Gripping member of a power-assisted robot hand

Abstract

The utility model provides a kind of clamping component of power-assisted manipulator, including rotary cylinder, finger cylinder is installed on the rotor portion of rotary cylinder, two clamping jaw parts of finger cylinder are evenly installed with clamping part, collar is equipped in the cylinder portion of finger cylinder, multiple clamping screws for limiting the relative position of collar and finger cylinder are connected with annular equidistance screw thread on the outer surface of ring, collar is equipped with ring connected with collar, one end of support arm is connected with rotary cylinder, arc plate is installed in the end of support arm away from rotary cylinder, arc plate is arranged in ring and is in sliding contact with ring inner wall, the utility model has the beneficial effects as follows: through the auxiliary support system of collar, ring and support arm, effectively disperses the load of the connecting portion of finger cylinder and rotary cylinder.

Description

Technical Field

[0001] This utility model relates to a gripping component for a robotic arm, belonging to the field of robotic arm technology. Background Technology

[0002] In automated gripping and flipping scenarios, finger cylinders are often assembled on the rotor of a rotary cylinder to form an integrated gripping-flipping execution unit: the rotor of the rotary cylinder drives the finger cylinder to rotate synchronously, enabling the tool or workpiece held by the gripper to achieve angular flipping (such as workpiece flipping for assembly, tool turning operation), while the cylinder body of the rotary cylinder is securely installed at the end of the robotic arm with screws, forming a power transmission link from the robotic arm to the rotary cylinder and then to the finger cylinder.

[0003] This integration method faces significant challenges in terms of connection strength: when clamping a workpiece, the weight of the workpiece itself and the overall weight of the finger cylinder are concentrated at the connection between the rotary cylinder and the finger cylinder. When the robotic arm moves the entire unit or the rotary cylinder drives the rotation, the connection between the rotary cylinder and the finger cylinder must not only withstand static gravity loads but also cope with dynamic inertial impact forces (such as force fluctuations at the moment of start-up and stop). If the connection between the rotary cylinder and the finger cylinder is not strong enough, it is prone to loosening, displacement, or even breakage. This can lead to workpiece displacement, reduced rotation accuracy, and inability to complete precise assembly; or even workpiece falling off, equipment collision, workpiece damage, or production line shutdown. Therefore, the connection between the rotary cylinder and the finger cylinder requires high strength. Utility Model Content

[0004] In view of the shortcomings of the existing technology, the purpose of this utility model is to provide a gripping component for a power-assisted robotic arm to solve the problems mentioned in the background art.

[0005] To achieve the above objectives, this utility model provides the following technical solution: a gripping component for a power-assisted robotic arm, comprising: Rotary cylinder; A finger cylinder is mounted on the rotor of a rotary cylinder, and both gripper parts of the finger cylinder are equipped with gripping parts. A snare is fitted onto the cylinder body of a finger cylinder. The outer surface of the snare is connected with multiple clamping screws that limit the relative position between the snare and the finger cylinder. A ring connected to the snare is fitted onto the snare. The support arm is connected to a rotary cylinder at one end, and an arc-shaped plate is installed at the end of the support arm away from the rotary cylinder. The arc-shaped plate is set inside the ring and slides in contact with the inner wall of the ring.

[0006] Furthermore, the cylinder body of the rotary cylinder is fitted with a connecting seat by screws, and a positioning seat is fitted on the upper end of the connecting seat by multiple hexagonal screws. One end of the positioning seat has two fixing holes.

[0007] Furthermore, an intermediate plate is provided between the connecting seat and the positioning seat. One end of the internal hex screw passes through the positioning seat and the intermediate plate in sequence and is threadedly connected to the connecting seat. One end of the support arm is connected and fixed to the intermediate plate.

[0008] Furthermore, a rib is installed on one side of the support arm, the rib is arranged along the length of the support arm, the rib and the support arm are integrally formed, and the support arm and the intermediate plate are integrally formed.

[0009] Furthermore, the cylinder body of the finger cylinder is fitted with a mating seat by screws, and the mating seat is fitted onto the rotor of the rotary cylinder by screws.

[0010] Furthermore, the outer surface of the ring is provided with a plurality of equidistant axial holes in an annular shape. The axial holes are arranged along the radial direction of the ring. A threaded sleeve is provided on the inner side of the axial hole and is arranged concentrically with the axial hole. One end of the threaded sleeve is connected and fixed to the ring. The clamping screw passes through the axial hole and is threaded into the threaded sleeve.

[0011] Furthermore, a sleeve is fitted at one end of the clamping screw inside the loop, and a pressure plate for pressing against the cylinder body of the finger cylinder is connected and fixed at one end of the sleeve.

[0012] Furthermore, multiple connecting plates are evenly installed on the inner surface of the ring, and the end of the connecting plate away from the ring is connected and fixed to the ring sleeve.

[0013] The beneficial effects of this utility model are: The auxiliary support system, consisting of a loop, a ring, and a support arm, effectively distributes the load at the connection between the finger cylinder and the rotary cylinder. The loop is tightly fitted onto the body of the finger cylinder and firmly fixed with a pressure plate by equidistantly distributed ring-shaped clamping screws, preventing the finger cylinder from shaking. The ring is connected to the loop through a connecting plate, and the inner arc plate is fixed to one end of the support arm, while the other end of the support arm is connected to the middle plate on the side of the rotary cylinder, forming a lateral support link of rotary cylinder-support arm-ring-loop-finger cylinder. This structure distributes the weight of the workpiece and components from the connection between the finger cylinder and the rotor of the rotary cylinder to multiple load-bearing components such as the support arm and ring, reducing the stress on the connection between the finger cylinder and the rotor of the rotary cylinder, preventing loosening, displacement, or breakage caused by concentrated load, and ensuring stable connection during long-term high-frequency flipping operations. Attached Figure Description

[0014] Other features, objects, and advantages of this invention will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings: Figure 1 This is a schematic diagram of the clamping component of a power-assisted robotic arm according to the present invention; Figure 2 This is a perspective view of the clamping component of the assistive robotic arm according to this utility model. Figure 3 This is an assembly diagram of the support arm, ring, and collar in the clamping component of a power-assisted manipulator according to the present invention. Figure 4 This is an assembly diagram of the arc-shaped plate, the intermediate plate, and the support arm in the clamping component of a power-assisted manipulator according to the present invention. In the picture: 1. Rotary cylinder; 11. Connecting seat; 12. Docking seat; 2. Support arm; 21. Intermediate plate; 22. Rib; 23. Curved plate; 3. Positioning seat; 31. Fixing hole; 4. Hex socket head cap screws; 5. Sleeve; 51. Ring; 52. Clamping screw; 53. Connecting plate; 54. Threaded sleeve; 55. Tube sleeve; 56. Pressure plate; 6. Finger cylinder; 61. Clamping part. Detailed Implementation

[0015] To make the technical means, creative features, objectives and effects of this utility model easier to understand, the present utility model will be further described below in conjunction with specific embodiments.

[0016] Please see Figure 1 and Figure 2 This utility model provides a technical solution: a gripping component for a robotic arm, including a rotary cylinder 1. The cylinder body of the rotary cylinder 1 is fitted with a connecting seat 11 by screws. The upper end of the connecting seat 11 is fitted with a positioning seat 3 by multiple hexagonal screws 4. One end of the positioning seat 3 has two fixing holes 31. The positioning seat 3 is installed on the robotic arm by bolts, thus completing the assembly of the rotary cylinder 1 and the robotic arm.

[0017] See Figures 1-3The cylinder body of the finger cylinder 6 is fitted with a docking seat 12 by screws. The docking seat 12 is mounted on the rotor of the rotary cylinder 1 by screws. The docking seat 12 serves to connect the cylinder body of the finger cylinder 6 and the rotor of the rotary cylinder 1. Both jaws of the finger cylinder 6 are fitted with clamping parts 61. A ring 5 is fitted onto the cylinder body of the finger cylinder 6. The outer surface of the ring 5 is threaded with multiple clamping screws 52 in annular equidistant arrangement to limit the relative position of the ring 5 and the finger cylinder 6. The outer surface of the ring 5 is provided with multiple shaft holes in annular equidistant arrangement, which are arranged along the radial direction of the ring 5. The inner side of the shaft holes is provided with a shaft hole... Concentrically arranged threaded sleeves 54 are connected and fixed at one end to the ring 5, so that the clamping screw 52 passes through the shaft hole and is threadedly connected inside the threaded sleeve 54, thereby achieving a stable connection between the clamping screw 52 and the ring 5. A tube sleeve 55 is fitted on the end of the clamping screw 52 inside the ring 5. A pressure plate 56 for pressing against the cylinder body of the finger cylinder 6 is connected and fixed at one end of the tube sleeve 55, so that one end of the clamping screw 52 is inserted into the tube sleeve 55. By tightening the clamping screw 52, ​​the pressure plate 56 is pressed against the cylinder body of the finger cylinder 6. In this way, multiple pressure plates 56 cooperate with each other to restrict the relative position of the ring 5 and the finger cylinder 6.

[0018] See Figures 1-4A ring 51 connected to the loop 5 is fitted onto the loop 5. Multiple connecting plates 53 are evenly installed on the inner surface of the ring 51. The end of the connecting plate 53 furthest from the ring 51 is connected and fixed to the loop 5. The connecting plate 53 serves to connect the ring 51 and the loop 5. An intermediate plate 21 is provided between the connecting seat 11 and the positioning seat 3. One end of the support arm 2 is connected and fixed to the intermediate plate 21. The support arm 2 and the intermediate plate 21 are integrally formed, allowing one end of the hexagonal socket screw 4 to pass through the positioning seat 3 and the intermediate plate 21 sequentially before being threaded into the connecting seat 11. The relative positions of the intermediate plate 21, positioning seat 3, and connecting seat 11 are now limited by the internal hex screws 4, thereby reducing the number of fasteners used. An arc-shaped plate 23 is installed at the end of the support arm 2 away from the rotary cylinder 1. The arc-shaped plate 23 is set inside the ring 51 and slides in contact with the inner wall of the ring 51. Through the auxiliary support system composed of the ring 5, the ring 51, and the support arm 2, the load at the connection between the finger cylinder 6 and the rotary cylinder 1 is effectively distributed. The ring 5 is tightly fitted on the cylinder body of the finger cylinder 6, and the clamping screws 5 are distributed at equal intervals in annular shape. 2 is firmly fixed to the pressure plate 56 to prevent the finger cylinder 6 from shaking. The ring 51 is connected to the collar 5 via the connecting plate 53. The inner arc plate 23 is fixed to one end of the support arm 2, while the other end of the support arm 2 is connected to the middle plate 21 on the side of the rotary cylinder 1, forming a lateral support link of rotary cylinder 1-support arm 2-ring 51-collar 5-finger cylinder 6. This structure distributes the weight of the workpiece and components from the connection between the finger cylinder 6 and the rotor of the rotary cylinder 1 to multiple load-bearing components such as the support arm 2 and the ring 51, reducing the weight of the finger cylinder 6. The stress strength of the connecting part of the rotor of the rotary cylinder 1 is improved to avoid loosening, displacement or breakage caused by concentrated load, and to ensure stable connection during long-term high-frequency flipping operation. A rib 22 is installed on one side of the support arm 2. The rib 22 is arranged along the length of the support arm 2. The rib 22 and the support arm 2 are integrally formed. The design of the rib 22 improves the bending resistance of the support arm 2. When the rotary cylinder 1 drives the finger cylinder 6 to flip, the arc plate 23 slides synchronously along the inner wall of the ring 51 to provide circumferential guidance and limit for the finger cylinder 6.

[0019] Although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole. The technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A gripping component for a power-assisted robotic arm, characterized in that, include: Rotary cylinder (1); A finger cylinder (6) is mounted on the rotor of a rotary cylinder (1), and both jaws of the finger cylinder (6) are equipped with clamping parts (61). A loop (5) is fitted onto the cylinder body of the finger cylinder (6). The outer surface of the loop (5) is connected with a plurality of clamping screws (52) for limiting the relative position of the loop (5) and the finger cylinder (6) in an annular equidistant thread. A ring (51) connected to the loop (5) is fitted onto the loop (5). The support arm (2) is connected to the rotary cylinder (1) at one end. An arc plate (23) is installed at the end of the support arm (2) away from the rotary cylinder (1). The arc plate (23) is set inside the ring (51) and slides in contact with the inner wall of the ring (51).

2. The gripping component of a power-assisted robotic arm according to claim 1, characterized in that: The cylinder body of the rotary cylinder (1) is fitted with a connecting seat (11) by screws. The upper end of the connecting seat (11) is fitted with a positioning seat (3) by multiple internal hex screws (4). One end of the positioning seat (3) has two fixing holes (31).

3. The gripping component of a power-assisted robotic arm according to claim 2, characterized in that: An intermediate plate (21) is provided between the connecting seat (11) and the positioning seat (3). One end of the internal hex screw (4) passes through the positioning seat (3) and the intermediate plate (21) in sequence and is threaded to the connecting seat (11). One end of the support arm (2) is connected and fixed to the intermediate plate (21).

4. The gripping component of a power-assisted robotic arm according to claim 3, characterized in that: The support arm (2) has a rib (22) installed on one side. The rib (22) is arranged along the length of the support arm (2). The rib (22) and the support arm (2) are integrally formed. The support arm (2) and the intermediate plate (21) are integrally formed.

5. The gripping component of a power-assisted robotic arm according to claim 1, characterized in that: The cylinder body of the finger cylinder (6) is fitted with a docking seat (12) by screws, and the docking seat (12) is fitted with the rotor of the rotary cylinder (1) by screws.

6. The gripping component of a power-assisted robotic arm according to claim 1, characterized in that: The outer surface of the ring (5) is provided with a plurality of shaft holes at equal intervals in an annular shape. The shaft holes are arranged along the radial direction of the ring (5). A threaded sleeve (54) is provided on the inner side of the shaft hole and is arranged concentrically with the shaft hole. One end of the threaded sleeve (54) is connected and fixed to the ring (5). The clamping screw (52) passes through the shaft hole and is threadedly connected to the threaded sleeve (54).

7. The gripping component of a power-assisted robotic arm according to claim 6, characterized in that: The clamping screw (52) is fitted with a sleeve (55) at one end inside the ring (5), and a pressure plate (56) for pressing against the cylinder body of the finger cylinder (6) is connected and fixed at one end of the sleeve (55).

8. The gripping component of a power-assisted robotic arm according to claim 1, characterized in that: Multiple connecting plates (53) are evenly installed on the inner surface of the ring (51), and the end of the connecting plate (53) away from the ring (51) is connected and fixed to the sleeve (5).

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