Clamping mechanism and robot arm

Abstract

The utility model discloses a kind of clamping mechanism and mechanical arm, including seat, drive module and two clamping modules, drive module is installed on seat, drive module has two movable parts of relative arrangement, and two activities can be relatively close or far away between;Two clamping modules are respectively installed on two movable parts, clamping module includes buffer and clamping part, buffer is installed on movable part, clamping part is connected with the movable end of buffer, and two clamping parts between two clamping modules form clamping space, when workpiece is fixed in clamping space, two buffers can absorb the impact force of workpiece clamping instant. The problem that excessive instantaneous clamping force is easy to damage workpiece when clamping mechanism clamps workpiece in prior art is solved.

Description

Technical Field

[0001] This utility model relates to the field of clamping mechanism technology, specifically to a clamping mechanism and a robotic arm. Background Technology

[0002] With human development and the progress of civilization, industry is constantly developing, and the amount of work that people need to do is also increasing, especially repetitive and dangerous work. This has forced people to research and develop a new device that can mimic certain movements and functions of the human hand and arm, and automatically operate objects or tools according to a fixed program.

[0003] The gripping mechanism is a robotic component that can perform functions similar to a human hand. It is used to hold workpieces or tools and is one of the important actuators. In actual use, when the gripping mechanism clamps the workpiece, excessive instantaneous clamping force can easily damage the workpiece, causing it to deform and triggering a series of chain reactions that affect product quality, production costs, and personnel safety. Utility Model Content

[0004] The purpose of this utility model is to overcome the above-mentioned technical deficiencies and provide a clamping mechanism and robotic arm to solve the problem that excessive instantaneous clamping force can easily damage the workpiece when clamping it in the prior art.

[0005] To achieve the above-mentioned technical objectives, the present invention adopts the following technical solution: In a first aspect, this utility model provides a clamping mechanism, comprising: seat body; A drive module, mounted on the base, has two opposing movable parts that can move closer or further apart; and... Two clamping modules are respectively installed on the two movable parts. Each clamping module includes a buffer and a clamping component. The buffer is installed on the movable part, and the clamping component is connected to the movable end of the buffer. A clamping space is formed between the two clamping components of the two clamping modules. When the workpiece is fixed in the clamping space, the two buffers can absorb the impact force of the workpiece clamping moment.

[0006] In some embodiments, the buffer includes a mounting cylinder, a guide rod, a first elastic portion, and a second elastic portion. The mounting cylinder is fixed to the movable member. One end of the guide rod passes through the mounting cylinder and a ring block is fixed to one end of the guide rod. The other end of the guide rod is fixed to the clamping member. The first elastic portion and the second elastic portion are both disposed in the mounting cylinder, and the first elastic portion and the second elastic portion abut against the opposite sides of the ring block, respectively.

[0007] In some embodiments, the guide rod is provided with at least one limiting groove along the axial direction, and the end of the mounting cylinder is provided with a limiting protrusion that cooperates with the limiting groove.

[0008] In some embodiments, the buffer further includes a third elastic portion and a plug rod, the plug rod being fixed inside the mounting cylinder, the guide rod having a mounting groove, the third elastic portion being disposed inside the mounting groove, and the plug rod extending into the mounting groove and abutting against the third elastic portion.

[0009] In some embodiments, the first elastic portion, the second elastic portion, and the third elastic portion are all compression springs.

[0010] In some embodiments, the clamping member includes a pressure block and a buffer block, one side of the pressure block being fixedly connected to the other end of the guide rod, and the buffer block being fixedly disposed on the other side of the pressure block.

[0011] In some embodiments, the drive module includes a drive component, a lead screw, and a slider. The drive component is mounted on the base, the output end of the drive component is fixedly connected to the lead screw, and the slider is slidably connected to the base and threadedly connected to the lead screw. The movable component includes a first rod, a second rod, a third rod, and a fourth rod. One end of the first rod is hinged to the slider, and the other end is hinged to one end of the fourth rod. One end of the second rod is hinged to the slider, and the other end is hinged to the middle of the fourth rod. One end of the third rod intersects with the middle of the first rod, and the other end is hinged to the seat. The buffer is installed at the other end of the fourth rod.

[0012] In some embodiments, the other end of the fourth rod has a bend, and the buffer is mounted on the bend.

[0013] In some embodiments, the driving element is a forward and reverse motor.

[0014] Secondly, this utility model also provides a robotic arm, including the clamping mechanism described in any of the above claims.

[0015] Compared with the prior art, the clamping mechanism and robotic arm provided by this utility model are mounted on the base through a drive module. The drive module has two movable parts arranged opposite to each other, and the two movable parts can move closer or further apart. Two clamping modules are respectively mounted on the two movable parts. The clamping module includes a buffer and a clamping part. The buffer is mounted on the movable part, and the clamping part is connected to the movable end of the buffer. A clamping space is formed between the two clamping parts of the two clamping modules. Under the action of the two buffers, when the two clamping parts clamp and fix the workpiece, the rigid impact energy can be converted into elastic potential energy at the moment of clamping and fixing the workpiece, so that the clamping force rises steadily and can effectively prevent excessive clamping force from damaging the workpiece. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the structure of a clamping mechanism provided in an embodiment of this utility model; Figure 2 This is a schematic diagram of the clamping module provided in an embodiment of the present invention; Figure 3 This is a schematic diagram of the structure of the base provided in this embodiment of the utility model; Figure 4 This is a schematic diagram of the slider provided in an embodiment of the present invention; Figure 5 This is a schematic diagram of the structure of the third rod provided in an embodiment of the present invention; Figure 6 This is a schematic diagram of a clamping mechanism and robotic arm provided in an embodiment of the present invention. Detailed Implementation

[0017] To make the objectives, technical solutions, and advantages of this utility model clearer, the present utility model will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this utility model and are not intended to limit this utility model.

[0018] To address the technical problem that excessive instantaneous clamping force can easily damage workpieces in existing clamping mechanisms, this invention provides a clamping mechanism and robotic arm that can convert rigid impact energy into elastic potential energy at the instant of clamping and fixing the workpiece, thereby allowing the clamping force to rise smoothly and effectively preventing excessive clamping force from damaging the workpiece.

[0019] Please see Figures 1-6 , Figures 1-6A clamping mechanism according to one embodiment of the present invention includes a base 1, a drive module 2, and two clamping modules 3. The drive module 2 is mounted on the base 1 and has two movable parts 21 arranged opposite to each other, and the two movable parts can move closer or further apart. The two clamping modules 3 are respectively mounted on the two movable parts 21. Each clamping module 3 includes a buffer 31 and a clamping part 32. The buffer 31 is mounted on the movable part 21, and the clamping part 32 is connected to the movable end of the buffer 31. A clamping space is formed between the two clamping parts 32 of the two clamping modules 3. When the workpiece is fixed in the clamping space, the two buffer parts 31 can absorb the impact force of the workpiece clamping moment.

[0020] In actual use, by installing the clamping mechanism on the robotic arm A, the robotic arm A drives the clamping mechanism to move. When the two moving parts 21 of the drive module 2 are close to each other, the workpiece can be fixedly clamped between the two clamping parts 32.

[0021] It should be noted that the buffer 31 is not limited to a specific structure. In one embodiment, the buffer 31 includes a mounting cylinder 311, a guide rod 312, a first elastic part 313, and a second elastic part 314. The mounting cylinder 311 is fixed to the movable part 21. One end of the guide rod 312 passes through the mounting cylinder 311 and a ring block 3121 is fixed to one end of the guide rod 312. The other end of the guide rod 312 is fixed to the clamping member 32. The first elastic part 313 and the second elastic part 314 are both provided in the mounting cylinder 311, and the first elastic part 313 and the second elastic part 314 abut against the opposite sides of the ring block 3121, respectively.

[0022] Understandably, under the action of the first elastic part 313 and the second elastic part 314, and when the clamping member 32 is not subjected to external force, the guide rod 312 will not slide relative to the mounting cylinder 311; when the clamping member 32 is subjected to external force, the guide rod 312 will be relative to the mounting cylinder 311 and squeeze the first elastic part 313, converting rigid impact energy into elastic potential energy.

[0023] In addition, based on the above scheme, at least one limiting groove is provided on the guide rod 312 along the axial direction, and the end of the mounting cylinder 311 is provided with a limiting protrusion that cooperates with the limiting groove.

[0024] It should be noted that by using the limiting protrusion to cooperate with the limiting groove, the relative rotation between the guide rod 312 and the mounting cylinder 311 can be avoided.

[0025] Based on the above scheme, the buffer 31 further includes a third elastic part 315 and a plug rod 316. The plug rod 316 is fixed in the mounting cylinder 311. The guide rod 312 has a mounting groove. The third elastic part 315 is located in the mounting groove, and the plug rod 316 extends into the mounting groove and abuts against the third elastic part 315. The first elastic part 313, the second elastic part 314, and the third elastic part 315 are all compression springs.

[0026] It should be noted that, in one embodiment, the clamping member 32 includes a pressure block 321 and a buffer block 322. One side of the pressure block 321 is fixedly connected to the other end of the guide rod 312, and the buffer block 322 is fixedly disposed on the other side of the pressure block 321. The buffer block 322 is an elastic rubber buffer block.

[0027] It should be noted that the drive module 2 is not limited to a specific structure. In one embodiment, the drive module 2 includes a drive component 20, a lead screw 22, and a slider 23. The drive component 20 is mounted on the base 1, and the output end of the drive component 20 is fixedly connected to the lead screw 22. The slider 23 is slidably connected to the base 1 and threadedly connected to the lead screw 22. The movable component 21 includes a first rod 211, a second rod 212, a third rod 213, and a fourth rod 214. One end of the first rod 211 is hinged to the slider 23, and the other end is hinged to one end of the fourth rod 214. One end of the second rod 212 is hinged to the slider 23, and the other end is hinged to the middle of the fourth rod 214. One end of the third rod 213 intersects with the middle of the first rod 211, and the other end is hinged to the base 1. The buffer 31 is mounted on the other end of the fourth rod 214.

[0028] The driving component 20 is a forward and reverse motor. When the forward and reverse motor drives the lead screw 22 to rotate in the forward direction, it can drive the slider 23 to slide relative to the base, thereby driving the two clamping components 32 to move closer together. When the forward and reverse motor drives the lead screw 22 to rotate in the reverse direction, it can drive the slider 23 to slide relative to the base, thereby driving the two clamping components 32 to move away from each other.

[0029] In one embodiment, the other end of the fourth rod 214 has a bent portion, and the buffer 31 is mounted on the bent portion; specifically, the fourth rod 214 is generally L-shaped.

[0030] The specific embodiments of this utility model described above do not constitute a limitation on the scope of protection of this utility model. Any other corresponding changes and modifications made based on the technical concept of this utility model should be included within the scope of protection of the claims of this utility model.

Claims

1. A clamping mechanism, characterized in that, include: seat body; A drive module, mounted on the base, has two opposing movable parts that can move closer or further apart; and... Two clamping modules are respectively installed on the two movable parts. Each clamping module includes a buffer and a clamping component. The buffer is installed on the movable part, and the clamping component is connected to the movable end of the buffer. A clamping space is formed between the two clamping components of the two clamping modules. When the workpiece is fixed in the clamping space, the two buffers can absorb the impact force of the workpiece clamping moment.

2. The clamping mechanism according to claim 1, characterized in that, The buffer includes a mounting cylinder, a guide rod, a first elastic part, and a second elastic part. The mounting cylinder is fixed to the movable part. One end of the guide rod passes through the mounting cylinder and a ring block is fixed to one end of the guide rod. The other end of the guide rod is fixed to the clamping part. The first elastic part and the second elastic part are both located in the mounting cylinder, and the first elastic part and the second elastic part abut against the opposite sides of the ring block, respectively.

3. The clamping mechanism according to claim 2, characterized in that, The guide rod has at least one limiting groove along the axial direction, and the end of the mounting cylinder has a limiting protrusion that cooperates with the limiting groove.

4. The clamping mechanism according to claim 3, characterized in that, The buffer also includes a third elastic part and a plug rod. The plug rod is fixed inside the mounting cylinder. The guide rod has a mounting groove. The third elastic part is located in the mounting groove. The plug rod extends into the mounting groove and abuts against the third elastic part.

5. A clamping mechanism according to claim 4, characterized in that, The first elastic part, the second elastic part, and the third elastic part are all compression springs.

6. A clamping mechanism according to claim 2, characterized in that, The clamping element includes a pressure block and a buffer block. One side of the pressure block is fixedly connected to the other end of the guide rod, and the buffer block is fixedly disposed on the other side of the pressure block.

7. A clamping mechanism according to claim 1, characterized in that, The drive module includes a drive component, a lead screw, and a slider. The drive component is mounted on the base, and the output end of the drive component is fixedly connected to the lead screw. The slider is slidably connected to the base and threadedly connected to the lead screw. The movable component includes a first rod, a second rod, a third rod, and a fourth rod. One end of the first rod is hinged to the slider, and the other end is hinged to one end of the fourth rod. One end of the second rod is hinged to the slider, and the other end is hinged to the middle of the fourth rod. One end of the third rod intersects with the middle of the first rod, and the other end is hinged to the seat. The buffer is installed at the other end of the fourth rod.

8. A clamping mechanism according to claim 7, characterized in that, The other end of the fourth rod has a bent portion, and the buffer is installed on the bent portion.

9. A clamping mechanism according to claim 7, characterized in that, The driving component is a forward and reverse motor.

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

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