Mechanical hand anti-dropping structure

Abstract

The utility model relates to mechanical hand technical field, and disclose a kind of mechanical hand snatch anti-drop structure, including mechanical claw main part, the one side of mechanical claw main part is provided with two chucks, the surface of chuck is equipped with limit sliding slot, the inside installation of limit sliding slot has dismounting mechanism, the one side fixedly connected with fixed cylinder of dismounting mechanism, the inside fixedly connected with anti-drop mechanism of fixed cylinder, the dismounting mechanism includes the rotating rod installed in the inside of limit sliding slot.The mechanical hand snatch anti-drop structure, through the setting of anti-drop mechanism, both through the elastic deformation compensation of buffer spring different special-shaped piece's size difference and surface undulation, avoid rigid contact damage workpiece, always keep the flexible clamping force of arc pad to workpiece by the aid of spring reverse force, enhance close tightness, effectively prevent special-shaped cylindrical workpiece from sliding or falling due to surface irregularity, guarantee the stability of snatch process.

Description

Technical Field

[0001] This utility model relates to the field of robotic arm technology, and in particular to a robotic arm gripping and anti-detachment structure. Background Technology

[0002] The robotic gripper anti-detachment structure is a mechanical protective component designed for gripping cylindrical objects (such as glass cylinders, metal cylinders, plastic cylinders, etc.). Its core function is to solve the problem of easy detachment in traditional gripping by using the robotic gripper anti-detachment structure.

[0003] The anti-detachment structure for a robotic arm disclosed in CN210633688U includes a gripping part for grasping flat objects. The gripping part includes a gripper arm with an adsorption device and an anti-detachment device inside. The adsorption device allows the flat object to adhere to the gripper arm, and the anti-detachment device prevents the flat object from falling to the ground during gripper arm movement. This invention uses evenly distributed ventilation holes to apply uniform suction to the flat object, making it less likely to fall out of the circular groove. Multiple locking blocks protect the flat object during robotic arm movement; even if the flat object detaches from the circular groove, it can be caught by the locking blocks. The arc-shaped groove allows the locking blocks to rotate slowly along the arc-shaped groove when the second connecting rod moves downward, avoiding sudden changes that could cause the locking blocks to collide with the flat object due to excessive speed. This invention also utilizes a three-position four-way solenoid valve for convenient control of the machine's operation.

[0004] While the aforementioned patent achieves the following: uniform suction force is applied to flat objects through evenly distributed ventilation holes, preventing them from easily falling out of the circular groove; multiple clamping blocks protect the flat objects during the robot's movement, catching them even if they detach from the circular groove; the arc-shaped groove allows the clamping blocks to rotate slowly along the arc-shaped groove as the second connecting rod moves downward, avoiding sudden changes that could cause the clamping blocks to collide with the flat objects due to excessive speed; and the use of a three-position four-way solenoid valve for convenient control of the machine's operation, the device lacks a flexible clamping structure. Rigid clamping can easily lead to localized pressure concentration, causing object deformation and surface scratches. Furthermore, it cannot compensate for thickness variations in flat objects through elastic deformation; thin objects are prone to falling out of the clamping block gaps due to insufficient clamping force, while thick objects are easily damaged by excessive compression. Additionally, the unbuffered rigid contact can exacerbate collisions between the object and the clamping blocks in vibration environments, making it difficult to meet the requirements for stable, damage-free clamping of flat objects in industrial settings. Utility Model Content

[0005] (a) Technical problems to be solved

[0006] The purpose of this utility model is to provide a robotic gripping anti-detachment structure to solve the problem of easy detachment and damage to workpieces in traditional gripping methods, which is proposed in the background art to achieve the dual functions of "flexible clamping + reliable anti-detachment".

[0007] Two technical solutions

[0008] To achieve the above objectives, this utility model provides the following technical solution: a robotic gripper anti-detachment structure, comprising a robotic claw body, two grippers on one side of the robotic claw body, a limiting groove formed on the surface of the grippers, a disassembly / assembly mechanism installed inside the limiting groove, a fixed cylinder fixedly connected to one side of the disassembly / assembly mechanism, an anti-detachment mechanism fixedly connected inside the fixed cylinder, the disassembly / assembly mechanism comprising a rotating rod installed inside the limiting groove, a rotating shaft rotatably connected to the bottom of the rotating rod, a mounting plate fixedly connected to the bottom of the rotating shaft, and an arc-shaped friction block fixedly connected to the upper surface of the rotating rod; the anti-detachment mechanism comprising a buffer spring fixedly connected inside the fixed cylinder, a telescopic rod fixedly connected to one side of the buffer spring, an arc-shaped pad fixedly connected to one side of the telescopic rod, and a locking buckle fixedly connected to the end of the arc-shaped pad.

[0009] As a further embodiment of this utility model, a rotating handle is fixedly connected to the top of the rotating rod, and an anti-slip sleeve is fitted onto the surface of the rotating handle. The anti-slip sleeve serves to prevent slipping.

[0010] As a further embodiment of this utility model, the aperture of the arc-shaped friction block is adapted to the limiting slide groove, and the mounting plate overlaps the bottom of the clamp. The limiting slide groove serves to limit and fix the mounting plate.

[0011] As a further embodiment of this utility model, the telescopic rod is slidably connected to the inside of the fixed cylinder, and the number of arc-shaped pads is four sets. The arc-shaped pads serve to clamp the workpiece.

[0012] As a further embodiment of this utility model, two telescopic rods are fixedly connected to one side of the arc-shaped pad, and one side of the telescopic rods is fixedly connected to the surface of the mounting plate. The mounting plate serves to support the anti-detachment structure.

[0013] As a further embodiment of this utility model, a base is fixedly connected to the bottom of the mechanical claw body, and two connecting plates are fixedly connected to the surface of the base. The connecting plates serve to connect the mechanical claw body.

[0014] As a further embodiment of this utility model, extension plates are fixedly connected to both sides of the base. Threaded holes are opened on the surface of both the extension plates and the connecting plates. Positioning bolts are threaded into the internal threads of the threaded holes. The positioning bolts serve to fix the base.

[0015] (III) Beneficial Effects

[0016] This utility model provides a robotic gripping and anti-detachment structure, which has the following beneficial effects:

[0017] 1. This robotic gripper features an anti-detachment structure. During operation, a cylindrical workpiece is placed between two arc-shaped pads. Activating the gripper body causes relative movement of the arc-shaped pads. To accommodate various irregularly shaped cylindrical workpieces and ensure stable gripping, a buffer spring is installed on one side of the arc-shaped pad. A telescopic rod compresses the buffer spring, providing a counterforce that tightly adheres to the irregular outer wall of the workpiece. A locking buckle is also installed at the end of the arc-shaped pad. The buckle, utilizing the pad's resilience, secures the end block to the workpiece surface. This design compensates for dimensional differences and surface irregularities in the workpiece through the elastic deformation of the buffer spring, preventing damage from rigid contact. The counterforce of the spring also ensures the arc-shaped pad maintains a flexible gripping force, enhancing the tightness of the grip and effectively preventing the irregular cylindrical workpiece from sliding or detaching due to surface irregularities, thus guaranteeing stability during the gripping process.

[0018] 2. This robotic arm grips the anti-detachment structure. Through the design of the disassembly and assembly mechanism, during use, the mounting plate is tightly pressed against the bottom of the gripper, allowing the rotating rod and arc-shaped friction block on the top of the mounting plate to pass through the limiting groove. Then, rotating the rotating rod causes the arc-shaped friction block to misalign with the limiting groove, using the friction force of the arc-shaped friction block to limit and fix the bottom mounting plate. Similarly, rotating the rotating rod in the opposite direction separates the arc-shaped friction block from the gripper, thus completing the quick disassembly and assembly of the anti-detachment structure on one side of the mounting plate without the need for threaded connections, improving the installation efficiency of the workers. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0020] Figure 2 This is a schematic diagram of the main structure of the mechanical claw of this utility model;

[0021] Figure 3 This is a schematic diagram of the anti-detachment mechanism of this utility model;

[0022] Figure 4 This is a schematic diagram of the disassembly and assembly mechanism of this utility model.

[0023] In the diagram: 1. Mechanical gripper body; 2. Gripper; 3. Assembly / disassembly mechanism; 301. Rotating rod; 302. Rotating shaft; 303. Mounting plate; 304. Arc-shaped friction block; 4. Fixed cylinder; 5. Anti-detachment mechanism; 501. Buffer spring; 502. Telescopic rod; 503. Arc-shaped pad; 504. Locking buckle; 6. Rotating handle; 7. Telescopic rod; 8. Base; 9. Connecting plate; 10. Extension plate; 11. Positioning bolt. Detailed Implementation

[0024] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present utility model without creative effort are within the scope of protection of the present utility model.

[0025] Implementation Column 1

[0026] Please see Figures 1 to 4This utility model provides a technical solution: a robotic gripper anti-detachment structure, including a robotic gripper body 1, a base 8 fixedly connected to the bottom of the robotic gripper body 1, two connecting plates 9 fixedly connected to the surface of the base 8, two clamps 2 provided on one side of the robotic gripper body 1, the surface of the clamps 2 having a limit groove, and a disassembly and assembly mechanism 3 installed inside the limit groove. The disassembly and assembly mechanism 3 eliminates the need for threaded connections, improving the installation efficiency of the workers. A fixing cylinder 4 is fixedly connected to one side of the disassembly and assembly mechanism 3, and an anti-detachment mechanism 5 is fixedly connected inside the fixing cylinder 4. The anti-detachment mechanism 5 compensates for the size differences and surface undulations of different irregular parts through the elastic deformation of the buffer spring 501, avoiding rigid contact damage to the workpiece, and also uses the spring's reverse force to ensure that the arc-shaped pad 503 always maintains a flexible clamping force on the workpiece, enhancing the tightness of the fit and effectively preventing the irregular cylindrical workpiece from sliding or falling off due to surface irregularities, ensuring the stability of the gripping process. The mounting mechanism 3 includes a rotating rod 301 installed inside the limiting slide groove. A rotating handle 6 is fixedly connected to the top of the rotating rod 301, and an anti-slip sleeve is fitted onto the surface of the rotating handle 6. A rotating shaft 302 is rotatably connected to the bottom of the rotating rod 301, and a mounting plate 303 is fixedly connected to the bottom of the rotating shaft 302. An arc-shaped friction block 304 is fixedly connected to the upper surface of the rotating rod 301. The diameter of the arc-shaped friction block 304 is adapted to the limiting slide groove. The mounting plate 303 overlaps the bottom of the clamp 2, forming an anti-detachment mechanism. 5 includes a buffer spring 501 fixedly connected inside the fixed cylinder 4. A telescopic rod 502 is fixedly connected to one side of the buffer spring 501. The telescopic rod 502 is slidably connected inside the fixed cylinder 4. There are four sets of arc-shaped pads 503. An arc-shaped pad 503 is fixedly connected to one side of the telescopic rod 502. Two telescopic rods 7 are fixedly connected to one side of the arc-shaped pad 503. One side of the telescopic rods 7 is fixedly connected to the surface of the mounting plate 303. A locking buckle 504 is fixedly connected to the end of the arc-shaped pad 503.

[0027] Furthermore, extension plates 10 are fixedly connected to both sides of the base 8. Threaded holes are opened on the surface of both the extension plates 10 and the connecting plates 9. The threaded holes and the positioning bolts 11 are connected by a "detachable threaded connection" to achieve flexible adjustment and stable locking of the connecting plates 9. The positioning bolts 11 are connected to the internal threads of the threaded holes. The extension plates 10 serve as the "intermediate connection carrier" between the base 8 and the connecting plates 9. Their symmetrical fixing design provides a precise reference for the subsequent installation of the positioning bolts 11.

[0028] In this invention, the working steps of the device are as follows:

[0029] First step: When using the machine, place the cylindrical workpiece in the middle of the two arc-shaped pads 503, start the mechanical claw body 1, and the mechanical claw body 1 will drive the arc-shaped pads 503 to move relative to each other. In order to adapt to different irregular cylindrical workpieces and achieve anti-drop and stable clamping, a buffer spring 501 is set on one side of the arc-shaped pad 503. The buffer spring 501 is squeezed by the telescopic rod 502, so that the buffer spring 501 provides a reverse force to achieve a tight fit with the irregular outer wall of the irregular cylindrical workpiece. In addition, a locking buckle 504 is also set at the end of the arc-shaped pad 503. The locking buckle 504 will use the toughness of the arc-shaped pad 503 to keep the end block tightly attached to the surface of the workpiece.

[0030] The second step: During use, the mounting plate 303 is pressed tightly against the bottom of the clamp 2, so that the rotating rod 301 and the arc-shaped friction block 304 on the top of the mounting plate 303 pass through the limiting groove. Then, the rotating rod 301 is rotated, causing the arc-shaped friction block 304 to be misaligned with the limiting groove. The friction of the arc-shaped friction block 304 is used to limit and fix the bottom mounting plate 303. Similarly, the rotating rod 301 is rotated in the opposite direction, causing the arc-shaped friction block 304 to separate from the clamp 2. This completes the quick assembly and disassembly of the anti-detachment structure on one side of the mounting plate 303. It should be noted that the device structure and drawings of this utility model mainly describe the principle of this utility model. In terms of the technical aspects of this design principle, the setting of the power mechanism, power supply system and control system of the device is not fully described. However, those skilled in the art can clearly understand the specific details of its power mechanism, power supply system and control system, provided they understand the principle of the above utility model. The control method in the application document is automatic control through a controller. The control circuit of the controller can be implemented by those skilled in the art through simple programming.

[0031] All standard parts used can be purchased from the market, and can be customized according to the instructions and drawings. The specific connection methods of each part adopt conventional methods such as bolts, rivets, and welding that are mature in the existing technology. The machinery, parts and equipment adopt conventional models in the existing technology, and the structure and principle of the components known to those skilled in the art can be known by those skilled in the art through technical manuals or conventional experimental methods.

[0032] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A robotic gripper anti-detachment structure, comprising a robotic gripper body (1), characterized in that: Two grippers (2) are provided on one side of the main body (1) of the mechanical claw. A limit groove is opened on the surface of the gripper (2). A disassembly and assembly mechanism (3) is installed inside the limit groove. A fixed cylinder (4) is fixedly connected to one side of the disassembly and assembly mechanism (3). An anti-detachment mechanism (5) is fixedly connected inside the fixed cylinder (4). The disassembly and assembly mechanism (3) includes a rotating rod (301) installed inside the limiting slide groove. The bottom of the rotating rod (301) is rotatably connected to a rotating shaft (302). The bottom of the rotating shaft (302) is fixedly connected to an mounting plate (303). An arc-shaped friction block (304) is fixedly connected to the upper surface of the rotating rod (301). The anti-detachment mechanism (5) includes a buffer spring (501) fixedly connected inside the fixed cylinder (4). A telescopic rod (502) is fixedly connected to one side of the buffer spring (501). An arc-shaped pad (503) is fixedly connected to one side of the telescopic rod (502). A locking buckle (504) is fixedly connected to the end of the arc-shaped pad (503).

2. The robotic gripping anti-detachment structure according to claim 1, characterized in that: The top of the rotating rod (301) is fixedly connected to a rotating handle (6), and the surface of the rotating handle (6) is fitted with an anti-slip sleeve.

3. The robotic gripping anti-detachment structure according to claim 1, characterized in that: The aperture of the arc-shaped friction block (304) is adapted to the limiting slide groove, and the mounting plate (303) overlaps the bottom of the clamp (2).

4. The robotic gripping anti-detachment structure according to claim 1, characterized in that: The telescopic rod (502) is slidably connected to the inside of the fixed cylinder (4), and the number of the arc-shaped pads (503) is four sets.

5. The robotic gripping anti-detachment structure according to claim 1, characterized in that: Two telescopic rods (7) are fixedly connected to one side of the arc-shaped pad (503), and one side of the telescopic rods (7) is fixedly connected to the surface of the mounting plate (303).

6. The robotic gripping anti-detachment structure according to claim 1, characterized in that: The bottom of the mechanical claw body (1) is fixedly connected to a base (8), and two connecting plates (9) are fixedly connected to the surface of the base (8).

7. The robotic gripping anti-detachment structure according to claim 6, characterized in that: Both sides of the base (8) are fixedly connected to extension plates (10). The surfaces of the extension plates (10) and the connecting plates (9) are provided with threaded holes, and the internal threads of the threaded holes are connected to positioning bolts (11).

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