High-rigidity self-adapting mechanical hand clamping structure

Abstract

The utility model belongs to mechanical hand technical field especially is a kind of high rigidity self-adapting mechanical hand clamping structure. Including mobile base structure, the top of mobile base structure is provided with control mechanical arm structure, the movable end of control mechanical arm structure is provided with self-adapting type spherical part clamping mechanical hand structure. By setting self-adapting type spherical part clamping mechanical hand structure, inflatable resistance device is inflated and deflated by inlaying air cushion, adjusts the pressure distribution of contact surface, ensures that spherical part is evenly stressed when being grabbed, avoids the slippage phenomenon caused by excessive local pressure, and four sets of clamping claw devices are arranged in annular alignment, the angle adjustment of clamping cover shell is realized by the extension of electric push rod, so that the arc inner side of clamping cover shell is closely combined with the surface of spherical part, so that the structure utilizes the synergies of inflatable resistance device and clamping claw device, and different diameter spherical part can be stably grabbed.

Description

Technical Field

[0001] This utility model relates to the field of robotic arm technology, specifically a high-rigidity adaptive robotic arm gripping structure. Background Technology

[0002] Robots are widely used in mechanical production. They are common in both assembly line production and machining. The structure of robots varies depending on the specific work requirements.

[0003] Spherical parts have wide applications in various mechanical equipment fields. Due to their spherical shape, these parts lack traditional clamping surfaces or gripping areas, making them difficult to hold stably in automated production processes. Currently, commonly used robotic arm designs cannot adequately meet the picking needs of spherical parts of different diameters. Uneven gripping force distribution or limited contact area often leads to slippage or inaccurate positioning of spherical parts during gripping or handling.

[0004] Therefore, we propose a high-rigidity adaptive robotic gripper structure to solve the above problems. Utility Model Content

[0005] To address the shortcomings of existing technologies, this invention provides a high-rigidity adaptive robotic gripper structure, which solves the problems mentioned in the background section.

[0006] To achieve the above objectives, this utility model specifically adopts the following technical solution: A high-rigidity adaptive robotic gripper structure includes a movable base structure, a control robotic arm structure is provided at the top of the movable base structure, and an adaptive spherical part gripper structure is provided at the movable end of the control robotic arm structure. The adaptive spherical part clamping robot structure includes a connecting bolt, an inflatable abutment device is fixedly installed at the bottom end of the connecting bolt, and four sets of clamping claw devices are provided on the outer edge of the inflatable abutment device.

[0007] Furthermore, a hinge is bolted to the top of the connecting bolt, and the connecting bolt is connected to the movable end of the control robotic arm structure via the hinge.

[0008] Furthermore, the inflatable abutment device includes a mounting base block, an air pump is fixedly mounted on the top of the mounting base block, an arc-shaped top cover is fixedly mounted on the bottom of the mounting base block, and an inflation tube is fixedly mounted at the center of the arc-shaped top cover.

[0009] Furthermore, a control valve is provided inside the inflation tube, an embedded air cushion is provided on the inner side of the arc-shaped top cover, the inflation tube is connected to an air pump, and the other end of the inflation tube is connected to the embedded air cushion.

[0010] Furthermore, a connecting flange is fixedly installed on the top of the mounting base block, the top of the connecting flange is connected to the bottom of the connecting bolt, the air pump is located inside the connecting flange, and an air exchange port is opened on the side wall of the connecting flange.

[0011] Furthermore, the clamping claw device includes an outer block, and four sets of outer blocks are arranged in a ring along the outer edge of the mounting base. The other end of the outer block is hinged to a clamping cover and an electric push rod. The electric push rod is located inside the clamping cover, and the movable end of the electric push rod is rotatably connected to the inner wall of the clamping cover.

[0012] Furthermore, a connecting side plate is fixedly installed on the side end of the clamping cover, and an inspection cover is movably engaged at the notch between the clamping cover and the connecting side plate, the inspection cover being located diagonally above the electric push rod.

[0013] Furthermore, the inner surface of the clamping cover is an arc surface, and the bottom end of the inner surface of the clamping cover is provided with an abutment block, which is a soft silicone grease block.

[0014] Compared with the prior art, this utility model provides a high-rigidity adaptive robotic gripper structure, which has the following beneficial effects: This invention features an adaptive spherical part gripping robot structure. The inflatable contact device adjusts the pressure distribution on the contact surface by inflating and deflating the embedded air cushion, ensuring uniform force on the spherical part during gripping and preventing slippage due to excessive local pressure. Simultaneously, four sets of gripping claws are arranged in a ring, and the angle of the gripping cover is adjusted by the extension and retraction of an electric push rod, ensuring that the arc-shaped inner side of the gripping cover fits tightly against the surface of the spherical part. This structure, through the synergistic effect of the inflatable contact device and the gripping claws, enables stable gripping of spherical parts of different diameters.

[0015] Furthermore, the soft silicone grease contact blocks located at the bottom inner side of the clamping housing not only enhance friction but also effectively protect the surface of spherical parts from scratches or crush damage. This design significantly improves the adaptability and reliability of the robot in automated production, making it particularly suitable for complex production environments requiring frequent changes in workpiece dimensions. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the structure of this utility model; Figure 2 This is a schematic diagram of the adaptive spherical part clamping robot of this utility model; Figure 3 This is a bottom view of the adaptive spherical part clamping robot structure of this utility model; Figure 4This is a schematic diagram of the inflatable abutment device of this utility model; Figure 5 This is a bottom view of the inflatable contact device of this utility model; Figure 6 This is a schematic diagram of the clamping claw device of this utility model.

[0017] In the diagram: 1. Movable base structure; 2. Control robotic arm structure; 3. Adaptive spherical part gripping robotic arm structure; 301. Connecting bolt; 302. Hinge; 303. Inflatable contact device; 304. Gripping claw device; 305. Mounting block; 306. Air pump; 307. Connecting flange; 308. Air vent; 309. Inflating pipe; 310. Arc-shaped top cover; 311. Embedded air cushion; 312. External block; 313. Gripping cover; 314. Electric push rod; 315. Connecting side plate; 316. Inspection cover; 317. Contact corner block. 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. Example

[0019] like Figure 1-6 As shown, an embodiment of the present invention proposes a high-rigidity adaptive robotic gripper structure, including a movable base structure 1, a control robotic arm structure 2 at the top of the movable base structure 1, and an adaptive spherical part gripper structure 3 at the movable end of the control robotic arm structure 2.

[0020] The adaptive spherical part clamping robot structure 3 includes a connecting bolt 301, an inflatable abutment device 303 is fixedly installed at the bottom end of the connecting bolt 301, and four sets of clamping claw devices 304 are provided on the outer edge of the inflatable abutment device 303.

[0021] The inflatable abutment device 303 includes a mounting base 305. An air pump 306 is fixedly mounted on the top of the mounting base 305, and an arc-shaped top cover 310 is fixedly mounted on the bottom of the mounting base 305. An inflation pipe 309 is fixedly mounted at the center of the arc-shaped top cover 310. A control valve is provided inside the inflation pipe 309. An embedded air cushion 311 is provided on the inner side of the arc-shaped top cover 310. The inflation pipe 309 is connected to the air pump 306, and the other end of the inflation pipe 309 is connected to the embedded air cushion 311.

[0022] After the spherical part is clamped by the four sets of clamping claw devices 304, there will still be some gaps between the spherical part and the arc-shaped top cover 310, as well as between the spherical part and the clamping claw devices 304. Therefore, the inflatable abutment device 303 is needed at this time.

[0023] After the spherical part is firmly clamped by four sets of symmetrically distributed clamping claw devices 304, due to the existence of machining accuracy and assembly tolerance, there will still be a certain degree of small gaps between the outer surface of the spherical part and the inner wall of the arc-shaped top cover 310, as well as between the spherical part and the contact surface between each clamping claw device 304.

[0024] To ensure the tightness and stability of the assembly, the pneumatic contact device 303 needs to be activated at this time. The flexible material is expanded by air pressure, which effectively fills these process gaps and achieves a gapless fit between the parts and the assembly.

[0025] The vacuum pump 306 can effectively inflate and de-inflate the embedded air cushion 311, thereby dynamically adjusting the degree of expansion of the embedded air cushion 311. When it is necessary to grasp a spherical part, the vacuum pump 306 is activated, and gas is injected into the embedded air cushion 311 through the inflation pipe 309, causing it to gradually expand and contact the top surface of the spherical part.

[0026] At the same time, the control valve can precisely adjust the gas flow rate according to actual needs, ensuring that the pressure of the embedded air cushion 311 is kept within a reasonable range.

[0027] like Figure 2 As shown, in some embodiments, the top end of the connecting bolt 301 is connected to a hinge 302 by a bolt, and the connecting bolt 301 is connected to the movable end of the control robot arm structure 2 through the hinge 302.

[0028] Specifically, the connecting bolt 301 is connected to the movable end of the control robot arm structure 2 through the hinge 302. This connection method enables the adaptive spherical part clamping robot arm structure 3 to rotate flexibly within a certain angle range.

[0029] When the control robot arm structure 2 moves the gripping robot structure to the target position, the hinge 302 can automatically adjust the angle of the gripping robot structure to ensure that it maintains the best contact posture with the surface of the spherical part.

[0030] In actual operation, the flexibility of the hinge 302 not only improves the adaptability of the gripping robot structure to different working conditions, but also effectively reduces the risk of gripping failure caused by deviation of the robot arm's motion trajectory.

[0031] In addition, the bolted connection design facilitates disassembly and maintenance. When the hinge 302 or the connecting bolt 301 wears out, it can be quickly replaced, thereby improving the overall service life and operating efficiency of the equipment.

[0032] like Figure 4 As shown, in some embodiments, a connecting flange 307 is fixedly installed on the top of the mounting base 305, the top of the connecting flange 307 is connected to the bottom of the connecting bolt 301, the air pump 306 is located inside the connecting flange 307, and an air exchange port 308 is provided on the side wall of the connecting flange 307.

[0033] Specifically, the design of the connecting flange 307 not only enhances the stability of the structure, but also provides good protection and support for the air pump 306.

[0034] The air exchange port 308 allows the air pump 306 to exchange gases with the outside environment during operation, ensuring smooth inflation and deflation processes.

[0035] like Figure 6 As shown, in some embodiments, the gripper device 304 includes an outer block 312. Four sets of outer blocks 312 are arranged in a ring along the outer edge of the mounting base 305. The other end of the outer block 312 is hinged to a gripping cover 313 and an electric push rod 314. The electric push rod 314 is located inside the gripping cover 313, and the movable end of the electric push rod 314 is rotatably connected to the inner wall of the gripping cover 313.

[0036] Specifically, the electric push rod 314 drives the clamping housing 313 to adjust its angle around the hinge point through its telescopic movement. This design allows the clamping housing 313 to automatically adapt to the size and shape of the spherical part, ensuring the stability and reliability of the clamping process.

[0037] During the clamping process, the rotating connection between the movable end of the electric push rod 314 and the inner wall of the clamping cover 313 effectively disperses the force and avoids local stress concentration.

[0038] Meanwhile, the four sets of gripping claw devices 304 are arranged in a ring-shaped array, which can form a uniform gripping force distribution around the spherical part, thereby further improving the gripping effect.

[0039] like Figure 6 As shown, in some embodiments, a connecting side plate 315 is fixedly installed on the side end of the clamping cover 313, and an inspection cover 316 is movably engaged at the notch between the clamping cover 313 and the connecting side plate 315. The inspection cover 316 is located diagonally above the electric push rod 314.

[0040] Specifically, the movable snap-fit ​​design of the inspection cover 316 not only facilitates quick disassembly and installation, but also effectively prevents external dust or impurities from entering the clamping cover 313 and affecting the normal operation of the electric push rod 314.

[0041] This design allows operators to easily open the access cover 316 without using any tools to inspect or maintain the internal components.

[0042] Furthermore, the inspection cover 316 is positioned diagonally above the electric push rod 314. This layout avoids interference with the overall structure of the gripper device 304 while ensuring convenience during maintenance.

[0043] Meanwhile, in conjunction with the soft silicone grease contact blocks 317, the clamping cover 313 not only provides higher friction but also effectively protects the surface of spherical parts from scratches or crush damage, thereby meeting the needs of high-precision production environments.

[0044] like Figure 6 As shown, in some embodiments, the inner surface of the clamping cover 313 is an arc surface, and the bottom end of the inner surface of the clamping cover 313 is provided with an abutment block 317, which is a soft silicone grease block.

[0045] Specifically, the arc-shaped design of the inner side of the clamping housing 313 further enhances its fit with the surface of the spherical part. The arc-shaped design makes the clamping force distribution more uniform, avoiding the stress concentration problem that may occur in traditional clamping methods.

[0046] The 317 soft silicone grease-based contact blocks effectively absorb some of the impact force during clamping, reducing direct pressure on the surface of spherical parts. This design not only improves the safety of the clamping process but also compensates for minor unevenness on the surface of spherical parts to a certain extent, making the clamping more stable.

[0047] During use, the mobile base structure 1 is equipped with a built-in power supply and controller, which enables the mobile base structure 1 to continuously supply power to the control robotic arm structure 2 and the adaptive spherical part clamping robotic hand structure 3. Furthermore, the models and principles of the mobile base structure 1 and the control robotic arm structure 2 are existing technologies.

[0048] The bottom of the mobile base structure 1 is equipped with adjustable feet, which are used to adjust the height and level of the entire device; the joints of the control robotic arm structure 2 are equipped with angle sensors, which are connected to the controller to monitor the posture of the robotic arm in real time.

[0049] In operation, the adaptive spherical part gripper structure 3 has a built-in power supply that provides stable power to each component, while the controller is responsible for coordinating the actions of each component.

[0050] When it is necessary to transfer the spherical part, the mobile base structure 1 is activated and sends a command through its internal controller to control the robotic arm structure 2 to perform initial positioning.

[0051] The control robot arm structure 2 adjusts its angle and position according to the preset path, and moves the adaptive spherical part clamping robot arm structure 3 to above the target spherical part.

[0052] At this time, the hinge 302 will automatically fine-tune the angle of the gripping robot according to the actual position of the spherical part to ensure the accuracy of the gripping operation.

[0053] Subsequently, the four sets of gripper devices 304 begin to move under the drive of the electric push rod 314, gradually approaching the spherical part.

[0054] The telescopic movement of the electric push rod 314 causes the clamping cover 313 to adjust its angle, so that its arc-shaped inner side can fit tightly against the surface of the spherical part.

[0055] At the same time, the soft silicone grease-material contact block 317 makes initial contact with the surface of the spherical part, providing initial stable support and preventing surface damage.

[0056] After the clamping claw device 304 completes the initial clamping, due to the existence of machining accuracy and assembly tolerance, there will still be a certain degree of small gaps between the outer surface of the spherical part and the inner wall of the arc-shaped top cover 310, as well as between the spherical part and the contact surface of each clamping claw device 304.

[0057] To ensure the tightness and stability of the assembly, the inflation contact device 303 needs to be activated. The air pump 306 injects gas into the embedded air cushion 311 through the inflation pipe 309, causing it to gradually expand and form a tight contact with the top surface of the spherical part.

[0058] The control valve precisely regulates the gas flow rate to ensure that the pressure of the embedded air cushion 311 is appropriate, thereby filling the tiny gap between the spherical part and the clamping device and achieving a gapless fit.

[0059] Once the clamping is complete, the moving base structure 1 restarts, controlling the robotic arm structure 2 to transfer the spherical part to the target position. The entire process is efficient and stable, fully demonstrating the high rigidity and adaptive characteristics of the clamping structure.

[0060] In summary, by setting up an adaptive spherical part gripping robot structure 3, the inflatable contact device 303 adjusts the pressure distribution of the contact surface through the inflation and deflation of the embedded air cushion 311, ensuring that the spherical part is subjected to uniform force when gripped, and avoiding slippage caused by excessive local pressure. At the same time, the four sets of gripping claw devices 304 are arranged in a ring, and the angle of the gripping cover 313 is adjusted by the extension and retraction of the electric push rod 314, so that the arc-shaped inner side of the gripping cover 313 is closely attached to the surface of the spherical part. This structure, by utilizing the synergistic effect of the inflatable contact device 303 and the gripping claw devices 304, can achieve stable gripping of spherical parts of different diameters.

[0061] It should be noted that the specific models and specifications of the air pump 306 and electric push rod 314 in the high-rigidity adaptive robotic gripper structure need to be selected and determined according to the actual specifications of the device. The specific selection calculation method adopts the existing technology in this field, so it will not be described in detail.

[0062] Furthermore, the power supply and operating principle of the air pump 306 and electric push rod 314 in the high-rigidity adaptive robotic gripper structure are clear to those skilled in the art and will not be described in detail here.

[0063] Furthermore, the working principle and wiring method of the air pump 306 and electric push rod 314 in the high-rigidity adaptive robotic gripper structure are commonplace and belong to conventional means or common knowledge. They will not be elaborated here. Those skilled in the art can make any selections according to their needs or convenience.

[0064] It should be noted that parts have a lifespan and can be replaced during regular maintenance when they no longer meet performance requirements. Deterioration in performance due to prolonged use of parts is not a design defect of this application.

[0065] Finally, it should be noted that the above description is merely a preferred embodiment of this utility model and is not intended to limit the utility model. Although the 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 this utility model should be included within the protection scope of this utility model.

Claims

1. A high-rigidity self-adapting mechanical hand clamping structure comprising a moving base structure (1), characterized in that: The top of the mobile base structure (1) is provided with a control robotic arm structure (2), and the movable end of the control robotic arm structure (2) is provided with an adaptive spherical part clamping robotic hand structure (3). The adaptive spherical part clamping robot structure (3) includes a connecting bolt (301), and an inflatable abutment device (303) is fixedly installed at the bottom end of the connecting bolt (301). Four sets of clamping claw devices (304) are provided on the outer edge of the inflatable abutment device (303).

2. The high-rigidity self-adapting mechanical hand gripping structure according to claim 1, characterized in that: The top of the connecting bolt (301) is connected to a hinge (302) by a bolt, and the connecting bolt (301) is connected to the movable end of the control robot arm structure (2) through the hinge (302).

3. The high-rigidity self-adapting mechanical hand gripping structure according to claim 1, characterized in that: The inflatable contact device (303) includes a mounting base (305), a vacuum pump (306) is fixedly installed at the top of the mounting base (305), an arc-shaped top cover (310) is fixedly installed at the bottom of the mounting base (305), and an inflation tube (309) is fixedly installed at the center of the arc-shaped top cover (310).

4. The high-rigidity adaptive robotic gripper structure according to claim 3, characterized in that: The inflation tube (309) is equipped with a control valve inside, and the inner side of the arc-shaped top cover (310) is equipped with an embedded air cushion (311). The inflation tube (309) is connected to the air pump (306), and the other end of the inflation tube (309) is connected to the embedded air cushion (311).

5. The high-rigidity self-adapting mechanical hand gripping structure according to claim 3, characterized in that: A connecting flange (307) is fixedly installed on the top of the mounting base (305). The top of the connecting flange (307) is connected to the bottom of the connecting bolt (301). The air pump (306) is located inside the connecting flange (307). An air exchange port (308) is opened on the side wall of the connecting flange (307).

6. The high-rigidity self-adapting mechanical hand gripping structure according to claim 1, characterized in that: The clamping claw device (304) includes an outer block (312). Four sets of outer blocks (312) are arranged in a ring on the outer edge of the mounting base (305). The other end of the outer block (312) is hinged to a clamping cover (313) and an electric push rod (314). The electric push rod (314) is located inside the clamping cover (313), and the movable end of the electric push rod (314) is rotatably connected to the inner wall of the clamping cover (313).

7. The high-rigidity self-adapting mechanical hand gripping structure according to claim 6, characterized in that: A connecting side plate (315) is fixedly installed on the side end of the clamping cover (313). A maintenance cover (316) is movably engaged at the notch between the clamping cover (313) and the connecting side plate (315). The maintenance cover (316) is located diagonally above the electric push rod (314).

8. The high-rigidity self-adapting mechanical hand gripping structure according to claim 6, characterized in that: The inner side of the clamping cover (313) is an arc surface, and the bottom end of the inner side of the clamping cover (313) is provided with an abutment block (317), which is a soft silicone grease block.

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