A robot arm device having a gripping mechanism

Abstract

The application provides a mechanical arm device with a clamping mechanism, and relates to the technical field of mechanical arms, which comprises a mechanical arm body, a clamping mechanism body connected to the execution end of the mechanical arm body, a driving structure connected to the execution end of the mechanical arm body, two rotary cylinders connected to the driving structure, a connecting seat connected to the rotary end of each of the two rotary cylinders, a vacuum chuck and a connecting piece installed on the connecting seat, a clamping block connected to the connecting piece, and the connecting seat is used for rotating under the driving of the rotary cylinders to adjust the positions of the vacuum chuck and the clamping block and realize the switching of the vacuum chuck and the clamping block. The clamping mechanism body is provided, the connecting seat is used for rotating under the driving of the rotary cylinders to adjust the positions of the vacuum chuck and the clamping block, the switching of the vacuum chuck and the clamping block is realized, the switching process is simple and fast, long downtime replacement is not needed, and appropriate grabbing modes can be quickly selected according to different working conditions.

Description

Technical Field

[0001] This utility model relates to the field of robotic arm technology, and more specifically, to a robotic arm device with a clamping mechanism. Background Technology

[0002] In the field of automated production and material handling, robotic arms, as core execution devices, are widely used in various industrial scenarios. Different production conditions have put forward diverse requirements for the gripping and operation methods of robotic arms. Most existing robotic arm devices are equipped with only a single type of end effector. When production conditions change and different types of objects need to be grasped, it is often necessary to replace the entire end effector or use multiple robotic arms with different types of actuators. This not only increases equipment costs and downtime but also reduces production efficiency. Therefore, we propose an improvement by creating a robotic arm device with a gripping mechanism. Utility Model Content

[0003] This utility model provides a robotic arm device with a clamping mechanism, including a robotic arm body. The execution end of the robotic arm body is connected to a clamping mechanism body. The clamping mechanism body includes a drive structure connected to the execution end of the robotic arm body. The drive structure is connected to two rotary cylinders. Each rotary cylinder has a connecting seat connected to its rotating end. A vacuum suction cup and a connecting piece are installed on the connecting seat. A clamping block is connected to the connecting piece. The connecting seat is used to rotate under the drive of the rotary cylinders to adjust the position of the vacuum suction cup and the clamping block, thereby realizing the switching between the vacuum suction cup and the clamping block.

[0004] As a preferred technical solution of this application, the connector includes a plurality of connecting rods fixedly connected to the connecting seat, and the end of the connecting rod away from the connecting seat is connected to the clamping block.

[0005] As a preferred technical solution of this application, the connecting rod and the connecting seat are welded together, and the connecting rod and the clamping block are connected by bolts.

[0006] As a preferred technical solution of this application, the side of the clamp block away from the connecting seat is provided with an anti-slip pad.

[0007] As a preferred technical solution of this application, the anti-slip pad is made of silicone material and its surface is provided with anti-slip texture.

[0008] As a preferred technical solution of this application, the drive structure includes a mounting plate installed on the execution end of the main body of the robotic arm. Two linear cylinders are mounted on the mounting plate. The piston rods of the two linear cylinders are connected to a connecting plate, and the connecting plate is connected to a rotary cylinder.

[0009] As a preferred technical solution of this application, the rotary cylinder is connected to the connecting plate and the connecting seat by bolts.

[0010] As a preferred technical solution of this application, a limiting member is provided between the mounting plate and the two connecting plates.

[0011] As a preferred technical solution of this application, the limiting member includes a slide rail mounted on the mounting plate, and two sliders are slidably connected on the slide rail, with the two sliders respectively connected to two connecting plates.

[0012] As a preferred technical solution of this application, the mounting plate is connected to the main body of the robotic arm, the linear cylinder and the slide rail by bolts.

[0013] Compared with the prior art, the beneficial effects of this utility model are as follows: In the scheme of this application: This application features a clamping mechanism whose main body and connecting seat are rotated under the drive of a rotary cylinder to adjust the position of the vacuum suction cup and the clamping block, thereby enabling the switching between the vacuum suction cup and the clamping block. The switching process is simple and quick, requiring no lengthy downtime for replacement. It allows for the rapid selection of the appropriate gripping method according to different working conditions, shortening the preparation time in the production process and improving production efficiency. Attached Figure Description

[0014] Figure 1 A schematic diagram of the structure of the robotic arm device with a clamping mechanism provided in this application; Figure 2 A bottom view of the robotic arm device with a clamping mechanism provided in this application; Figure 3 This application provides a structural diagram illustrating the use of the clamping block. Figure 4 This is a schematic diagram of the structure when using a vacuum suction cup, as provided in this application.

[0015] The image shows: 1. Main body of the robotic arm; 2. Main body of the clamping mechanism; 201. Mounting plate; 202. Linear cylinder; 203. Connecting plate; 204. Slider; 205. Slide rail; 206. Rotary cylinder; 207. Connecting seat; 208. Vacuum suction cup; 209. Connecting rod; 210. Clamping block; 211. Anti-slip pad. Detailed Implementation

[0016] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention 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 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.

[0017] It should be noted that, unless otherwise specified, the embodiments and features and technical solutions in the present invention can be combined with each other.

[0018] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0019] For an example, please refer to... Figures 1-4 A robotic arm device with a gripping mechanism includes a robotic arm body 1. The execution end of the robotic arm body 1 is connected to a gripping mechanism body 2. The gripping mechanism body 2 includes a drive structure connected to the execution end of the robotic arm body 1. The drive structure is connected to two rotary cylinders 206. Each rotary cylinder 206 has a connecting seat 207 connected to its rotating end. A vacuum suction cup 208 and a connecting component are mounted on the connecting seat 207. A clamping block 210 is connected to the connecting component. The connecting seat 207 is used to rotate under the drive of the rotary cylinders 206 to adjust the position of the vacuum suction cup 208 and the clamping block 210, thereby switching between the vacuum suction cup 208 and the clamping block 210. The switching process is simple and fast, without the need for long downtime for replacement. The appropriate gripping method can be quickly selected according to different working conditions, shortening the preparation time in the production process and improving production efficiency.

[0020] Furthermore, the connector includes several connecting rods 209 fixedly connected to the connecting seat 207. The end of the connecting rod 209 away from the connecting seat 207 is connected to the clamping block 210. The connecting rods 209 are welded together with the connecting seat 207, and the connecting rods 209 are bolted to the clamping block 210. Since the connecting rods 209 and the clamping block 210 are bolted together, the clamping block 210 can be disassembled and replaced.

[0021] Furthermore, an anti-slip pad 211 is provided on the side of the clamping block 210 away from the connecting seat 207. The anti-slip pad 211 is made of silicone and has anti-slip texture on its surface. The anti-slip pad 211 is bonded to the clamping block 210 with glue or fixed with bolts. The anti-slip pad 211 is used to isolate the clamping block 210 from the workpiece. On the one hand, it can reduce the possibility of the clamping block 210 scratching the workpiece, and on the other hand, it can play an anti-slip role.

[0022] Furthermore, the drive structure includes a mounting plate 201 installed on the execution end of the robotic arm body 1. Two linear cylinders 202 are mounted on the mounting plate 201. The piston rods of the two linear cylinders 202 are connected to a connecting plate 203, and the connecting plate 203 is connected to a rotary cylinder 206. The linear cylinders 202 are used to drive the connecting plate 203 to move horizontally, thereby driving the rotary cylinder 206, connecting seat 207, vacuum suction cup 208, and clamping block 210 to move horizontally, so that the connecting seat 207 moves closer to or away from the workpiece.

[0023] Furthermore, the rotary cylinder 206 is connected to the connecting plate 203 and the connecting seat 207 by bolts.

[0024] Furthermore, a limiting component is provided between the mounting plate 201 and the two connecting plates 203; the limiting component includes a slide rail 205 mounted on the mounting plate 201, and two sliders 204 are slidably connected on the slide rail 205. The two sliders 204 are respectively connected to the two connecting plates 203. The sliders 204 and the slide rail 205 cooperate with each other to limit the movement trajectory of the connecting plate 203, so as to improve the stability of the connecting plate 203 when it moves.

[0025] Furthermore, the mounting plate 201 is connected to the robotic arm body 1, the linear cylinder 202, and the slide rail 205 by bolts.

[0026] The main body of the robotic arm 1, the linear cylinder 202, the rotary cylinder 206, and the vacuum suction cup 208 are all existing components, and their specific structures and control methods are all existing technologies, which will not be described in detail in this application.

[0027] The robotic arm device with a clamping mechanism provided by this utility model is used as follows: Linear cylinder 202 first drives connecting plate 203 to move in the direction of linear cylinder 202 to prevent connecting seat 207 from interfering with surrounding structures during rotation. Then, rotary cylinder 206 drives connecting seat 207 to rotate to adjust the position of vacuum suction cup 208 and clamping block 210. Clamping block 210 or vacuum suction cup 208 can be selected according to the actual situation. Figure 3 and Figure 4 As shown, after selection, when operating the workpiece, the main body 1 of the robotic arm drives the main body 2 of the clamping mechanism to move, so that the vacuum suction cup 208 or the clamping block 210 reaches the workpiece. The linear cylinder 202 pushes the connecting plate 203 to move, and the connecting plate 203 drives the rotary cylinder 206 and the connecting seat 207 to move, so that the vacuum suction cup 208 contacts the surface of the workpiece and draws a vacuum to achieve adsorption, or the anti-slip pads 211 on the two clamping blocks 210 adhere to both sides of the workpiece, and the linear cylinder 202 applies clamping force to achieve fixation. Finally, the main body 1 of the robotic arm and the main body 2 of the clamping mechanism work together to move the workpiece to the target area.

[0028] In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between them; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0029] Obviously, the embodiments described above are only some embodiments of this utility model, not all embodiments. The accompanying drawings show preferred embodiments of this utility model, but do not limit the patent scope of this utility model. This utility model can be implemented in many different forms; rather, the purpose of providing these embodiments is to provide a more thorough and comprehensive understanding of the disclosure of this utility model. Although this 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 specific embodiments, or make equivalent substitutions for some of the technical features. Any equivalent structures made using the content of this utility model specification and drawings, directly or indirectly applied to other related technical fields, are similarly within the patent protection scope of this utility model.

Claims

1. A robotic arm device with a gripping mechanism, characterized in that, The system includes a robotic arm body (1), the execution end of which is connected to a clamping mechanism body (2). The clamping mechanism body (2) includes a drive structure connected to the execution end of the robotic arm body (1). The drive structure is connected to two rotary cylinders (206). Each of the two rotary cylinders (206) has a connecting seat (207) connected to its rotating end. The connecting seat (207) is equipped with a vacuum suction cup (208) and a connector. The connector is connected to a clamping block (210). The connecting seat (207) is used to rotate under the drive of the rotary cylinders (206) to adjust the position of the vacuum suction cup (208) and the clamping block (210) and realize the switching between the vacuum suction cup (208) and the clamping block (210).

2. The robotic arm device with a clamping mechanism according to claim 1, characterized in that, The connector includes several connecting rods (209) fixedly connected to the connecting seat (207), and one end of the connecting rod (209) away from the connecting seat (207) is connected to the clamping block (210).

3. The robotic arm device with a clamping mechanism according to claim 2, characterized in that, The connecting rod (209) is welded together with the connecting seat (207), and the connecting rod (209) is connected to the clamping block (210) by bolts.

4. The robotic arm device with a clamping mechanism according to claim 1, characterized in that, The side of the clamp (210) away from the connecting seat (207) is provided with an anti-slip pad (211).

5. The robotic arm device with a clamping mechanism according to claim 4, characterized in that, The anti-slip mat (211) is made of silicone and has anti-slip texture on its surface.

6. The robotic arm device with a clamping mechanism according to claim 1, characterized in that, The drive structure includes a mounting plate (201) installed on the execution end of the robotic arm body (1). Two linear cylinders (202) are mounted on the mounting plate (201). The piston rods of the two linear cylinders (202) are connected to a connecting plate (203), and the connecting plate (203) is connected to a rotary cylinder (206).

7. The robotic arm device with a clamping mechanism according to claim 6, characterized in that, The rotary cylinder (206) is connected to the connecting plate (203) and the connecting seat (207) by bolts.

8. The robotic arm device with a clamping mechanism according to claim 7, characterized in that, A limiting element is provided between the mounting plate (201) and the two connecting plates (203).

9. The robotic arm device with a clamping mechanism according to claim 8, characterized in that, The limiting component includes a slide rail (205) mounted on a mounting plate (201), on which two sliders (204) are slidably connected, and the two sliders (204) are respectively connected to two connecting plates (203).

10. The robotic arm device with a clamping mechanism according to claim 9, characterized in that, The mounting plate (201) is connected to the main body of the robotic arm (1), the linear cylinder (202), and the slide rail (205) by bolts.

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