A robotic arm centering and positioning gripper

Abstract

This utility model discloses a centering and positioning gripper for a robotic arm, including a mounting base, a single-power drive device, a linkage transmission mechanism, a first-direction gripper assembly, and a second-direction gripper assembly. The linkage transmission mechanism includes a main connecting rod, side connecting rods, and a long connecting rod. One end of the long connecting rod is connected to the output end of the single-power drive device, and the other end is connected to the main connecting rod via an elastic mechanism. The side connecting rods are symmetrically arranged on both sides of the main connecting rod via a rotating shaft mechanism. The first-direction gripper assembly includes four grippers connected to the side connecting rods, used for centering and positioning the product in a first direction. The second-direction gripper assembly includes a movable pressure block and a fixed pressure block, respectively located on the side of the long connecting rod away from the main connecting rod and on the side of the mounting base near the main connecting rod, used for clamping the product in a second direction after positioning in the first direction.

Description

Technical Field

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

[0002] With the continuous improvement of industrial automation, robotic arms, as an important component of automated production lines, directly impact production efficiency and product quality through the performance of their end effectors—the grippers. In automated production, precise positioning and gripping of products are crucial for ensuring machining accuracy and assembly quality.

[0003] Currently, the grippers commonly used in industrial production are mainly divided into two categories: one is a single-direction gripping mechanism, and the other is a multi-direction positioning gripping mechanism. Single-direction gripping mechanisms have a simple structure but limited positioning accuracy; multi-direction positioning gripping mechanisms can achieve higher positioning accuracy, but they are often complex in structure and require multiple drive sources.

[0004] Existing robotic grippers typically require multiple drive sources (such as cylinders and motors) to control gripping actions in different directions when achieving multi-directional positioning. This not only increases system complexity but also results in a bulky overall structure, complex pneumatic and electrical connections, and hinders the lightweighting and simplification of the device. Furthermore, the coordinated control between multiple drive sources increases the system's control difficulty, affecting positioning accuracy and work efficiency. Therefore, designing a robotic gripper that is simple in structure, lightweight, easy to control, and capable of achieving precise multi-directional positioning has become an urgent technical problem to be solved. Utility Model Content

[0005] To solve the above problems, this utility model provides a robotic arm centering and positioning gripper, comprising:

[0006] Mounting base for connection to the main body of the robotic arm;

[0007] A single-power drive unit, fixed to the mounting base, is used to provide power;

[0008] The linkage transmission mechanism includes a main connecting rod, a side connecting rod, and a long connecting rod; one end of the long connecting rod is connected to the output end of the single power drive device, and the other end of the long connecting rod is connected to the long connecting rod through an elastic mechanism; the side connecting rods are symmetrically arranged on both sides of the main connecting rod through a rotating shaft mechanism.

[0009] The first direction gripper assembly includes four grippers connected to the side connecting rod, and is used to center and position the product in the first direction.

[0010] The second-direction gripper assembly includes a movable clamping block and a fixed clamping block. The movable clamping block is located on the side of the long connecting rod away from the main connecting rod, and the fixed clamping block is located on the side of the mounting base close to the main connecting rod. It is used to clamp the product in the second direction after positioning in the first direction.

[0011] Furthermore, the main connecting rod and the side connecting rod are fitted with sliding sleeves, which are fixedly connected to the mounting base to guide the direction of the connecting rod movement and provide support.

[0012] Furthermore, the rotating mechanism includes six rotating shafts to ensure that the four grippers move synchronously in the first direction.

[0013] Furthermore, all six rotating shaft mechanisms are connected by bearings to reduce motion friction and ensure the synchronous movement accuracy of the grippers.

[0014] Furthermore, the surfaces of both the first and second directional gripper assemblies are provided with anti-slip textures or a soft material layer to increase gripping stability.

[0015] Furthermore, the single-power drive device is a cylinder, whose piston rod is fixedly connected to a long connecting rod, and the linkage transmission mechanism is driven by the extension and retraction movement of the piston rod.

[0016] Furthermore, the single-power drive device sequentially drives the first-direction gripper assembly and the second-direction gripper assembly through telescopic movement to achieve product positioning in the XY direction.

[0017] Furthermore, the elastic mechanism is a compression spring, with one end connected to a long connecting rod and the other end connected to a main connecting rod, used to adjust the dimensional positioning in the second direction and provide a continuous clamping force.

[0018] Compared with the prior art, the beneficial effects of this utility model are:

[0019] This invention provides a robotic arm centering and positioning gripper. The invention features a lightweight and simple structure, achieving precise XY-axis positioning of the product using a single cylinder, reducing the number of air circuits and overall weight. It achieves bidirectional positioning within a small volume, saving space. The spring and linkage mechanism design adapts to product dimensional tolerances, ensuring the product is clamped in both XY directions. The elastic coefficient of the elastic mechanism can be adjusted according to product dimensional tolerances, improving the adaptability and accuracy of the device. The single-power drive device of this invention achieves precise product positioning through an opening alignment stage, a first-direction positioning stage, and a second-direction positioning stage, effectively solving the technical problems of complex structures and heavy weight in traditional positioning mechanisms. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 This is a schematic diagram of the planar structure of a centering and positioning gripper for a robotic arm according to this application;

[0022] Figure 2 This is a side view of the centering and positioning gripper of a robotic arm according to this application;

[0023] Figure 3 This is a schematic diagram of the structure of the cylinder extending from the centering and positioning gripper of a robotic arm according to this application;

[0024] Figure 4 This is a schematic diagram of the retraction of the cylinder in the centering and positioning gripper of a robotic arm according to this application;

[0025] Figure 5 This is a schematic diagram of the structure of the cylinder of the centering and positioning gripper of the robot arm that continues to retract in this application. Detailed Implementation

[0026] The following detailed description of preferred embodiments of the present invention, along with the included examples, will make the content of the present invention more readily understood. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. In case of any conflict, the definitions in this specification shall prevail.

[0027] 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.

[0028] It will be understood by those skilled in the art that, unless otherwise defined, all terms used herein (including technical and scientific terms) have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. It should also be understood that terms such as those defined in general dictionaries should be understood to have the same meaning as in the context of the prior art, and should not be interpreted in an idealized or overly formal sense unless defined as herein.

[0029] In the description of this utility model, "and / or" means either the existence of each individually or the existence of both simultaneously.

[0030] In the description of this utility model, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product of this utility model is in use. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model. In addition, the terms "first," "second," and "third," etc., are only used to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0031] Furthermore, terms such as "horizontal," "vertical," and "sag" do not imply that components must be absolutely horizontal or suspended, but rather that they can be slightly tilted. For example, "horizontal" simply means that its direction is more horizontal relative to "vertical," and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0032] In the description of this utility model, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0033] This utility model protects a centering and positioning gripper for a robotic arm, such as Figures 1-2 As shown, it includes:

[0034] Mounting base 1 is used to connect to the main body of the robotic arm;

[0035] A single-power drive unit 2 is fixed on the mounting base 1 and is used to provide power;

[0036] The linkage transmission mechanism 3 includes a main connecting rod 3-1, a side connecting rod 3-2, and a long connecting rod 3-3; one end of the long connecting rod 3-3 is connected to the output end of the single power drive device 2, and the other end of the long connecting rod 3-3 is connected to the long connecting rod 3-3 through an elastic mechanism 4; the side connecting rod 3-2 is symmetrically arranged on both sides of the main connecting rod 3-1 through a rotating shaft mechanism 5;

[0037] The first direction gripper assembly includes four grippers 6, which are connected to the side connecting rod 3-2 and are used to center and position the product in the first direction.

[0038] The second-direction gripper assembly includes a movable pressure block 7 and a fixed pressure block 8. The movable pressure block 7 is located on the side of the long connecting rod 3-3 away from the main connecting rod 3-1, and the fixed pressure block 8 is located on the side of the mounting base 1 close to the main connecting rod 3-1. It is used to clamp the product in the second direction after positioning in the first direction.

[0039] In one specific embodiment, the mounting base 1, made of aluminum alloy, is used to connect to the main body of the robot arm. It features high strength and light weight, facilitating installation and use. The mounting base 1 has multiple mounting holes for securing the single-power drive unit 2 and other components. The bottom of the mounting base 1 is designed as a flat structure, allowing for stable mounting onto the main body of the robot arm and ensuring the stability of the entire gripper device.

[0040] In one specific embodiment, the main connecting rod 3-1 has a pivot hole in the middle for connecting with the side connecting rod 3-2.

[0041] In one specific embodiment, the main connecting rod 3-1 and the side connecting rod 3-2 are fitted with sliding sleeves, which are fixedly connected to the mounting base 1 to guide the direction of the connecting rod movement and provide support.

[0042] In one specific implementation, the rotating shaft mechanism includes six rotating shafts to ensure that the four grippers 6 move synchronously in the first direction.

[0043] In one specific implementation, all six rotating shaft mechanisms are connected by bearings to reduce motion friction and ensure the synchronous movement accuracy of the gripper 6.

[0044] In one specific embodiment, the surfaces of both the first directional gripper assembly and the second directional gripper assembly are provided with anti-slip textures or a soft material layer to increase gripping stability.

[0045] In one specific embodiment, the single power drive device 2 is a cylinder, whose piston rod is fixedly connected to the long connecting rod 3-3, and the linkage transmission mechanism 3 is driven by the extension and retraction movement of the piston rod.

[0046] In one specific embodiment, the single-power drive device 2 drives the first direction gripper assembly and the second direction gripper assembly in sequence through telescopic movement to achieve product positioning in the XY direction.

[0047] In one specific embodiment, the elastic mechanism is a compression spring, with one end connected to a long connecting rod 3-3 and the other end connected to a main connecting rod 3-1, used to adjust the dimensional positioning in the second direction and provide a continuous clamping force.

[0048] like Figures 3-5 The single-power drive unit 2 sequentially drives the first-direction gripper assembly and the second-direction gripper assembly through telescopic movement, achieving product positioning in the XY directions. When the piston rod of the cylinder extends, it first drives the long connecting rod 3-3 forward. The long connecting rod 3-3 pushes the main connecting rod 3-1 forward through an elastic mechanism. The main connecting rod 3-1 drives the side connecting rod 3-2 inward through a rotating shaft. The side connecting rod 3-2 drives the four grippers 6 inward, clamping and positioning the product in the first direction. After the four grippers 6 clamp the product, the main connecting rod 3-1 and the side connecting rod 3-2 stop moving. The piston rod of the cylinder continues to extend, the compression spring is compressed, and the long connecting rod 3-3 continues to move forward, driving the movable pressure block 7 to move towards the fixed pressure block 8, clamping the product in the second direction. When the piston rod of the cylinder retracts, the movable pressure block 7 moves away from the fixed pressure block 8, releasing the clamping force on the product in the second direction. Then, the spring releases the pressure, pushing the main connecting rod 3-1 to move backward. The main connecting rod 3-1 drives the side connecting rod 3-2 to move outward, and the side connecting rod 3-2 drives the four grippers 6 to move outward, releasing the clamping force on the product in the first direction.

[0049] The robotic arm positioning gripper in this embodiment uses a single power drive device to sequentially drive the first direction gripper assembly and the second direction gripper assembly to achieve product positioning in the XY direction. It has a simple structure, is easy to control, and has high positioning accuracy, making it suitable for gripping and positioning products of various shapes and sizes.

[0050] Note that the above description is merely a preferred embodiment of the present invention and the technical principles employed. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and various obvious changes, readjustments, and substitutions can be made without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in detail through the above embodiments, the present invention is not limited to the above embodiments, and may include many other equivalent embodiments without departing from the concept of the present invention. The scope of the present invention is determined by the scope of the appended claims.

Claims

1. A centering and positioning gripper for a robotic arm, characterized in that, include: Mounting base for connection to the main body of the robotic arm; A single-power drive unit, fixed to the mounting base, is used to provide power; The linkage transmission mechanism includes a main connecting rod, a side connecting rod, and a long connecting rod; One end of the long connecting rod is connected to the output end of the single power drive device, and the other end of the long connecting rod is connected to the long connecting rod through an elastic mechanism; the side connecting rods are symmetrically arranged on both sides of the main connecting rod through a rotating shaft mechanism; The first direction gripper assembly includes four grippers connected to the side connecting rod, and is used to center and position the product in the first direction. The second-direction gripper assembly includes a movable clamping block and a fixed clamping block. The movable clamping block is located on the side of the long connecting rod away from the main connecting rod, and the fixed clamping block is located on the side of the mounting base close to the main connecting rod. It is used to clamp the product in the second direction after positioning in the first direction.

2. The robotic arm centering and positioning gripper according to claim 1, characterized in that, The main connecting rod and the side connecting rod are fitted with sliding sleeves, which are fixedly connected to the mounting base and are used to guide the movement direction of the connecting rod and provide support.

3. The robotic arm centering and positioning gripper according to claim 1, characterized in that, The rotating mechanism includes six rotating shafts to ensure that the four grippers move synchronously in the first direction.

4. The robotic arm centering and positioning gripper according to claim 3, characterized in that, All six rotating shaft mechanisms are connected by bearings to reduce motion friction and ensure the synchronous movement accuracy of the grippers.

5. The robotic arm centering and positioning gripper according to claim 1, characterized in that, The surfaces of both the first-direction gripper assembly and the second-direction gripper assembly are provided with anti-slip textures or a soft material layer to increase gripping stability.

6. The robotic arm centering and positioning gripper according to claim 5, characterized in that, The single-power drive device is a cylinder, whose piston rod is fixedly connected to a long connecting rod, and the linkage transmission mechanism is driven by the extension and retraction movement of the piston rod.

7. The robotic arm centering and positioning gripper according to claim 6, characterized in that, The single-power drive device drives the first-direction gripper assembly and the second-direction gripper assembly in sequence through telescopic movement, thereby achieving product positioning in the XY direction.

8. The robotic arm centering and positioning gripper according to claim 7, characterized in that, The elastic mechanism is a compression spring, with one end connected to a long connecting rod and the other end connected to a main connecting rod, used to adjust the dimensional positioning in the second direction and provide a continuous clamping force.

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