Mechanical arm grabbing structure

Abstract

The utility model discloses a kind of mechanical arm grabbing structures, it is related to mechanical equipment technical field, including frame body and clamping device, it is characterized by: frame body includes support plate, support plate is installed in the output end of mechanical arm;Clamping device includes: two support frames are rotatably connected with support plate, the end face of support frame mutually close is equipped with clamping groove, the end face away from support plate is equipped with support groove, the inner cavity of clamping groove is uniformly distributed with locking assembly, locking assembly includes: first push rod and support frame fixed connection;Fixed plate is fixedly connected with first push rod;Support groove is equipped with clamping assembly, mounting block slides along support groove;Fixed tube is rotatably connected with mounting block;Supporting rod, supporting rod is arranged in fixed tube and slides along fixed tube;The end face of supporting rod mutually close is equipped with multiple positioning grooves.The utility model design structure is reasonable, it can be clamped to different size material, avoid replacement of clamping device.

Description

Technical Field

[0001] This utility model relates to the field of mechanical equipment technology, specifically a robotic arm grasping structure. Background Technology

[0002] A robotic arm is a programmable mechanical device that mimics the functions of a human arm. It is a core component of robots and is widely used in fields such as industrial manufacturing, medicine, service, and space exploration. The gripping structure of a robotic arm is the most critical component for the robotic arm to physically interact with the working environment and complete gripping and manipulation tasks.

[0003] In the existing technology, the gripping structure is a mechanical gripper, which is the most traditional and widely used form. It uses a motor, cylinder or hydraulic drive to imitate the gripping action of a human hand, thereby completing the gripping operation of related materials.

[0004] Mechanical grippers can only grip materials with a specific structure and cannot grip multiple materials. Therefore, different gripping structures need to be replaced, which reduces the operator's work efficiency. Utility Model Content

[0005] 1) Technical problems to be solved The purpose of this invention is to overcome the shortcomings of the existing technology and provide a robotic arm grasping structure.

[0006] (ii) Technical Solution To achieve the above objectives, this utility model provides the following technical solution: a robotic arm grasping structure, comprising a frame and a clamping device, characterized in that: the frame includes a support plate, and the support plate is installed at the output end of the robotic arm; The clamping device includes: Two symmetrically arranged support frames are rotatably connected to the support plate, and the opposite surfaces of the two support frames are respectively provided with snap-fit ​​grooves. The end face of each support frame away from the support plate is provided with a support groove. A plurality of locking components are evenly distributed circumferentially within the inner cavity of the snap-fit ​​groove. The locking components include: The first push rod is fixedly connected to the support frame; A fixing plate, which is fixedly connected to the first push rod; A clamping assembly is provided at the support groove, the clamping assembly comprising: The mounting block is slidably mounted in the support groove; A fixing tube is located outside the support groove, and one end of the fixing tube extends into the support groove and is rotatably connected to the mounting block; A support rod passes through the end of the fixed tube away from the mounting block and is slidably connected to it; Each of the support rods has multiple positioning grooves on its end face near the other set of support frames.

[0007] Furthermore, the end of the support rod away from the fixed tube is provided with a lifting part, and the bottom wall of the lifting part is flush with the bottom wall of the support rod.

[0008] Furthermore, the frame also includes: A mounting bracket is installed at the output end of the robotic arm; Mounting plate, which is fixedly connected to the fixing frame; The mounting bracket has its two ends fixedly connected to the mounting plate and the support plate, respectively. A reinforcing rib, one end of which is fixedly connected to the fixing frame, and the other end extends to be connected to the mounting frame.

[0009] Furthermore, the clamping device also includes: A second motor is fixedly connected to the mounting bracket. The first gear is fixedly connected to the output shaft of the second motor. The second gear meshes with the first gear; The first gear and the second gear are rotatably connected to the support plate; the support frame is fixedly connected to the first gear or the second gear.

[0010] Furthermore, the clamping assembly also includes: The second push rod is located on the side of the support frame away from the snap-fit ​​groove. The output end of the second push rod passes through the support frame and extends into the support groove, where it is fixedly connected to the mounting block. A flip motor is mounted on the mounting block, and the fixed tube is fixedly connected to the output end of the flip motor.

[0011] Furthermore, the end face of the fixing plate away from the first push rod is provided with an anti-slip pad.

[0012] Furthermore, the positioning groove is provided in multiple sets, and the diameter of the positioning groove is different. Each positioning groove has a flexible pad in its inner cavity.

[0013] (iii) Beneficial effects: Compared with existing technologies, this robotic arm grasping structure has the following advantages: I. By setting up a clamping device, the operator can control the rotating support frame and then clamp materials of different sizes and dimensions through the snap-fit ​​groove, positioning groove and lifting part, thus ensuring the applicability of the device.

[0014] Second, by setting up a frame, this utility model can provide a stable support effect for the clamping device and ensure the stability of clamping. Attached Figure Description

[0015] Figure 1 This is a three-dimensional structural diagram of the present invention; Figure 2 This is a schematic diagram of the internal structure of the mounting bracket in this utility model; Figure 3 In this utility model Figure 1 Enlarged diagram of part A in the middle; Figure 4 In this utility model Figure 1 Enlarged schematic diagram of part B in the middle.

[0016] In the diagram: 1. Frame; 11. Fixing frame; 12. First motor; 13. Mounting plate; 14. Mounting frame; 15. Reinforcing rib; 16. Support plate; 2. Clamping device; 21. Drive assembly; 211. Second motor; 212. First gear; 213. Second gear; 214. Mounting rod; 22. Support frame; 221. Snap-fit ​​groove; 23. Locking assembly; 231. First push rod; 232. Fixing plate; 233. First spring; 234. Abutment plate; 235. Anti-slip pad; 24. Support groove; 25. Clamping assembly; 251. Second push rod; 252. Mounting block; 253. Tilting motor; 254. Fixing tube; 255. Support rod; 256. Material lifting part; 257. Positioning groove; 258. Flexible pad. Detailed Implementation

[0017] 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.

[0018] like Figure 1-4 As shown, this utility model provides a technical solution: a robotic arm grasping structure, including a frame 1 and a clamping device 2.

[0019] Reference Figure 1The frame 1 includes a fixed frame 11, a first motor 12, a mounting plate 13, and a mounting bracket 14. In this embodiment, the fixed frame 11 is preferably a rectangular plate, and the fixed frame 11 is fixedly connected to the output end of the robotic arm by screws. In this embodiment, the first motor 12 is preferably a servo motor, and the housing of the first motor 12 is fixedly connected to the fixed frame 11 by screws. Here, the output shaft of the first motor 12 passes through the fixed frame 11. In this embodiment, the mounting plate 13 is preferably a circular plate, and the housing of the mounting plate 13 and the first motor 12 are respectively located on the two opposite ends of the fixed frame 11. The mounting plate 13 and the output shaft of the first motor 12 are coaxially fixedly connected. Here, the mounting bracket 14 is preferably a hollow circular bracket, and the mounting bracket 14 is coaxially fixedly connected to the mounting plate 13 by screws. Reference Figure 1 The frame 1 also includes a reinforcing rib 15, which has a groove. In this embodiment, the groove is used to accommodate the mounting plate 13. One end of the reinforcing rib 15 is fixedly connected to the fixing frame 11 by screws, and the other end of the reinforcing rib 15 is attached to the mounting frame 14.

[0020] Reference Figure 1 The frame 1 also includes a support plate 16, which is attached to the mounting frame 14 and is fixedly connected to the mounting frame 14.

[0021] Reference Figure 2 The clamping device 2 includes a drive assembly 21, which includes a second motor 211, a first gear 212, a second gear 213, and a mounting rod 214. In this embodiment, the second motor 211 is preferably a servo motor. The second motor 211 is fixedly connected to the mounting bracket 14. The support plate 16 has a mounting groove on its end face near the mounting bracket 14. Both the first gear 212 and the second gear 213 are located in the mounting groove. The first gear 212 is coaxially fixedly connected to the output shaft of the second motor 211 by a key connection. All wheels 213 are rotatably connected to the support plate 16 via bearings, and the first gear 212 and the second gear 213 mesh with each other. Each of the first gear 212 and the second gear 213 is provided with a mounting rod 214. The mounting rod 214 passes through the support plate 16 and is coaxially and fixedly connected to the first gear 212 and / or the second gear 213. Here, the mounting rod 214 and the support plate 16 are rotatably connected to the support plate 16 via bearings, and are coaxially and fixedly connected to the first gear 212 and / or the second gear 213 via a key.

[0022] Reference Figure 1 and Figure 3Each mounting rod 214 is provided with a support frame 22. In this embodiment, the support frame 22 is preferably a rectangular plate. The support frame 22 is fixedly connected to the mounting rod 214 by screws. Here, the end faces of the support frame 22 that are close to each other are provided with snap-fit ​​grooves 221. In this embodiment, the two snap-fit ​​grooves 221 can surround a circular groove. The inner cavity of the snap-fit ​​groove 221 is provided with multiple locking components 23. The multiple locking components 23 are evenly distributed circumferentially along the axial direction of the snap-fit ​​groove 221. The locking component 23 includes a first push rod 231 and a fixing plate 232. In this embodiment, the first push rod 231 is preferably an electric push rod. The driving direction of the first push rod 231 is consistent with the radial direction of the snap-fit ​​groove 221. The outer shell of the first push rod 231 is fixedly connected to the support frame 22 by screws. The fixing plate 232 is rotatably connected to the output end of the first push rod 231 by a hinge seat.

[0023] Reference Figure 1 and Figure 3 The end face of the fixing plate 232 away from the first push rod 231 is arranged with bonding components. The bonding components include a first spring 233 and an abutment plate 234. The first spring 233 is perpendicular to the fixing plate 232, and the two ends of the first spring 233 are fixedly connected to the abutment plate 234 and the fixing plate 232 respectively.

[0024] Reference Figure 1 and Figure 3 An anti-slip pad 235 is provided on the end face of the abutment plate 234 away from the fixing plate 232.

[0025] Reference Figure 1 and Figure 4 The support frame 22 has a support groove 24 on its end face away from the mounting frame 14. Here, the support groove 24 is preferably a rectangular groove. The inner cavity of the support groove 24 is provided with a clamping assembly 25. The clamping assembly 25 includes a second push rod 251 and a mounting block 252. In this embodiment, the second push rod 251 is preferably an electric push rod. The driving direction of the second push rod 251 is parallel to the long side direction of the support groove 24. The outer shell of the second push rod 251 is fixedly connected to the support frame 22, and the mounting block 252 is fixed to the output end of the second push rod 251.

[0026] Reference Figure 1 and Figure 4 The clamping assembly 25 also includes a flip motor 253, a fixing tube 254 and a support rod 255. The housing of the flip motor 253 is fixed to the mounting block 252. The fixing tube 254 is fixedly connected to the output end of the flip motor 253. The support rod 255 passes through the inner cavity of the fixing tube 254 and is equipped with an electric telescopic rod. The electric telescopic rod is used to drive the support rod 255 to slide along the axial direction of the fixing tube 254.

[0027] In this embodiment, the flipping motor 253 is used to drive the fixed tube 254 to rotate along the mounting block 252, and the telescopic rod drives the support rod 255 to retract into the inner cavity of the fixed tube 254, thereby enabling the fixed tube 254 and the support rod 255 to be retracted together into the support groove 24.

[0028] Reference Figure 1 and Figure 4 The end of the support rod 255 away from the telescopic rod is provided with a lifting part 256. In this embodiment, the lifting part 256 is preferably a right-angled triangular plate, wherein one right-angled side is attached to the telescopic rod and fixedly connected to the telescopic rod, and the other right-angled side is located on the side of the hypotenuse that is lower.

[0029] Reference Figure 1 and Figure 4 The side wall of the support rod 255 is provided with multiple sets of positioning grooves 257. In this embodiment, the positioning groove 257 is preferably a semi-circular groove, and the positioning grooves 257 at two adjacent support rods 255 can be merged into a complete circular groove. Here, the diameter of the positioning groove 257 gradually increases from the lifting part 256 to the direction of the flipping motor 253.

[0030] Reference Figure 1 and Figure 4 The side wall of the positioning groove 257 is provided with a flexible pad 258, and the flexible pad 258 and the support rod 255 are fixedly connected.

[0031] The implementation principle of a robotic arm grasping structure is as follows: the operator first installs the fixing frame 11 on the output end of the robotic arm, the first motor 12 drives the mounting package to rotate, the reinforcing rib 15 provides support for the installation of the mounting frame 14, and the mounting frame 14 provides support for the installation of the support plate 16.

[0032] The operator then controls the second motor 211 to drive the first gear 212 and the second gear 213 to rotate, which in turn drives the support frame 22 to rotate. The operator can place the material to be clamped in the clamping slot 221 and control the first push rod 231 to press the fixing plate 232 against the side wall of the material to complete the clamping of the material.

[0033] For smaller materials, the operator controls the support frame 22 to rotate and adjusts the fixed tube 254 to a reasonable position through the second push rod 251 and the flipping motor 253. Then, the operator controls the support rod 255 to slide out and uses the lifting part 256 to lift the material. The material is clamped by the support rod 255 or by the positioning groove 257.

Claims

1. A robotic arm gripping structure, comprising a frame (1) and a clamping device (2), characterized in that: The frame (1) includes a support plate (16), which is mounted on the output end of the robotic arm; The clamping device (2) includes: Two symmetrically arranged support frames (22) are rotatably connected to the support plate (16), and the opposing surfaces of the two support frames (22) are respectively provided with snap-fit ​​grooves (221). The end face of the support frame (22) away from the support plate (16) is provided with a support groove (24). The inner cavity of the snap-fit ​​groove (221) is evenly distributed with a plurality of locking components (23), the locking components (23) including: The first push rod (231) and the support frame (22) are fixedly connected; A fixing plate (232) is fixedly connected to the first push rod (231); A clamping assembly (25) is provided at the support groove (24), and the clamping assembly (25) includes: Mounting block (252), which is slidably mounted in the support groove (24); A fixing tube (254) is located outside the support groove (24), and one end of the fixing tube (254) extends into the support groove (24) and is rotatably connected to the mounting block (252); A support rod (255) passes through the end of the fixing tube (254) away from the mounting block (252) and is slidably connected thereto; Each of the support rods (255) has multiple positioning grooves (257) on its end face near the other set of support frames (22).

2. The robotic arm grasping structure according to claim 1, characterized in that: The support rod (255) has a lifting part (256) at one end away from the fixed tube (254), and the bottom wall of the lifting part (256) is flush with the bottom wall of the support rod (255).

3. The robotic arm grasping structure according to claim 1, characterized in that: The frame (1) also includes: A mounting bracket (11) is installed at the output end of the robotic arm; Mounting plate (13), which is fixedly connected to the fixing frame (11); Mounting bracket (14), the two ends of which are fixedly connected to the mounting plate (13) and the support plate (16) respectively; A reinforcing rib (15) is fixedly connected at one end to the fixing frame (11) and at the other end to be connected to the mounting frame (14).

4. The robotic arm grasping structure according to claim 3, characterized in that: The clamping device (2) further includes: The second motor (211) and the mounting bracket (14) are fixedly connected; The first gear (212) is fixedly connected to the output shaft of the second motor (211); The second gear (213) meshes with the first gear (212); The first gear (212) and the second gear (213) are rotatably connected to the support plate (16); the support frame (22) is fixedly connected to the first gear (212) or the second gear (213).

5. The robotic arm grasping structure according to claim 1, characterized in that: The clamping assembly (25) further includes: The second push rod (251) is located on the side of the support frame (22) away from the snap-fit ​​groove (221). The output end of the second push rod (251) passes through the support frame (22) and extends into the support groove (24) and is fixedly connected to the mounting block (252). A flip motor (253) is mounted on the mounting block (252), and the fixed tube (254) is fixedly connected to the output end of the flip motor (253).

6. The robotic arm grasping structure according to claim 1, characterized in that: The end face of the fixing plate (232) away from the first push rod (231) is provided with an anti-slip pad (235).

7. The robotic arm grasping structure according to claim 1, characterized in that: The positioning groove (257) is provided in multiple sets, and the diameter of the positioning groove (257) is different. Each positioning groove (257) has a flexible pad (258) in its inner cavity.

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