A gripping device of a robot arm and a robot arm

Abstract

This application provides a gripping device and a robotic arm for a mechanical arm, relating to the field of gripping technology. The gripping device includes two sets of gripping assemblies arranged opposite each other for jointly gripping a target product. Each set of gripping assemblies includes a connecting seat, a gripping arm, and at least one connecting post. The connecting seat has at least one first through hole, and the gripping arm has at least one threaded hole, each threaded hole aligned with a first through hole. The connecting post passes through the corresponding first through hole and threaded hole. A first part of the connecting post connects to the threaded hole, and a gap exists between a second part of the connecting post and the first through hole, allowing the gripping arm to move relative to the connecting seat when gripping the target product. In the above technical solution, the gripping arm and the connecting seat are connected by the connecting post, and the second part of the connecting post is clearance-fitted with the first through hole of the connecting seat, enabling the two sets of gripping assemblies to adaptively float and grip target products with different structures, achieving stable and uniform gripping of the target product.

Description

Technical Field

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

[0002] In automated material handling and assembly scenarios, the gripping device of a robotic arm serves as a crucial tool for grasping and positioning products, playing a vital role in gripping, maintaining position, and transferring posture, thus significantly improving work efficiency. However, existing products generally exhibit uneven structural characteristics, making it difficult for traditional gripping devices to adaptively adjust to the actual features of the product during the gripping process. When gripping is performed, the uneven distribution of gripping force can easily cause the gripped product to tilt, increasing the risk of the product falling off or shifting during handling and assembly.

[0003] Therefore, there is an urgent need to provide a gripping device for robotic arms that can adapt to the structure of products and achieve stable and uniform gripping of products. Utility Model Content

[0004] One objective of this invention is to provide a gripping device for a robotic arm, which solves the technical problem of uneven gripping force caused by uneven product structure in the prior art.

[0005] Another objective of this invention is to provide a robotic arm with a gripping device.

[0006] Specifically, this utility model provides a gripping device for a robotic arm, the gripping device comprising two sets of gripping assemblies arranged opposite each other, the two sets of gripping assemblies being used to jointly grip a target product, and each set of gripping assemblies comprising: A connector for connecting to a target component of the robot, the connector having at least one first through hole extending along its thickness direction; The clamping arm has at least one threaded hole extending through the thickness direction, each of the threaded holes being aligned with one of the first through holes; At least one connecting post, each connecting post including a first part and a second part, the outer periphery of the first part having threads, the connecting post passing through the corresponding first through hole and the threaded hole, the first part being threadedly connected to the threaded hole, and the second part being confined within the first through hole, thereby connecting the clamping arm and the connecting seat. There is a gap between the second part and the first through hole, so that the clamping arm can move relative to the connecting seat when clamping the target product.

[0007] Optionally, the clamping arm includes two clamping blocks, each of which has an inclined surface, the two clamping blocks are arranged at a distance from each other, and the included angle between the two inclined surfaces is an obtuse angle.

[0008] Optionally, each of the clamping blocks has one of the threaded holes; The connecting seat is provided with two first through holes, each of which corresponds to a threaded hole of the clamping block; The number of connecting posts is two, and each connecting post corresponds to one threaded hole and one first through hole.

[0009] Optionally, the four clamping blocks of the two sets of clamping assemblies clamp around the target product, and each clamping arm has a serrated structure on its inclined surface.

[0010] Optionally, the connecting post is a bolt, and includes a shank and a head, the shank having threads; The first through hole includes a third part and a fourth part, both of which are cylindrical. The diameter of the fourth part is larger than the diameter of the third part. The end of the rod near the head is located inside the third part and has a gap with the third part. The head is located inside the fourth part and has a gap with the fourth part.

[0011] Optionally, each set of the clamping components further includes: A rotating component is provided through the connecting seat and the clamping arm, allowing the clamping arm to rotate relative to the connecting seat.

[0012] Optionally, the clamping arm is provided with a second through hole, and the rotating component includes: A guide post is inserted through the second through hole and is fixedly connected to the connecting seat; A guide bushing is sleeved on the outer periphery of the guide post and is confined within the second through hole. The guide bushing is rotatable relative to the guide post, thereby causing the clamping arm to rotate relative to the connecting seat.

[0013] Optionally, the second through hole is located between the two first through holes.

[0014] Optionally, each set of clamping components also includes: A base, connected to the target component of the robot, the base having at least two first fixing holes arranged side by side and spaced apart, extending through its thickness direction, and each end of the connecting seat having at least two second fixing holes arranged side by side and spaced apart, extending through its thickness direction. At least two fasteners are inserted into selected aligned first and second fixing holes to connect the base and the connector.

[0015] In particular, this utility model also provides a robotic arm, including the aforementioned gripping device.

[0016] The clamping device of this utility model includes two sets of clamping assemblies arranged opposite each other for jointly clamping a target product. Each set of clamping assemblies includes a connecting seat, a clamping arm, and at least one connecting post. The connecting seat has at least one first through hole, and the clamping arm has at least one threaded hole. Each threaded hole is aligned with a first through hole. The connecting post passes through the corresponding first through hole and threaded hole. The first part of the connecting post is connected to the threaded hole, and there is a gap between the second part of the connecting post and the first through hole, allowing the clamping arm to move relative to the connecting seat when clamping the target product. In the above technical solution, the clamping arm and the connecting seat are connected by the connecting post, and the second part of the connecting post is clearance-fitted with the first through hole of the connecting seat, enabling the two sets of clamping assemblies to adaptively float and clamp target products with different structures, achieving stable and uniform clamping of the target product.

[0017] The above and other objects, advantages and features of this utility model will become more apparent to those skilled in the art from the following detailed description of specific embodiments of this utility model in conjunction with the accompanying drawings. Attached Figure Description

[0018] The following sections will describe some specific embodiments of the present invention in a detailed manner by way of example and not limitation, with reference to the accompanying drawings. The same reference numerals in the drawings denote the same or similar parts or components. Those skilled in the art should understand that these drawings are not necessarily drawn to scale. In the drawings: Figure 1 This is a schematic cross-sectional view of a set of clamping components of a gripping device for a robotic arm according to an embodiment of the present invention; Figure 2 This is a schematic top view of a gripping device for a robotic arm according to an embodiment of the present invention; Figure 3 This is a schematic structural diagram of a robot arm according to one embodiment of the present invention.

[0019] Figure label: 100-Clamping device for robotic arm, 200-Robot arm, 1-Clamping assembly, 2-First through hole, 3-Threaded hole, 4-First fixing hole, 5-Second fixing hole, 11-Connecting seat, 12-Clamping arm, 13-Connecting column, 14-Rotating component, 15-Base, 121-Clamping block, 131-First part, 132-Second part, 21-Third part, 22-Fourth part, 141-Guide column, 142-Guide bushing. Detailed Implementation

[0020] The embodiments of this utility model are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this utility model, and should not be construed as limiting this utility model.

[0021] In the description of this utility model, it should be understood that the terms "upper" and "lower" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. 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.

[0022] The terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature, that is, include one or more of that feature. In the description of this utility model, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified. When a feature "includes or contains" one or more of the features it encompasses, unless otherwise specifically described, this indicates that other features are not excluded and may be further included.

[0023] Unless otherwise expressly specified and limited, the terms "connection," "installation," 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 or an electrical connection; 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 expressly limited. Those skilled in the art should be able to understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0024] Unless otherwise specified, all terms (including technical and scientific terms) used in the description of this embodiment have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains.

[0025] Figure 1 This is a schematic cross-sectional view of a set of clamping components of a robotic arm clamping device according to an embodiment of the present invention. Figure 2 This is a schematic top view of a gripping device for a robotic arm according to an embodiment of the present invention. Figure 3 This is a schematic structural diagram of a robot arm according to one embodiment of the present invention.

[0026] like Figures 1 to 3As shown, in one specific embodiment, the gripping device 100 of the robotic arm includes two sets of gripping assemblies 1 arranged opposite to each other. The two sets of gripping assemblies 1 are used to jointly grip a target product, and each set of gripping assemblies 1 includes a connecting seat 11, a gripping arm 12, and at least one connecting post 13. The connecting seat 11 is connected to the target part of the robot and has at least one first through hole 2 extending along its thickness direction. The gripping arm 12 has at least one threaded hole 3 extending along its thickness direction, and each threaded hole 3 is aligned with a first through hole 2. Each connecting post 13 includes a first part 131 and a second part 132. The outer periphery of the first part 131 has threads, and the connecting post 13 passes through the corresponding first through hole 2 and threaded hole 3. The first part 131 is connected to the threaded hole 3 by threads, and the second part 132 is confined within the first through hole 2, thereby connecting the gripping arm 12 and the connecting seat 11. There is a gap between the second part 132 and the first through hole 2, so that the gripping arm 12 can move relative to the connecting seat 11 when gripping the target product. In this embodiment, the clamping arm 12 and the connecting seat 11 are connected by the connecting post 13. The second part 132 of the connecting post 13 is clearance-fitted with the first through hole 2 of the connecting seat 11, so that the two sets of clamping components 1 can adaptively float and clamp target products with different structures, thereby achieving stable and uniform clamping of the target products.

[0027] In some embodiments, the clamping arm 12 includes two clamping blocks 121, each clamping block 121 having an inclined surface. The two clamping blocks 121 are arranged at a distance from each other, and the included angle between the two inclined surfaces is an obtuse angle, thereby increasing the contact area between the two clamping blocks 121 and the target product, which facilitates stable clamping of the target product.

[0028] In some embodiments, each clamping block 121 has a threaded hole 3, and the connecting seat 11 has two first through holes 2, each first through hole 2 corresponding to a threaded hole 3 of a clamping block 121. There are two connecting posts 13, each corresponding to a threaded hole 3 and a first through hole 2. Specifically, two first through holes 2 are provided at a preset position on the connecting seat 11, and each connecting post 13 is adapted to pass through a corresponding threaded hole 3 and a first through hole 2, so that two clamping blocks 121 are connected to each connecting seat 11, ensuring the stable operation of the gripping device 100 of the robotic arm.

[0029] In some embodiments, the four clamping blocks 121 of the two sets of clamping components 1 clamp around the target product, and each clamping arm 12 has a serrated structure on its inclined surface. Specifically, the four clamping blocks 121 clamp around the target product, forming a comprehensive surround, which can apply uniform clamping force to the target product from multiple directions, effectively preventing the product from shifting or shaking during clamping. In addition, the serrated structure on the inclined surface of each clamping arm 12 increases the friction between the four clamping blocks 121 and the target product, thereby maintaining the stability of the target product clamped by the two sets of clamping components 1.

[0030] In some embodiments, the connecting post 13 is a bolt and includes a shank and a head, the shank having threads.

[0031] The first through hole 2 includes a third part 21 and a fourth part 22, both cylindrical in shape. The diameter of the fourth part 22 is larger than that of the third part 21. The end of the rod near the head is located inside the third part 21 and has a gap with it. The head is located inside the fourth part 22 and has a gap with it. Specifically, the connecting seat 11 and the clamping block 121 are connected by bolts. There is a gap between the end of the rod near the head and the third part 21, and a gap between the head and the fourth part 22. This allows the four clamping blocks 121 to move relative to the connecting seat 11 when clamping the target product. This facilitates the floating clamping of the target product by the four clamping blocks 121, preventing clamping failures such as loose clamping, loosening of the target product, or even falling off when clamping target products with different structures because the four clamping blocks 121 cannot adaptively adjust according to the actual shape and size of the target product.

[0032] In some embodiments, each clamping assembly 1 further includes a rotating member 14, which passes through the connecting seat 11 and the clamping arm 12, allowing the clamping arm 12 to rotate relative to the connecting seat 11. Specifically, in practical applications, the clamping arm 12 needs to perform multi-angle operations on the target product. The clamping arm 12 rotates relative to the connecting seat 11 to rotate the clamping arm 12 to a suitable angle to clamp the target product, improving the convenience and accuracy of the two clamping assemblies 1 in clamping the target product.

[0033] In some embodiments, the clamping arm 12 is provided with a second through hole, and the rotating component 14 includes a guide post 141 and a guide sleeve 142. The guide post 141 passes through the second through hole and is fixedly connected to the connecting seat 11. The guide sleeve 142 is sleeved on the outer periphery of the guide post 141 and is confined within the second through hole. The guide sleeve 142 can rotate relative to the guide post 141, thereby causing the clamping arm 12 to rotate relative to the connecting seat 11. In this embodiment, the guide post 141 is fixedly connected to the connecting seat 11 to prevent the clamping arm 12 from shifting, shaking, or jamming during rotation, ensuring the smoothness and accuracy of the rotation of the clamping arm 12 relative to the connecting seat 11.

[0034] In one specific embodiment, the second through hole is located between the two first through holes 2. Specifically, the second through hole is located at the middle position between the two first through holes 2 of the connecting seat 11, which facilitates the symmetrical adjustment of the rotation angle of the two clamping blocks 121, thereby achieving stable clamping of the target product by the two sets of clamping components 1.

[0035] In this embodiment, the clamping block 121 is detachably connected to the connecting seat 11. Each connecting seat 11 has at least four first through holes 2 extending along its thickness direction. Each side of the second through hole has at least one first through hole 2. Each first through hole 2 and a threaded hole 3 can be correspondingly fitted. By passing a bolt through the selected first through hole 2 and screwing it into the corresponding threaded hole 3, each connecting seat 11 is connected to two clamping blocks 121. The second through hole is located in the middle position between the two bolts. By changing the corresponding combination of the selected first through hole 2 and the threaded hole 3, the relative position of the two clamping blocks 121 connected to the same connecting seat 11 is changed, thereby adjusting the distance between the two clamping blocks 121 to adapt to products of different sizes.

[0036] In one embodiment, each clamping assembly 1 further includes a base 15 and at least two fasteners. The base 15 is connected to the target component of the robot. The base 15 has at least two first fixing holes 4 arranged side-by-side and spaced apart, extending through its thickness direction. Each connecting seat 11 has at least two second fixing holes 5 arranged side-by-side and spaced apart, extending through its thickness direction at its end. Fasteners are inserted into selected aligned first fixing holes 4 and second fixing holes 5 to connect the base 15 and the connecting seat 11. In this embodiment, the operator can adjust the relative distance between the two connecting seats 11 by selecting different alignment combinations of the first fixing holes 4 and second fixing holes 5, thereby enabling the four clamping blocks 121 mounted on the two connecting seats 11 to adapt to clamping target products of different sizes.

[0037] This embodiment also provides a robotic arm 200, which includes the aforementioned gripping device 100. The gripping device 100 includes two sets of gripping assemblies 1 arranged opposite to each other. Each set of gripping assemblies 1 has a connecting seat 11 and a gripping arm 12 that are floatingly connected, and the gripping arm 12 is rotatable relative to the connecting seat 11, allowing the two sets of gripping assemblies 1 to adaptively and floatingly grip target products of different specifications. Details regarding the gripping device 100 are omitted here.

[0038] Therefore, those skilled in the art should recognize that although many exemplary embodiments of the present invention have been shown and described in detail herein, many other variations or modifications conforming to the principles of the present invention can be directly determined or derived from the disclosure of the present invention without departing from the spirit and scope of the present invention. Therefore, the scope of the present invention should be understood and recognized as covering all such other variations or modifications.

Claims

1. A gripping device for a robotic arm, characterized in that, The clamping device includes two sets of clamping assemblies arranged opposite each other, the two sets of clamping assemblies being used to jointly clamp the target product, and each set of clamping assemblies including: A connector for connecting to a target component of the robot, the connector having at least one first through hole extending along its thickness direction; The clamping arm has at least one threaded hole extending through the thickness direction, each of the threaded holes being aligned with one of the first through holes; At least one connecting post, each connecting post including a first part and a second part, the outer periphery of the first part having threads, the connecting post passing through the corresponding first through hole and the threaded hole, the first part being threadedly connected to the threaded hole, and the second part being confined within the first through hole, thereby connecting the clamping arm and the connecting seat. There is a gap between the second part and the first through hole, so that the clamping arm can move relative to the connecting seat when clamping the target product.

2. The clamping device according to claim 1, characterized in that, The clamping arm includes two clamping blocks, each of which has an inclined surface. The two clamping blocks are arranged at a distance from each other, and the angle between the two inclined surfaces is an obtuse angle.

3. The clamping device according to claim 2, characterized in that, Each of the clamping blocks has one of the threaded holes; The connecting seat is provided with two first through holes, each of which corresponds to a threaded hole of the clamping block; The number of connecting posts is two, and each connecting post corresponds to one threaded hole and one first through hole.

4. The clamping device according to claim 3, characterized in that, The four clamping blocks of the two sets of clamping assemblies clamp around the target product, and each clamping arm has a serrated structure on its inclined surface.

5. The clamping device according to any one of claims 1-4, characterized in that, The connecting post is a bolt, and includes a rod and a head, wherein the rod has threads; The first through hole includes a third part and a fourth part, both of which are cylindrical. The diameter of the fourth part is larger than the diameter of the third part. The end of the rod near the head is located inside the third part and there is a gap between it and the third part. The head is located within the fourth part and there is a gap between it and the fourth part.

6. The clamping device according to any one of claims 3-4, characterized in that, Each set of clamping components also includes: A rotating component is provided through the connecting seat and the clamping arm, allowing the clamping arm to rotate relative to the connecting seat.

7. The clamping device according to claim 6, characterized in that, The clamping arm is provided with a second through hole, and the rotating component includes: A guide post is inserted through the second through hole and is fixedly connected to the connecting seat; A guide bushing is sleeved on the outer periphery of the guide post and is confined within the second through hole. The guide bushing is rotatable relative to the guide post, thereby causing the clamping arm to rotate relative to the connecting seat.

8. The clamping device according to claim 7, characterized in that, The second through hole is located between the two first through holes.

9. The clamping device according to claim 8, characterized in that, Each clamping assembly also includes: A base, connected to the target component of the robot, the base having at least two first fixing holes arranged side by side and spaced apart, extending through its thickness direction, and each end of the connecting seat having at least two second fixing holes arranged side by side and spaced apart, extending through its thickness direction. At least two fasteners are inserted into selected aligned first and second fixing holes to connect the base and the connector.

10. A robotic arm comprising the gripping device as described in any one of claims 1-9.

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