A rotating mechanism for a robot gripper

Abstract

The utility model discloses a kind of rotary mechanisms for mechanical hand gripper, it is related to rotary mechanism technical field.The utility model includes support, the bottom fixedly connected with support foot pad of support, the side surface fixedly connected with casing of support, the top of casing is provided with clamping rotary mechanism.The utility model is cooperated by clamping rotary mechanism and self-locking mechanism internal component, the friction coefficient of lug on clamping plate can be increased with jig, avoid jig to slide, the cooperation of sliding block and sliding slot can limit the moving track of clamping plate, guarantee clamping precision, spoke structure of gear reduces component weight, reduces motor load, also promotes rotation response speed, overall can efficiently satisfy the stable clamping of mechanical hand to jig and accurate angle adjustment demand, adapt to multi-industry automated grabbing operation, the cooperation of spring and bottom plate, clamping block can ensure that clamping block elastic reset is stable, after locking, it is not easy to cause loosening due to external force, guarantee the position fixed precision after jig rotation.

Description

Technical Field

[0001] This utility model belongs to the field of rotating mechanism technology, and in particular relates to a rotating mechanism for a robotic arm to grasp a fixture. Background Technology

[0002] The rotating mechanism used by a robotic arm to grip a fixture is the core component for achieving precise adjustment of the fixture angle. It typically consists of a drive unit, a transmission unit, a positioning unit, and a housing. The drive unit often uses a servo motor or a stepper motor, providing stable and controllable power output. The transmission unit usually transmits the motor power to the rotating spindle through a gear, worm gear, or synchronous belt structure, ensuring efficient and smooth power transmission. The positioning unit is generally equipped with a photoelectric encoder or proximity switch, which can provide real-time feedback of rotation angle information to achieve high-precision positioning. This mechanism can be integrated into a robotic arm gripping system to meet the needs of industries such as electronics and automotive parts for workpiece flipping and misalignment correction after gripping. It effectively improves the operating efficiency and processing accuracy of automated production lines. Its compact structure makes installation and maintenance convenient, and it can be customized according to different fixture sizes and load requirements.

[0003] According to a public disclosure (Publication No.: CN218052649U), a rotating mechanism for a robotic arm gripping fixture includes: a mounting mechanism, a rotator, and a connecting plate. The rotator is detachably connected inside the mounting mechanism, and the connecting plate is detachably connected to the power output end of the rotator. The mounting mechanism consists of an outer cylinder, a shock-absorbing rod, and an inner cylinder. The shock-absorbing rod is fixedly connected to the inner wall of the outer cylinder, and the inner cylinder is fixedly connected to the inner wall of the shock-absorbing rod. This mechanism effectively protects the rotating mechanism during use, facilitates rotation during robotic arm gripping, and reinforces the entire rotating mechanism, effectively improving its structural strength and preventing easy breakage during use, thus ensuring stability during gripping.

[0004] In existing equipment, the rotation mechanism is reinforced and its stability is enhanced by the cooperation of components such as connecting plates and anti-vibration rods. However, the stability effect on the fixture is not good. Therefore, we propose a rotation mechanism for a robotic arm to grasp a fixture. Utility Model Content

[0005] The purpose of this invention is to provide a rotating mechanism for a robotic arm to grasp a fixture. By designing components such as a clamping rotating mechanism and a self-locking mechanism, the problem of poor stability of the fixture in the prior art is solved.

[0006] To solve the above-mentioned technical problems, this utility model is achieved through the following technical solution:

[0007] This utility model is a rotating mechanism for a robotic arm to grasp a fixture, comprising: a bracket, a support foot pad fixedly connected to the bottom of the bracket, a housing fixedly connected to the side of the bracket, and a clamping rotating mechanism provided on the top of the housing;

[0008] The clamping and rotating mechanism includes a motor, the top of which is fixedly connected to the bottom of the housing. A reciprocating lead screw is fixedly connected to the end of the motor output shaft. A gear is fixedly connected to the end of the reciprocating lead screw away from the motor. A worktable is fixedly connected to the circumferential surface of the reciprocating lead screw. A rack is slidably connected to the inner side of the worktable. The gear and the rack mesh with each other. A clamping plate is fixedly connected to the top of the rack.

[0009] Furthermore, a slider is fixedly connected to the side of the clamping plate, and a groove is provided on the inner side of the worktable. The side of the slider is slidably connected to the inside of the groove to avoid problems such as displacement or skewness due to uneven force or vibration when the clamping plate moves laterally with the rack. This ensures that the clamping plate always opens and closes smoothly in the preset direction, guarantees the alignment accuracy of the fixture clamping, and avoids fixture falling off or inaccurate positioning due to clamping plate misalignment.

[0010] Furthermore, the side of the clamping plate is fixedly connected with protrusions. The number of protrusions is set to several and arranged in a linear array on the side of the clamping plate to enhance the friction and clamping stability between the clamping plate and the fixture. The several protrusions distributed in a linear array can increase the roughness of the contact surface between the clamping plate and the fixture, and prevent the fixture from sliding or falling off due to vibration, inertia and other factors during clamping or rotation.

[0011] Furthermore, the gear has spokes on its side, and the number of spokes is set to several and arranged in a circumferential array on the side of the gear. While ensuring the structural strength of the gear, the weight of the gear itself is greatly reduced, the load when the motor drives the gear to rotate is reduced, energy consumption is reduced, and the response speed of the gear rotation is improved, avoiding start-up delay or running jam caused by excessive gear weight.

[0012] Furthermore, the housing is provided with a self-locking mechanism, which includes a locking cylinder. The circumferential surface of the locking cylinder is fixedly connected to the side of the housing. A locking block is slidably connected to the side of the locking cylinder. A base plate is fixedly connected to the side of the locking block. A spring is fixedly connected to the side of the base plate. The other end of the spring is fixedly connected to the inner side of the locking cylinder. A pull rod is fixedly connected to the side of the base plate. A threaded sleeve is threadedly connected to the circumferential surface of the reciprocating screw. A locking block is fixedly connected to the circumferential surface of the threaded sleeve.

[0013] Furthermore, the side of the locking block is provided with a beveled surface, which is located on the displacement trajectory of the locking block. This allows the locking block to naturally compress the beveled surface as it moves with the threaded sleeve. The beveled surface guides the locking block to retract into the locking cylinder, providing a channel for the locking block to continue its displacement. When the locking block completely passes the beveled surface, the locking block resets under the action of the spring, thus locking the locking block and achieving self-locking.

[0014] Furthermore, the diameter of the spring is smaller than the diameter of the inner wall of the lock cylinder, which can prevent the spring from jamming or interfering with the inner wall of the lock cylinder when it extends or retracts, allowing the spring to deform smoothly along the axial direction. This prevents self-locking or unlocking failure due to jamming. One end of the spring is located on the displacement trajectory of the base plate, which can ensure that the spring can be accurately compressed when the base plate moves. When the spring returns to its original position, it can directly push the base plate to drive the locking block, ensuring the timeliness and reliability of locking or unlocking the locking block, and ultimately ensuring the stable operation of the self-locking mechanism.

[0015] This utility model has the following beneficial effects:

[0016] 1. This utility model simplifies the structure and reduces energy consumption through the coordinated operation of components such as racks, gears, and worktables within the clamping and rotating mechanism. The protrusions on the clamping plate increase the coefficient of friction with the fixture, preventing slippage. The cooperation between the slider and the groove restricts the movement trajectory of the clamping plate, ensuring clamping accuracy. The spoke structure of the gears reduces component weight and motor load, extending equipment lifespan and improving rotational response speed. Overall, it efficiently meets the needs of robotic arms for stable clamping and precise angle adjustment of fixtures, making it suitable for automated gripping operations in various industries.

[0017] 2. This utility model, through the coordinated operation of components such as the locking cylinder, spring, and pull rod within the self-locking mechanism, eliminates the need for manual operation, thus improving operational convenience. The cooperation between the spring, base plate, and locking block ensures stable elastic return of the locking block, preventing loosening due to external forces after locking and guaranteeing the positional fixation accuracy of the fixture after rotation. The overall structure requires no additional power drive, relying on mechanical linkage to achieve self-locking and unlocking, simplifying system design while reducing the risk of failure and reliably maintaining the stability of the fixture during operation.

[0018] Of course, any product implementing this utility model does not necessarily need to achieve all of the advantages described above at the same time. Attached Figure Description

[0019] To more clearly illustrate the technical solutions of the embodiments of this utility model, the accompanying drawings used in the description of the embodiments 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.

[0020] Figure 1 This is a three-dimensional structural diagram of the present invention;

[0021] Figure 2 This is a three-dimensional structural diagram of the present invention in cross-section;

[0022] Figure 3 This is a three-dimensional external structural diagram of the clamping and rotating mechanism of this utility model;

[0023] Figure 4 This is a three-dimensional external structural diagram of the self-locking mechanism of this utility model;

[0024] Figure 5 This is a three-dimensional structural diagram of the self-locking mechanism of this utility model.

[0025] The attached diagram lists the components represented by each number as follows:

[0026] 1. Bracket; 2. Support foot pad; 3. Housing; 4. Clamping and rotating mechanism; 41. Motor; 42. Reciprocating lead screw; 43. Gear; 44. Worktable; 45. Rack; 46. Clamping plate; 47. Slider; 48. Protrusion; 5. Self-locking mechanism; 51. Locking cylinder; 52. Locking block; 53. Base plate; 54. Spring; 55. Pull rod; 56. Threaded sleeve; 57. Locking block. Detailed Implementation

[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 skilled in the art without creative effort are within the protection scope of the present utility model.

[0028] Please see Figures 1-5 The present invention is a rotating mechanism for a robotic arm to grasp a fixture, comprising: a bracket 1, a support foot pad 2 fixedly connected to the bottom of the bracket 1, a housing 3 fixedly connected to the side of the bracket 1, and a clamping rotating mechanism 4 provided on the top of the housing 3.

[0029] The clamping and rotating mechanism 4 includes a motor 41. The top of the motor 41 is fixedly connected to the bottom of the housing 3. A reciprocating lead screw 42 is fixedly connected to the end of the output shaft of the motor 41. A gear 43 is fixedly connected to the end of the reciprocating lead screw 42 away from the motor 41. A worktable 44 is fixedly connected to the circumferential surface of the reciprocating lead screw 42. A rack 45 is slidably connected to the inner side of the worktable 44. The gear 43 and the rack 45 mesh with each other. A clamping plate 46 is fixedly connected to the top of the rack 45.

[0030] As shown in the figure, a slider 47 is fixedly connected to the side of the clamping plate 46. A groove is provided on the inner side of the worktable 44. The side of the slider 47 is slidably connected to the inside of the groove. This prevents the clamping plate 46 from shifting or tilting due to uneven force or vibration when it moves laterally with the rack 45. It ensures that the clamping plate 46 always opens and closes smoothly in the preset direction, ensuring the alignment accuracy of the fixture clamping and preventing the fixture from falling off or being mispositioned due to the misalignment of the clamping plate 46.

[0031] As shown in the figure, a number of protrusions 48 are fixedly connected to the side of the clamping plate 46. The protrusions 48 are arranged in a linear array on the side of the clamping plate 46 to enhance the friction and clamping stability between the clamping plate 46 and the fixture. The number of protrusions 48 distributed in a linear array can increase the roughness of the contact surface between the clamping plate 46 and the fixture, and prevent the fixture from sliding or falling off due to vibration, inertia and other factors during clamping or rotation.

[0032] As shown in the figure, the gear 43 has spokes on its side. The number of spokes is set to several and arranged in a circumferential array on the side of the gear 43. While ensuring the structural strength of the gear 43, the weight of the gear 43 itself is greatly reduced, the load of the motor 41 when driving the gear 43 to rotate is reduced, energy consumption is reduced and the response speed of the gear 43 rotation is improved, avoiding start-up delay or running jam caused by the excessive weight of the gear 43.

[0033] As shown in the figure, a self-locking mechanism 5 is provided inside the housing 3. The self-locking mechanism 5 includes a locking cylinder 51. The circumferential surface of the locking cylinder 51 is fixedly connected to the side of the housing 3. A locking block 52 is slidably connected to the side of the locking cylinder 51. A base plate 53 is fixedly connected to the side of the locking block 52. A spring 54 is fixedly connected to the side of the base plate 53. The other end of the spring 54 is fixedly connected to the inner side of the locking cylinder 51. A pull rod 55 is fixedly connected to the side of the base plate 53. A threaded sleeve 56 is threadedly connected to the circumferential surface of the reciprocating screw 42. A locking block 57 is fixedly connected to the circumferential surface of the threaded sleeve 56.

[0034] As shown in the figure, the side of the locking block 52 has a beveled surface. The beveled surface of the locking block 52 is located on the displacement trajectory of the locking block 57. When the locking block 57 moves with the threaded sleeve 56, it naturally squeezes the beveled surface. The beveled surface guides the locking block 52 to retract into the locking cylinder 51, providing a channel for the locking block 57 to continue to move. When the locking block 57 completely passes the beveled surface, the locking block 52 is reset under the action of the spring 54, thus locking the locking block 57 to achieve self-locking.

[0035] As shown in the figure, the diameter of spring 54 is smaller than the diameter of the inner wall of lock cylinder 51. This prevents spring 54 from getting stuck or interfering with the inner wall of lock cylinder 51 when it extends or retracts, ensuring that spring 54 always deforms smoothly along the axial direction. This prevents self-locking or unlocking failure due to jamming. One end of spring 54 is located on the displacement trajectory of base plate 53, which ensures that spring 54 can be accurately compressed when base plate 53 moves. When spring 54 returns to its original position, it can directly push base plate 53 to drive the locking block 52, ensuring the timeliness and reliability of locking or unlocking of locking block 52, and ultimately ensuring the stable operation of self-locking mechanism 5.

[0036] A specific application of this embodiment is as follows: When the clamping and rotating mechanism 4 is working, the operator starts the motor 41, and its output shaft drives the reciprocating lead screw 42 to rotate. The reciprocating lead screw 42 simultaneously drives the top gear 43 to rotate synchronously with the worktable 44 on the circumferential surface. The gear 43 meshes with the rack 45 on the inner side of the worktable 44. The rotation of the gear 43 will push the rack 45 to move laterally, thereby driving the clamping plate 46 on the top of the rack 45 to move. At this time, the slider 47 on the side of the clamping plate 46 slides in the groove in the worktable 44 to ensure that the movement trajectory of the clamping plate 46 is stable until the protrusion 48 on the clamping plate 46 is in close contact with the fixture, thus completing the clamping of the fixture. After clamping is completed, the motor 41 continues to drive the reciprocating screw 42 to rotate, and the worktable 44 continues to rotate with the reciprocating screw 42, thereby driving the clamping plate 46 of the clamped fixture to rotate together, realizing the angle adjustment of the fixture. The spokes on the side of the gear 43 can reduce the weight of the gear 43, reduce the load on the motor 41, improve the efficiency and stability of the rotation process, and meet the requirements of subsequent operations for the angle of the fixture.

[0037] When the self-locking mechanism 5 is working, the rotation of the reciprocating screw 42 will drive the threaded sleeve 56 on the circumferential surface to move axially. The threaded sleeve 56 will drive the locking block 57 on the circumferential surface to move synchronously. When the locking block 57 contacts the chamfered surface of the locking block 52 inside the lock cylinder 51, it will squeeze the locking block 52 to move into the lock cylinder 51. At this time, the base plate 53 on the side of the locking block 52 compresses the spring 54. After the locking block 57 passes the chamfered surface of the locking block 52, the spring 54 elastically resets and pushes the base plate 53 to move, causing the locking block 52 to pop out and lock the locking block 57, restricting the threaded sleeve 56 and the reciprocating screw 42 to move in opposite directions, thus achieving self-locking. When unlocking, pulling the pull rod 55 will drive the base plate 53 to compress the spring 54, causing the locking block 52 to retract into the lock cylinder 51 and disengage from the locking block 57, thus releasing the locking state.

[0038] In the description of this specification, references to terms such as "an embodiment," "example," "specific example," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0039] The preferred embodiments of this utility model disclosed above are merely illustrative of the present utility model. These preferred embodiments do not exhaustively describe all details, nor do they limit the utility model to the specific implementations described. Clearly, many modifications and variations can be made based on the content of this specification. This specification selects and specifically describes these embodiments to better explain the principles and practical applications of this utility model, thereby enabling those skilled in the art to better understand and utilize it. This utility model is limited only by the claims and their full scope and equivalents.

Claims

1. A rotating mechanism for a robotic arm to grasp a fixture, comprising a support (1), characterized in that: The bottom of the bracket (1) is fixedly connected to a support foot pad (2), the side of the bracket (1) is fixedly connected to a housing (3), and the top of the housing (3) is provided with a clamping and rotating mechanism (4). The clamping and rotating mechanism (4) includes a motor (41), the top of which is fixedly connected to the bottom of the housing (3). A reciprocating lead screw (42) is fixedly connected to the end of the output shaft of the motor (41). A gear (43) is fixedly connected to the end of the reciprocating lead screw (42) away from the motor (41). A worktable (44) is fixedly connected to the circumferential surface of the reciprocating lead screw (42). A rack (45) is slidably connected to the inner side of the worktable (44). The gear (43) and the rack (45) mesh with each other. A clamping plate (46) is fixedly connected to the top of the rack (45).

2. The rotating mechanism for a robotic arm to grasp a fixture according to claim 1, characterized in that, The side of the clamp (46) is fixedly connected to a slider (47), and the inner side of the workbench (44) is provided with a sliding groove, and the side of the slider (47) is slidably connected to the inside of the sliding groove.

3. A rotating mechanism for a robotic arm to grasp a fixture according to claim 2, characterized in that, The side of the clamp (46) is fixedly connected with protrusions (48), and the number of protrusions (48) is set to a certain number and arranged in a linear array on the side of the clamp (46).

4. A rotating mechanism for a robotic arm to grasp a fixture according to claim 3, characterized in that, The gear (43) has spokes on its side, and the number of spokes is set to several and arranged in a circumferential array on the side of the gear (43).

5. A rotating mechanism for a robotic arm to grasp a fixture according to claim 4, characterized in that, The housing (3) is provided with a self-locking mechanism (5). The self-locking mechanism (5) includes a lock cylinder (51). The circumferential surface of the lock cylinder (51) is fixedly connected to the side of the housing (3). A locking block (52) is slidably connected to the side of the lock cylinder (51). A base plate (53) is fixedly connected to the side of the locking block (52). A spring (54) is fixedly connected to the side of the base plate (53). The other end of the spring (54) is fixedly connected to the inner side of the lock cylinder (51). A pull rod (55) is fixedly connected to the side of the base plate (53). A threaded sleeve (56) is threadedly connected to the circumferential surface of the reciprocating screw (42). A locking block (57) is fixedly connected to the circumferential surface of the threaded sleeve (56).

6. A rotating mechanism for a robotic arm to grasp a fixture according to claim 5, characterized in that, The side of the card block (52) is provided with a beveled surface, and the beveled surface of the card block (52) is located on the displacement trajectory of the lock block (57).

7. A rotating mechanism for a robotic arm to grasp a fixture according to claim 6, characterized in that, The diameter of the spring (54) is smaller than the inner wall diameter of the lock cylinder (51), and one end of the spring (54) is located on the displacement trajectory of the base plate (53).

Images