A mechanical hand gripping device

Abstract

The utility model discloses a kind of mechanical hand gripping devices, it is related to mechanical hand technical field.The utility model includes mechanical hand main body, gripping unit, gripping unit is installed on mechanical hand main body;Gripping unit includes installation base, installation base is installed on mechanical hand main body, adjustment assembly is installed in installation base, symmetrically installed with linkage on adjustment assembly, clamping assembly is installed on linkage, symmetrically installed with multiple adaptive clamping structures on clamping assembly, locking assembly is installed on clamping assembly.The utility model moves clamping assembly by adjustment assembly drive linkage, automatically adheres square workpiece plane or circular workpiece camber using the elastic sliding characteristic of adaptive clamping structure, and the stable clamping of fixed position is realized by cooperating locking assembly, without artificial disassembly replacement gripping mechanism throughout, can quickly switch adaptive square and circular workpiece, effectively reduce artificial cost and production interruption time, significantly improve the continuous operation efficiency of industrial automation production line.

Description

Technical Field

[0001] This utility model belongs to the field of robotic arm technology, and more specifically, it relates to a robotic arm grasping device. Background Technology

[0002] In industrial automated production, robotic gripper devices are core components for workpiece handling and assembly, and their adaptability and practicality directly affect production efficiency and the degree of automation. Currently, existing robotic gripper devices generally suffer from poor adaptability when dealing with workpieces of different shapes (especially the widely used square and round workpieces). Specifically, existing gripping devices typically employ a fixed gripping mechanism. Grippers designed for square workpieces often use planar clamping surfaces, relying on surface-to-surface contact for stable clamping. Grippers designed for round workpieces, on the other hand, often use curved clamping surfaces or point-contact structures, clamping by conforming to the outer arc surface of the round workpiece or through multi-point positioning. When alternating between gripping square and round workpieces during production, the significant differences in their shapes and structures mean that existing fixed gripping mechanisms cannot simultaneously meet the stable clamping requirements of both types of workpieces. Workers must manually disassemble the current gripping mechanism and replace it with a dedicated gripping mechanism adapted to the other type of workpiece. This frequent disassembly and replacement of gripping mechanisms not only increases manual labor costs but also disrupts the production process, severely reducing production efficiency.

[0003] No effective solutions have yet been proposed to address the problems in the relevant technologies. Utility Model Content

[0004] To solve the above-mentioned technical problems, the present invention provides a robotic gripping device, comprising a robotic gripper body and a gripping unit, wherein the gripping unit is mounted on the robotic gripper body; The gripping unit includes a mounting base, which is mounted on the main body of the robotic arm. An adjustment component is installed inside the mounting base, and linkages are symmetrically mounted on the adjustment component. The adjustment component is used to drive the linkages to move relative to each other. A clamping component is mounted on the linkages, and multiple adaptive clamping structures are symmetrically mounted on the clamping component. A locking component is mounted on the clamping component. The adaptive clamping structures can automatically adapt to the outer surface of the object being gripped, and the locking component is used to fix the position of the adaptive clamping structures.

[0005] The adjustment assembly includes a bidirectional screw and a guide rod. The bidirectional screw is rotatably mounted inside the mounting base, and the guide rod is also mounted inside the mounting base. A connecting element is threadedly connected to the bidirectional screw, and the connecting element slides with the guide rod. The adjustment assembly also includes a drive device, which is mounted inside the mounting base. A drive gear is coaxially mounted on the drive end of the drive device, and a driven gear is coaxially mounted on the bidirectional screw. The driven gear meshes with the drive gear.

[0006] The bottom surface of the mounting base is symmetrically provided with guide grooves, and each guide groove corresponds to a connecting member, with the connecting member slidingly engaging with the guide groove.

[0007] The clamping assembly includes a connecting post, which is mounted on a linkage. A clamping seat is mounted on the connecting post, and a clamping block is mounted in the middle of one side of the clamping seat. Adaptive clamping structures are symmetrically mounted at both ends of the clamping seat.

[0008] The adapter clamping structure includes a sliding rod, which is slidably mounted on the clamping seat. A clamping post is mounted on one end of the sliding rod, and a positioning plate is mounted on the side of the sliding rod near the clamping post. A spring is mounted around the sliding rod, with one end of the spring contacting the surface of the clamping seat and the other end contacting the positioning plate.

[0009] The locking assembly includes an electric actuator mounted on the surface of the clamping seat. The telescopic end of the electric actuator is located inside the clamping seat, and a locking plate is installed on the telescopic end of the electric actuator, which can contact the surface of the sliding rod.

[0010] The sliding rod has anti-slip texture, and the locking plate has a wear-resistant layer on its surface.

[0011] This utility model has the following beneficial effects: This invention uses an adjusting component to drive a linkage to move the clamping component. It utilizes the elastic sliding characteristics of the adapted clamping structure to automatically conform to the plane of a square workpiece or the arc surface of a round workpiece. With the help of a locking component to fix the position, it achieves stable clamping. The entire process does not require manual disassembly or replacement of the gripping mechanism. It can quickly switch between adapting to square and round workpieces, effectively reducing labor costs and production interruption time, and significantly improving the continuous operation efficiency of industrial automated production lines.

[0012] Of course, any product implementing this utility model does not necessarily need to achieve all of the above advantages at the same time. Attached Figure Description

[0013] Figure 1 This is a three-dimensional structural diagram of the present invention; Figure 2 This is a schematic diagram of the gripping unit structure of this utility model; Figure 3 This is a schematic diagram of the internal structure of the mounting base of this utility model; Figure 4 This is a schematic diagram of the clamping component structure of this utility model; Figure 5 This is a schematic diagram of the locking structure of this utility model.

[0014] Explanation of reference numerals in the attached drawings: 1. Main body of the robotic arm; 2. Mounting base; 3. Adjustment component; 4. Linkage component; 5. Clamping component; 6. Adaptive clamping structure; 7. Locking structure; 8. Bidirectional screw; 9. Guide rod; 10. Drive device; 11. Drive gear; 12. Driven gear; 13. Guide groove; 14. Connecting column; 15. Clamping seat; 16. Clamping block; 17. Sliding rod; 18. Clamping column; 19. Positioning plate; 20. Spring; 21. Electric push rod; 22. Locking plate. Detailed Implementation

[0015] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the following will be described in conjunction with the accompanying drawings of the embodiments of this utility model. Figure 1-5 The technical solutions of the embodiments of this utility model are clearly and completely described herein. Obviously, the described embodiments are only some, not all, of the embodiments of this utility model. All other embodiments obtained by those skilled in the art based on the described embodiments of this utility model are within the protection scope of this utility model.

[0016] Please see Figures 1-5 As shown: This embodiment provides a robotic gripping device, including a robotic gripper body 1 and a gripping unit, wherein the gripping unit is mounted on the robotic gripper body 1; The gripping unit includes a mounting base 2, which is mounted on the main body 1 of the robotic arm. An adjustment component 3 is installed inside the mounting base 2. A linkage 4 is symmetrically mounted on the adjustment component 3. The adjustment component 3 is used to drive the linkage 4 to move relative to each other. A clamping component 5 is mounted on the linkage 4. Multiple adaptive clamping structures 6 are symmetrically mounted on the clamping component 5. A locking component is mounted on the clamping component 5. The adaptive clamping structures 6 can automatically adapt to the outer surface of the object being clamped. The locking component is used to fix the position of the adaptive clamping structures 6.

[0017] After the device is started, when it is necessary to grab a workpiece, the robot body 1 drives the gripping unit to move above the workpiece. The adjustment component 3 in the mounting base 2 drives the symmetrically installed linkage 4 to move closer or further away, and drives the clamping component 5 on it to move synchronously until the multiple matching clamping structures 6 on the clamping component 5 are close to the outer surface of the workpiece. Because the adapting clamping structure 6 can automatically adapt to the outer surface of the workpiece, when facing a square workpiece, the adapting clamping structure 6 will conform to its planar outer wall to form a stable surface contact; when facing a round workpiece, it can conform to its arc outer wall to form an adapting arc surface contact or multi-point positioning contact. There is no need to replace the special clamping structure. After the adapting clamping structure 6 is completely in contact with the outer surface of the workpiece, the locking component on the clamping assembly 5 is activated to fix the position of the adapting clamping structure 6, so that the adapting clamping structure 6 forms a stable clamp on the workpiece and completes the gripping action. This means that the device does not require manual disassembly and replacement of the gripping mechanism, and can quickly switch between adapting to square and round workpieces, effectively reducing labor costs and production interruption time, and greatly improving the efficiency of industrial automation production.

[0018] like Figure 1-5 As shown, the adjustment assembly 3 includes a bidirectional screw 8 and a guide rod 9. The bidirectional screw 8 is rotatably installed inside the mounting base 2, and the guide rod 9 is installed inside the mounting base 2. The connecting member 4 is threadedly connected to the bidirectional screw 8, and the connecting member 4 is slidably engaged with the guide rod 9. The adjustment assembly 3 also includes a drive device 10, which may include, but is not limited to, a motor. The drive device 10 is installed inside the mounting base 2. A drive gear 11 is coaxially mounted on the drive end of the drive device 10, and a driven gear 12 is coaxially mounted on the bidirectional screw 8. The driven gear 12 meshes with the drive gear 11. The bottom surface of the mounting base 2 is symmetrically provided with guide grooves 13, which correspond one-to-one with the connecting members 4, and the connecting members 4 are slidably engaged with the guide grooves 13.

[0019] After the drive device 10 of the adjustment component 3 is started, its drive end drives the coaxially mounted drive gear 11 to rotate. The drive gear 11 meshes with the driven gear 12 on the bidirectional screw 8, thereby driving the bidirectional screw 8 to rotate synchronously in the mounting base 2. Since the two sections of the bidirectional screw 8 have opposite screw directions, when the bidirectional screw 8 rotates, it will drive the two linkages 4 to make relatively close or far linear movements along the screw axis. At the same time, the linkage 4 slides with the guide rod 9 in the mounting base 2 on one hand, and slides along the guide groove 13 on the bottom surface of the mounting base 2 on the other hand. The double guide structure restricts the rotation of the linkage 4, ensuring that it moves smoothly only along a fixed trajectory and avoids deviation.

[0020] like Figure 1-5 As shown, the clamping assembly 5 includes a connecting post 14, which is mounted on the linkage 4. A clamping seat 15 is mounted on the connecting post 14, and a clamping block 16 is mounted on the middle of one side of the clamping seat 15. An adapter clamping structure 6 is symmetrically mounted at both ends of the clamping seat 15. The adapter clamping structure 6 includes a sliding rod 17, which is slidably mounted on the clamping seat 15. A clamping post 18 is mounted on one end of the sliding rod 17, and a positioning plate 19 is mounted on the side of the sliding rod 17 near the clamping post 18. A spring 20 is mounted around the sliding rod 17, with one end of the spring 20 contacting the surface of the clamping seat 15 and the other end contacting the positioning plate 19. When the adjusting component 3 moves the linkage 4 and connecting column 14, bringing the clamping seat 15 closer to the workpiece, the matching clamping structures 6 at both ends of the clamping seat 15 first contact the outer surface of the workpiece: For a square workpiece, its planar outer wall will push the sliding rods 17 on both sides to slide inward along the clamping seat 15, compressing the spring 20. The spring 20 generates a reverse elastic force to make the clamping column 18 closely fit the workpiece plane, forming a three-point surface contact of "two side columns + middle block" with the middle clamping block 16, stabilizing the flat workpiece; For a circular workpiece, its arc-shaped outer wall will cause the sliding rods 17 on both sides to slide differently due to different contact points (the sliding rod 17 with the contact position further out has a greater compression). The spring 20 pushes the clamping column 18 to automatically fit the arc surface, forming a two-point arc-shaped contact that matches the arc. Combined with the auxiliary positioning of the middle clamping block 16, stable clamping of the circular workpiece is achieved.

[0021] like Figure 1-5 As shown, the locking assembly includes an electric push rod 21, which is mounted on the surface of the clamping seat 15. The telescopic end of the electric push rod 21 is located inside the clamping seat 15. A locking plate 22 is installed on the telescopic end of the electric push rod 21. The locking plate 22 can contact the surface of the sliding rod 17. The sliding rod 17 is provided with anti-slip texture, and the surface of the locking plate 22 is provided with a wear-resistant layer.

[0022] When the clamping post 18 of the adapting clamping structure 6 is tightly attached to the outer surface of the workpiece under the action of the spring 20, the electric push rod 21 on the clamping seat 15 is activated. Its telescopic end pushes the locking plate 22 to move into the clamping seat 15 until the surface of the locking plate 22 is in close contact with the surface of the sliding rod 17. Since the sliding rod 17 is provided with anti-slip texture and the surface of the locking plate 22 is provided with wear-resistant layer, a large friction force can be generated when the two are in contact, preventing the sliding rod 17 from sliding due to the reaction force or vibration of the workpiece during the clamping process, thereby fixing the position of the clamping post 18, ensuring that the fit between the adapting clamping structure 6 and the outer surface of the workpiece remains stable and unchanged, and improving the clamping stability.

[0023] Furthermore, it should be noted that, in the description of this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; 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; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0024] The above description is the preferred embodiment of this utility model. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of this utility model, and these improvements and modifications should also be considered within the protection scope of this utility model.

Claims

1. A robotic gripping device, comprising a robotic gripper body (1) and a gripping unit, wherein the gripping unit is mounted on the robotic gripper body (1), characterized in that... ； The gripping unit includes a mounting base (2), which is mounted on the main body (1) of the robotic arm. An adjustment component (3) is installed inside the mounting base (2). A linkage component (4) is symmetrically mounted on the adjustment component (3). The adjustment component (3) is used to drive the linkage component (4) to move relative to each other. A clamping component (5) is mounted on the linkage component (4). A plurality of adaptive clamping structures (6) are symmetrically mounted on the clamping component (5). A locking component is mounted on the clamping component (5). The adaptive clamping structure (6) can automatically adapt to the outer surface of the object being clamped. The locking component is used to fix the position of the adaptive clamping structure (6).

2. The robotic gripping device according to claim 1, characterized in that, The adjustment assembly (3) includes a bidirectional screw (8) and a guide rod (9). The bidirectional screw (8) is rotatably installed inside the mounting base (2). The guide rod (9) is installed inside the mounting base (2). The connecting member (4) is threadedly connected to the bidirectional screw (8), and the connecting member (4) is slidably engaged with the guide rod (9). The adjustment assembly (3) also includes a drive device (10). The drive device (10) is installed inside the mounting base (2). The drive end of the drive device (10) is coaxially mounted with a drive gear (11). The bidirectional screw (8) is coaxially mounted with a driven gear (12). The driven gear (12) meshes with the drive gear (11).

3. The robotic gripping device according to claim 2, characterized in that, The mounting base (2) has a guide groove (13) symmetrically opened on the bottom surface. The guide groove (13) corresponds to the linkage (4) one by one, and the linkage (4) slides with the guide groove (13).

4. The robotic gripping device according to claim 3, characterized in that, The clamping assembly (5) includes a connecting post (14), which is mounted on the linkage (4). A clamping seat (15) is mounted on the connecting post (14). A clamping block (16) is mounted on the middle of one side of the clamping seat (15). The adaptive clamping structure (6) is symmetrically mounted on both ends of the clamping seat (15).

5. The robotic gripping device according to claim 4, characterized in that, The adapter clamping structure (6) includes a sliding rod (17), which is slidably mounted on the clamping seat (15). A clamping post (18) is mounted on one end of the sliding rod (17), and a positioning plate (19) is mounted on the side of the sliding rod (17) near the clamping post (18). A spring (20) is mounted around the sliding rod (17), with one end of the spring (20) in contact with the surface of the clamping seat (15) and the other end in contact with the positioning plate (19).

6. The robotic gripping device according to claim 5, characterized in that, The locking assembly includes an electric push rod (21) mounted on the surface of the clamping seat (15). The telescopic end of the electric push rod (21) is located inside the clamping seat (15). A locking plate (22) is mounted on the telescopic end of the electric push rod (21). The locking plate (22) can contact the surface of the sliding rod (17).

7. A robotic gripping device according to claim 6, characterized in that, The sliding rod (17) is provided with anti-slip texture, and the locking plate (22) is provided with a wear-resistant layer on its surface.

Images