A claw structure of a robot arm

Abstract

The utility model relates to robot technical field provides a kind of claw structure of robot mechanical arm, comprising: round seat, still include: sliding slot one, set up in the outer surface of the round seat.The utility model, by the motor is started under the controller control, make its output shaft drive screw rod rotate, then under the action of screw rod and push block screw connection, and under the cooperation of the limit guiding of sliding slot two to push block, can make push block move upwards along the outer surface of screw rod, make push block slide upwards along the inside of sliding slot two, and exert an effort to movable block, make two movable blocks opposite inside sliding slot one to slide to outside, simultaneously drive round rod three, connecting block, claw main body, rubber pad and push assembly to one side, the interval of two claw main body is adjusted, so it can be properly adjusted according to the thickness of object, to facilitate the clamping and fixing of claw main body to different thickness of article, to improve the applicability of claw main body.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, and in particular to a gripper structure for a robotic arm. Background Technology

[0002] A robot is an intelligent machine capable of semi-autonomous or fully autonomous operation. Robots can perform tasks such as work or movement through programming and automatic control; unlike humans or other living beings, they possess intelligent abilities similar to those of humans or other living organisms, such as perception, planning, movement, and coordination, making them highly flexible automated machines.

[0003] In existing technology, such as Chinese Patent No. CN221021052U, a robot gripper structure is described, including a connector, a gripper platform, a left gripper, and a right gripper. The clamping assembly includes a push rod and a return spring. Pull straps are provided on the surfaces of the push rod, the left gripper, and the right gripper. The pull straps serve as a limit, preventing excessive gripping stroke and thus reducing the gripping force applied by the left and right grippers to the object surface. They also buffer the opening and closing of the left and right grippers, reducing the cumulative impact damage and increasing the gripper's operating time. Furthermore, when the anti-slip grooves on the anti-slip surface contact the object, under the applied force, a portion of the object is squeezed into the anti-slip grooves. The serrations inside the anti-slip grooves then clamp the object's surface, reducing the probability of slippage and increasing gripping force. This lowers the probability of the object falling to the ground and being damaged during gripping.

[0004] While the above solution has the advantages mentioned above, its disadvantages are as follows: although it can use a pull strap to limit the movement of the left and right grippers and prevent them from opening and closing too far, thus reducing the gripping force applied to the object surface by the left and right grippers, the gripping surfaces of the left and right grippers are in a parallel state when they hold the object. This makes the thickness of the object held by the left and right grippers relatively fixed, and it cannot hold and fix objects of different thicknesses, thus resulting in low applicability of the grippers. Utility Model Content

[0005] The purpose of this invention is to solve the problem in the prior art that, although the pull strap can be used to limit the movement of the left and right grippers and prevent them from opening and closing too much, thus reducing the gripping force applied by the left and right grippers to the object surface, the gripping surfaces of the left and right grippers are in a parallel state when they grip the object. This makes the thickness of the object gripped by the left and right grippers relatively fixed, and it is not possible to grip and fix objects of different thicknesses, resulting in low applicability of the grippers.

[0006] To achieve the above objectives, this utility model adopts the following technical solution: a gripper structure for a robot arm, comprising: a circular base, and further comprising:

[0007] A first sliding groove is formed on the outer surface of the circular base. Two movable blocks are symmetrically slidably connected inside the first sliding groove. An opening groove is formed on the top of the movable block. A circular rod is fixedly connected to one side of the inner wall of the opening groove. A connecting block is rotatably connected to the outer surface of the circular rod. A pawl body is fixedly connected to one side of the connecting block. A pushing block is movably arranged inside the first sliding groove. A second sliding groove is formed on the inner wall of the movable block. The outer surface of the pushing block is slidably connected to the two second sliding grooves. A lead screw is rotatably connected to the center of the circular base. The lead screw is threadedly connected to the pushing block. A motor is fixedly connected to the bottom of the circular base. The output end of the motor is fixedly connected to one end of the lead screw. A pushing assembly is provided on the outer surface of the circular base.

[0008] Preferably, the pushing component includes two fixed blocks, which are fixedly connected to the movable block, and an opening slot is provided on one side of the fixed block.

[0009] Preferably, a round rod is fixedly connected to one side of the inner wall of the opening groove, and an electric telescopic rod is rotatably connected to the outer surface of the round rod.

[0010] Preferably, a square groove is provided on one side of the connecting block, and a round rod is fixedly connected to the opposite side of the inner wall of the square groove. The round rod is rotatably connected to the electric telescopic rod.

[0011] Preferably, the pushing block is configured as an isosceles triangle and the second sliding groove is configured as an inclined shape.

[0012] Preferably, a mounting plate is fixedly connected to the bottom of the circular base, and the outer surface of the mounting plate has multiple heat dissipation holes arranged in a circumferential array.

[0013] Preferably, a rubber pad is fixedly connected to one side of the claw body, and the rubber pad is configured in a wavy shape.

[0014] Compared with the prior art, the advantages and positive effects of this utility model are as follows:

[0015] 1. This utility model controls the motor to start via a controller, causing its output shaft to drive the lead screw to rotate. Then, under the action of the threaded connection between the lead screw and the push block, and with the cooperation of the sliding groove two in limiting and guiding the push block, the push block can move upward along the outer surface of the lead screw, allowing the push block to slide upward along the inside of the sliding groove two, and applying a force to the movable block, causing the two movable blocks to slide outward along the inside of the sliding groove one in opposite directions. Simultaneously, it drives the round rod three, connecting block, claw body, rubber pad, and pushing assembly to move to one side, adjusting the distance between the two claw bodies. This allows for appropriate adjustment according to the thickness of the object, facilitating the clamping and fixing of items of different thicknesses by the claw body, thereby improving the applicability of the claw body.

[0016] 2. This utility model uses a controller to activate the electric telescopic rod, causing it to extend and apply a thrust to the second round rod. This causes the connecting block to rotate upwards around the outer surface of the third round rod, allowing the two claw bodies to clamp and fix the item. With the help of the rubber pad, it can achieve a good anti-slip effect. Simultaneously, both ends of the electric telescopic rod rotate around the first and second round rods at appropriate angles, thus allowing the claw bodies to clamp and fix the item. Attached Figure Description

[0017] Figure 1 A schematic diagram of the gripper structure of a robot arm provided by this utility model;

[0018] Figure 2 A cross-sectional schematic diagram of the gripper structure of a robot arm provided by this utility model;

[0019] Figure 3 A side view of the disassembled gripper structure of a robot arm provided by this utility model;

[0020] Figure 4 This is a split, bottom-view structural diagram of the gripper structure of a robot arm provided by this utility model.

[0021] Legend:

[0022] 1. Mounting plate; 2. Round base; 3. Movable block; 4. Connecting block; 5. Claw body; 6. Rubber pad; 7. Fixing block; 8. Round rod one; 9. Electric telescopic rod; 10. Round rod two; 11. Square groove; 12. Opening groove one; 13. Pushing block; 14. Motor; 15. Lead screw; 16. Round rod three; 17. Opening groove two; 18. Slide groove one; 19. Slide groove two; 20. Heat dissipation hole. Detailed Implementation

[0023] To better understand the above-mentioned objectives, features, and advantages of this utility model, the present utility model will be further described below with reference to the accompanying drawings and embodiments. It should be noted that, unless otherwise specified, the embodiments and features described in these embodiments can be combined with each other.

[0024] Many specific details are set forth in the following description in order to provide a full understanding of the present invention. However, the present invention may also be implemented in other ways different from those described herein. Therefore, the present invention is not limited to the specific embodiments disclosed in the following specification.

[0025] Examples, such as Figure 1-4 As shown, this utility model provides a gripper structure for a robot arm, including: a circular base 2, and further including: a first groove 18, which is formed on the outer surface of the circular base 2. Two movable blocks 3 are symmetrically slidably connected inside the first groove 18. An opening groove 2 17 is formed on the top of the movable block 3. A circular rod 3 16 is fixedly connected to the opposite side of the inner wall of the opening groove 2 17. A connecting block 4 is rotatably connected to the outer surface of the circular rod 3 16. A gripper body 5 is fixedly connected to one side of the connecting block 4. A pushing block 13 is movably arranged inside the first groove 18. A second groove 19 is formed on the inner wall of the movable block 3. The outer surface of the pushing block 13 is slidably connected to the two second grooves 2 19. A lead screw 15 is rotatably connected to the center of the circular base 2. The lead screw 15 is threadedly connected to the pushing block 13. A motor 14 is fixedly connected to the bottom of the circular base 2. The output end of the motor 14 is fixedly connected to one end of the lead screw 15. A pushing component is provided on the outer surface of the circular base 2.

[0026] Furthermore, such as Figure 1-4 As shown, the pushing component includes two fixed blocks 7, which are fixedly connected to the movable block 3. An opening slot 12 is provided on one side of the fixed block 7. With the above configuration, when the movable block 3 moves to one side, it can drive the fixed block 7 to move to one side.

[0027] Furthermore, such as Figure 1-4 As shown, a round rod 8 is fixedly connected to one side of the inner wall of the opening slot 12, and an electric telescopic rod 9 is rotatably connected to the outer surface of the round rod 8. With the above arrangement, the electric telescopic rod 9 can rotate around the outer surface of the round rod 8 at an appropriate angle.

[0028] Furthermore, such as Figure 1-4 As shown, a square groove 11 is provided on one side of the connecting block 4. A round rod 10 is fixedly connected to the opposite side of the inner wall of the square groove 11. The round rod 10 is rotatably connected to the electric telescopic rod 9. With the above arrangement, when the electric telescopic rod 9 extends or retracts, a force can be applied to the round rod 10, and it can rotate around the round rod 10 at an appropriate angle.

[0029] Furthermore, such as Figure 1-4As shown, the push block 13 is configured as an isosceles triangle and the slide groove 19 is configured as an inclination. With the above configuration, when the push block 13 moves upward or upward, it can slide upward or downward along the inside of the slide groove 19 to apply a pushing or pulling force to the movable block 3.

[0030] Furthermore, such as Figure 1-4 As shown, the bottom of the circular base 2 is fixedly connected to the mounting plate 1. The outer surface of the mounting plate 1 is provided with multiple heat dissipation holes 20 in a circumferential array. The heat dissipation holes 20 facilitate the dissipation of heat generated by the motor 14 during operation.

[0031] Furthermore, such as Figure 1-4 As shown, a rubber pad 6 is fixedly connected to one side of the claw body 5. The rubber pad 6 is wavy in shape, which can achieve a good anti-slip effect.

[0032] Working principle: In use, when it is necessary to adjust the clamping distance between the two jaw bodies 5, the controller starts the motor 14, causing its output shaft to drive the lead screw 15 to rotate. Then, under the action of the threaded connection between the lead screw 15 and the push block 13, and with the cooperation of the sliding groove 19 limiting and guiding the push block 13, the push block 13 can move upward along the outer surface of the lead screw 15, and slide upward along the inside of the sliding groove 19, applying a force to the movable block 3, causing the two movable blocks 3 to slide outward along the inside of the sliding groove 18 in opposite directions. Simultaneously, the round rod 16, connecting block 4, jaw body 5, rubber pad 6, and pushing assembly move to one side, thereby adjusting the distance between the two jaw bodies 5. This allows for appropriate adjustment based on the object's thickness, facilitating the gripper body 5 to clamp and fix items of varying thicknesses, thereby improving the applicability of the gripper body 5. The controller activates the electric telescopic rod 9, extending it and applying a thrust to the second round rod 10, causing the connecting block 4 to rotate upwards around the outer surface of the third round rod 16. This allows the two gripper bodies 5 to clamp and fix the item, and with the cooperation of the rubber pad 6, a good anti-slip effect is achieved. Simultaneously, both ends of the electric telescopic rod 9 rotate at appropriate angles around the first round rod 8 and the second round rod 10, respectively, thus enabling the gripper bodies 5 to clamp and fix the item. The heat dissipation holes 20 facilitate the cooling of the heat generated by the motor 14 during operation.

[0033] The above are merely preferred embodiments of this utility model and are not intended to limit the utility model in any other way. Any person skilled in the art may make changes or modifications to the above-disclosed technical content to create equivalent embodiments for application in other fields. However, any simple modifications, equivalent changes, and modifications made to the above embodiments based on the technical essence of this utility model without departing from the technical solution of this utility model shall still fall within the protection scope of this utility model.

Claims

1. A gripper structure for a robotic arm, comprising: The round base (2) is characterized in that it further includes: A sliding groove (18) is formed on the outer surface of the circular seat (2). Two movable blocks (3) are symmetrically slidably connected inside the sliding groove (18). An opening groove (17) is formed on the top of the movable block (3). A circular rod (16) is fixedly connected to the opposite side of the inner wall of the opening groove (17). A connecting block (4) is rotatably connected to the outer surface of the circular rod (16). A pawl body (5) is fixedly connected to one side of the connecting block (4). A pusher is movably arranged inside the sliding groove (18). The extrusion block (13) has a sliding groove (19) on its inner wall. The outer surface of the extrusion block (13) is slidably connected to the inside of the two sliding grooves (19). A lead screw (15) is rotatably connected to the center of the round seat (2). The lead screw (15) is threadedly connected to the extrusion block (13). A motor (14) is fixedly connected to the bottom of the round seat (2). The output end of the motor (14) is fixedly connected to one end of the lead screw (15). A pushing component is provided on the outer surface of the round seat (2).

2. The gripper structure of a robot arm according to claim 1, characterized in that: The pushing component includes two fixed blocks (7), which are fixedly connected to the movable block (3). An opening slot (12) is provided on one side of the fixed block (7).

3. The gripper structure of a robotic arm according to claim 2, characterized in that: A round rod (8) is fixedly connected to one side of the inner wall of the opening groove (12), and an electric telescopic rod (9) is rotatably connected to the outer surface of the round rod (8).

4. The gripper structure of a robotic arm according to claim 3, characterized in that: A square groove (11) is provided on one side of the connecting block (4), and a round rod (10) is fixedly connected to the opposite side of the inner wall of the square groove (11). The round rod (10) is rotatably connected to the electric telescopic rod (9).

5. The gripper structure of a robotic arm according to claim 3, characterized in that: The pushing block (13) is configured in an isosceles triangular shape, and the second slide (19) is configured in an inclined shape.

6. The gripper structure of a robotic arm according to claim 3, characterized in that: The bottom of the circular base (2) is fixedly connected to the mounting plate (1), and the outer surface of the mounting plate (1) is provided with a plurality of heat dissipation holes (20) in a circumferential array.

7. The gripper structure of a robot arm according to claim 1, characterized in that: A rubber pad (6) is fixedly connected to one side of the claw body (5), and the rubber pad (6) is configured in a wavy shape.

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