The lower side of the circular groove (83) is provided with a positioning ball (82). The upper end of the claw (6) is provided with symmetrical positioning grooves (81) on the left and right sides respectively. The positioning ball (82) is installed in conjunction with the vertically adjacent positioning groove (81).

6. The high-precision manipulator with quick-mounting clamping jaws according to claim 5, characterized in that: The auxiliary installation component (8) also includes a telescopic rod (84) and a spring (85). The top wall of the circular groove (83) and the outer surface of the vertically adjacent positioning ball (82) are respectively fixedly connected with the telescopic rod (84), and the telescopic rod (84) is respectively fitted with a spring (85).

7. The high-precision manipulator with quick-mounting clamping jaws according to claim 2, characterized in that: A bellows (9) is fixedly connected between the top wall of the regulating cavity (71) and the upper edge of the vertically adjacent internal threaded cylinder (761). The bellows (9) are respectively sleeved on the outside of the threaded rod (762) located inside the regulating cavity (71).

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