Quick-mounting mechanical hand grabbing mechanism

Abstract

The utility model provides a kind of quick-mounting mechanical hand grabbing mechanism, it is related to mechanical hand grabbing mechanism field, including quick-connection component, including the upper joint of installation in the end of mechanical arm, and the lower joint located below upper joint, upper joint includes connecting barrel, outer thread connecting ring located in the bottom of connecting barrel, through slot being opened in the both sides of connecting barrel surface;The utility model is connected and disassembled between upper joint and lower joint by the cooperation of quick-connection component, to greatly improve the installation and disassembly efficiency of mechanical hand grabbing mechanism, only need to insert the connecting column of lower joint into the connecting barrel of upper joint, then press down cam handle, make it be inserted into card slot, the connection of upper joint and lower joint can be completed, when disassembling, only need to lift rotating cam handle upwards, make it from card slot break out, upper joint and lower joint can be separated, make grabbing component and mechanical arm separate, to realize the convenience of quick installation and disassembly.

Description

Technical Field

[0001] This utility model belongs to the field of robotic gripping mechanisms, specifically a quick-assembly robotic gripping mechanism. Background Technology

[0002] The robotic gripping mechanism is the core execution component of industrial robots or automated equipment. It is responsible for the stable gripping, handling or placement of target objects. It usually consists of a robotic arm and an end effector. The robotic arm drives the end effector to perform operations such as gripping or handling objects.

[0003] In traditional robotic gripping mechanisms, installation and disassembly typically rely on screw tightening. While this method can ensure the stability of the gripping mechanism to some extent, it has significant shortcomings in actual operation. When the robotic gripping mechanism needs to be disassembled for maintenance, screw tightening is often time-consuming and inconvenient. This cumbersome disassembly process not only increases the workload of maintenance personnel but also greatly reduces the rapid disassembly capability of the robotic gripping mechanism, thereby affecting the overall maintenance efficiency and production efficiency of the equipment.

[0004] In summary, this utility model provides a quick-assembly robotic gripping mechanism to solve the above problems. Utility Model Content

[0005] To solve the above-mentioned technical problems, this utility model provides the following technical solution:

[0006] A quick-connect robotic gripping mechanism includes a quick-connect assembly, comprising an upper connector mounted at the end of the robotic arm and a lower connector located below the upper connector. The upper connector includes a connecting cylinder, an externally threaded connecting ring located at the bottom of the connecting cylinder, through grooves formed on both sides of the surface of the connecting cylinder, and a cam handle installed in the inner cavity of the through groove, with one end of the cam handle extending into the inner cavity of the connecting cylinder. The lower connector includes a connecting post, an internally threaded connecting ring sleeved on the lower end of the surface of the connecting post, a retaining groove formed on the upper end of the surface of the connecting post, and limiting grooves formed on both sides of the upper end of the connecting post. The internally threaded connecting ring is threadedly connected to the externally threaded connecting ring, and the end of the cam handle located in the inner cavity of the connecting cylinder engages with the inner cavity of the retaining groove.

[0007] Furthermore, in this utility model, the external threaded connecting ring is fixed to the bottom of the connecting cylinder, the connecting cylinder is fixed to the end of the robotic arm by bolts, and the cam handle is movably connected to the inner cavity of the through groove by a rotating shaft.

[0008] Furthermore, in this utility model, the upper end of the connecting column extends into the inner cavity of the connecting cylinder and is slidably connected to the inner cavity of the connecting cylinder. When the connecting column enters the inner cavity of the connecting cylinder, the end of the cam handle located in the inner cavity of the connecting cylinder slides along the inner cavity of the limiting groove to the inner cavity of the slot.

[0009] Furthermore, in this utility model, a gripping component for clamping an object is installed at the bottom of the lower connector. The gripping component includes a bracket, a top plate located at the top of the bracket, and a clamping component and a suction cup for fixing the object. Two sets of the clamping components are provided and are located on both sides of the upper end of the bracket, respectively.

[0010] Furthermore, in this utility model, the top plate is fixed to the top of the bracket, the connecting column is fixed to the top of the top plate, the suction cup is fixed to the bottom of the bracket, and several suction cups are provided.

[0011] Furthermore, in this utility model, the clamping assembly includes clamping plates located at both ends of the bracket, a cylinder located at the top of the bracket, a rotating support fixed to the top of the bracket via a rotating shaft, and a pull rod for connecting the clamping plates and the rotating support.

[0012] Furthermore, in this utility model, one end of the cylinder is movably connected to one of the clamping plates via a movable pin, the output end of the cylinder is movably connected to another clamping plate via a movable pin, the clamping plate is movably connected to the bracket via a rotating shaft, one end of the pull rod is fixedly connected to the rotating support via a fisheye bearing, and the other end of the pull rod is movably connected to the clamping plate via a movable pin.

[0013] Beneficial effects: This utility model has the following beneficial effects:

[0014] This invention, through the cooperation of quick-connect components, enables rapid connection and disassembly between the upper and lower connectors, thereby greatly improving the installation and disassembly efficiency of the robotic gripper mechanism. During use, simply insert the connecting post of the lower connector into the connecting cylinder of the upper connector, and then press down the cam handle to make it engage in the slot, thus completing the connection between the upper and lower connectors. During disassembly, simply lift and rotate the cam handle upwards to disengage it from the slot, thus separating the upper and lower connectors and separating the gripper component from the robotic arm, thereby achieving convenient quick installation and disassembly. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the main structure of this utility model;

[0016] Figure 2 This is a schematic diagram of the structure of the quick-connect component and the gripping component in their separated state according to this utility model;

[0017] Figure 3This is a schematic diagram of the upper and lower connectors of this utility model in their separated state.

[0018] Figure 4 This is a schematic diagram of the main structure of the gripping component of this utility model;

[0019] Figure 5 This is a bottom view of the gripping component of this utility model.

[0020] In the picture:

[0021] 100. Quick-connect assembly; 110. Upper connector; 111. Connecting cylinder; 112. External threaded connecting ring; 113. Through groove; 114. Cam handle; 120. Lower connector; 121. Connecting post; 122. Internal threaded connecting ring; 123. Slot; 124. Limiting groove; 200. Gripping assembly; 210. Bracket; 220. Top plate; 230. Clamping assembly; 231. Clamping plate; 232. Cylinder; 233. Rotary support; 234. Pull rod; 240. Suction cup. Detailed Implementation

[0022] To better understand the technical content of this utility model, specific embodiments are described below in conjunction with the accompanying drawings. Various aspects of this utility model are described in this disclosure with reference to the accompanying drawings, which illustrate numerous illustrative embodiments. The embodiments of this disclosure are not necessarily defined to include all aspects of this utility model. It should be understood that the various concepts and embodiments described above, as well as those described in more detail below, can be implemented in any of many ways, because the concepts and embodiments disclosed in this utility model are not limited to any particular implementation. Furthermore, some aspects of this utility model can be used alone or in any suitable combination with other aspects disclosed in this utility model.

[0023] Example 1

[0024] like Figure 1-5As shown, this is the first embodiment of the present invention. This embodiment provides a quick-connect robotic gripping mechanism, including a quick-connect assembly 100, comprising an upper connector 110 installed at the end of the robotic arm, and a lower connector 120 located below the upper connector 110. The upper connector 110 includes a connecting cylinder 111, an externally threaded connecting ring 112 located at the bottom of the connecting cylinder 111, through grooves 113 formed on both sides of the surface of the connecting cylinder 111, and a cam handle 114 installed in the inner cavity of the through grooves 113. One end of the cam handle 114 extends into the inner cavity of the connecting cylinder 111. The lower connector 120 includes a connecting post 121, an internally threaded connecting ring 122 sleeved on the lower end of the surface of the connecting post 121, a slot 123 opened on the upper end of the surface of the connecting post 121, and limiting grooves 124 opened on both sides of the upper end of the connecting post 121. The internally threaded connecting ring 122 is threadedly connected to the externally threaded connecting ring 112. One end of the cam handle 114 located in the inner cavity of the connecting cylinder 111 is engaged with the inner cavity of the slot 123.

[0025] like Figure 1-5 As shown, the upper connector 110 is connected to the end of the robotic arm via the connecting cylinder 111. The connecting cylinder 111 has through grooves 113 on both sides. A cam handle 114 is installed inside the through groove 113. The cam handle 114 moves in the through groove 113 via a rotating shaft. One end of the cam handle extends into the inner cavity of the connecting cylinder 111 to lock the lower connector 120. The lower connector 120 includes a connecting post 121. Its surface is provided with an internal threaded connecting ring 122, which forms a threaded engagement with the external threaded connecting ring 112 of the upper connector 110. The upper end of the connecting post 121 is provided with a slot 123 and a limiting slot 124, which are used to engage with the cam handle 114 to achieve locking and positioning.

[0026] Align the limiting groove 124 on the surface of the lower connector 120 with the cam handle 114 inside the connecting cylinder 111, and then push the lower connector 120 into the connecting cylinder 111. After the lower connector 120 enters the connecting cylinder 111, rotate the lower connector 120 to disengage the cam handle 114 from the limiting groove 124 and into the retaining groove 123. Then press down on the cam handle 114 to engage it with the retaining groove 123. At this time, rotate the internal thread connecting ring 122 upward to fully engage the external thread connecting ring 112. Extending into the internal threaded connecting ring 122, the gripping component 200 is connected to the robotic arm. During disassembly, simply separate the internal threaded connecting ring 122 from the external threaded connecting ring 112, then lift the cam handle 114 to disengage it from the slot 123, and then rotate the connecting column 121 to align the limiting slot 124 with the cam handle 114. This allows the gripping component 200 connected to the lower connector 120 to be separated from the robotic arm, thus enabling quick assembly and disassembly of the gripping component 200.

[0027] Example 2

[0028] Reference Figure 1-3This is the second embodiment of the present invention, which is based on the previous embodiment.

[0029] In this embodiment, the external threaded connecting ring 112 is fixed to the bottom of the connecting cylinder 111, the connecting cylinder 111 is fixed to the end of the robotic arm by bolts, and the cam handle 114 is movably connected to the inner cavity of the through groove 113 by a rotating shaft.

[0030] The upper end of the connecting post 121 extends into the inner cavity of the connecting cylinder 111 and is slidably connected to the inner cavity of the connecting cylinder 111. When the connecting post 121 enters the inner cavity of the connecting cylinder 111, the cam handle 114 located at one end of the inner cavity of the connecting cylinder 111 slides along the inner cavity of the limiting groove 124 to the inner cavity of the slot 123.

[0031] like Figure 1-3 As shown, the cam handle 114 extends into the inner cavity of the connecting cylinder 111 through the through groove 113 and cooperates with the slot 123 of the lower connector 120 to form a snap-locking structure. The limiting groove 124 is used to guide the cam handle 114 to slide into place to ensure a stable and reliable connection. The lower connector 120 can be inserted into the upper connector 110 and the cam handle 114 can be pressed down to complete the fixation. No tools are needed. The snap-lock can be released by lifting the cam handle 114, which can achieve quick separation and improve installation efficiency.

[0032] Example 3

[0033] Reference Figure 1 , 2 4 and 5 are the third embodiment of this utility model, which is based on the first two embodiments.

[0034] In this embodiment, a gripping component 200 for gripping objects is installed at the bottom of the lower connector 120. The gripping component 200 includes a bracket 210, a top plate 220 located at the top of the bracket 210, and a gripping component 230 and a suction cup 240 for fixing objects. Two sets of gripping components 230 are provided and are located on both sides of the upper end of the bracket 210, respectively.

[0035] The top plate 220 is fixed to the top of the bracket 210, the connecting column 121 is fixed to the top of the top plate 220, and the suction cup 240 is fixed to the bottom of the bracket 210, and several suction cups 240 are provided.

[0036] The clamping assembly 230 includes clamping plates 231 located at both ends of the bracket 210, a cylinder 232 located at the top of the bracket 210, a rotating support 233 fixed to the top of the bracket 210 by a rotating shaft, and a pull rod 234 for connecting the clamping plates 231 and the rotating support 233.

[0037] One end of cylinder 232 is movably connected to a clamping plate 231 via a movable pin, and the output end of cylinder 232 is movably connected to another clamping plate 231 via a movable pin. The clamping plate 231 is movably connected to the bracket 210 via a rotating shaft. One end of pull rod 234 is fixedly connected to the rotating support 233 via a fisheye bearing, and the other end of pull rod 234 is movably connected to the clamping plate 231 via a movable pin.

[0038] like Figure 1 , 2 As shown in Figures 4 and 5, the clamping assembly 230 drives the clamping plate 231 to clamp via the cylinder 232. The cylinder 232 is linked to the rotating support 233 via the pull rod 234 to achieve synchronous clamping action. The suction cup 240 is used to adsorb objects on smooth surfaces, forming a clamping and suction combined gripping mode. The number of suction cups 240 is adjustable and they are distributed at the bottom of the bracket 210. While the clamping plate 231 is clamping, the suction cups 240 apply suction force to prevent the object from slipping.

[0039] In use, insert the lower connector 120 into the upper connector 110, rotate the lower connector 120, and then press down the cam handle 114 to make it engage with the slot 123. Then tighten the internal threaded connecting ring 122 and the external threaded connecting ring 112 to complete the mechanical connection. This process does not require tools, thus enabling quick installation of the gripping component 200 and the robotic arm. When disassembling, simply lift the cam handle 114 to make it engage with the slot 123, and then rotate the lower connector 120 in the opposite direction to pull it out of the upper connector 110. This allows the gripping component 200 to be separated from the robotic arm, thus achieving quick installation and separation and improving installation efficiency.

[0040] The robotic arm is positioned above the target object, and the output end of the cylinder 232 retracts. The extension and retraction of the cylinder 232 drives the clamping plate 231 to move inward or outward. The pull rod 234 is connected to the rotating support 233 through a fisheye bearing, and the other end is movably connected to the clamping plate 231. The pull rod 234 and the rotating support 233 cooperate to form a linkage structure, so that the clamping plate 231 moves in a coordinated manner and the clamping force is uniform. The clamping plate 231 is connected to the bracket 210 through a rotating shaft to realize the opening and closing movement, thereby enabling the clamping operation of the object.

[0041] All standard parts used in this application can be purchased from the market, and can be customized according to the description and drawings. The specific connection methods of each part adopt conventional methods such as bolts, rivets, and welding that are mature in the prior art. The machinery, parts and equipment adopt conventional models in the prior art. The control method is automatic control through a controller. The control circuit of the controller can be implemented by simple programming by those skilled in the art and is common knowledge in the field. Since this application is mainly used to protect mechanical devices, the control method and circuit connection will not be explained in detail in this application.

[0042] Although the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the present invention. Those skilled in the art to which this invention pertains can make various modifications and refinements without departing from the spirit and scope of the present invention. Therefore, the scope of protection of this invention shall be determined by the claims.

Claims

1. A quick-assembly robotic gripping mechanism, characterized in that: include, The quick-connect assembly (100) includes an upper connector (110) mounted on the end of a robotic arm and a lower connector (120) located below the upper connector (110); The upper connector (110) includes a connecting cylinder (111), an externally threaded connecting ring (112) located at the bottom of the connecting cylinder (111), through grooves (113) opened on both sides of the surface of the connecting cylinder (111), and a cam handle (114) installed in the inner cavity of the through groove (113), and one end of the cam handle (114) extends into the inner cavity of the connecting cylinder (111); The lower connector (120) includes a connecting post (121), an internally threaded connecting ring (122) sleeved on the lower end of the surface of the connecting post (121), a slot (123) opened on the upper end of the surface of the connecting post (121), and limiting grooves (124) opened on both sides of the upper end of the connecting post (121). The internally threaded connecting ring (122) is threadedly connected to the externally threaded connecting ring (112), and the cam handle (114) is engaged with the inner cavity of the slot (123) at one end of the inner cavity of the connecting cylinder (111).

2. The quick-assembly robotic gripping mechanism as described in claim 1, characterized in that: The external threaded connecting ring (112) is fixed to the bottom of the connecting cylinder (111), the connecting cylinder (111) is fixed to the end of the robotic arm by bolts, and the cam handle (114) is movably connected to the inner cavity of the through groove (113) by a rotating shaft.

3. The quick-assembly robotic gripping mechanism as described in claim 1, characterized in that: The upper end of the connecting post (121) extends into the inner cavity of the connecting cylinder (111) and is slidably connected to the inner cavity of the connecting cylinder (111). When the connecting post (121) enters the inner cavity of the connecting cylinder (111), the cam handle (114) located at one end of the inner cavity of the connecting cylinder (111) slides along the inner cavity of the limiting groove (124) to the inner cavity of the slot (123).

4. The quick-assembly robotic gripping mechanism as described in claim 1, characterized in that: The bottom of the lower connector (120) is equipped with a gripping component (200) for gripping objects. The gripping component (200) includes a bracket (210), a top plate (220) located on the top of the bracket (210), and a gripping component (230) and a suction cup (240) for fixing objects. There are two sets of gripping components (230), which are located on both sides of the upper end of the bracket (210).

5. The quick-assembly robotic gripping mechanism as described in claim 4, characterized in that: The top plate (220) is fixed to the top of the bracket (210), the connecting column (121) is fixed to the top of the top plate (220), and the suction cup (240) is fixed to the bottom of the bracket (210), and there are several suction cups (240).

6. The quick-release robotic gripping mechanism as described in claim 4, characterized in that: The clamping assembly (230) includes clamping plates (231) located at both ends of the bracket (210), a cylinder (232) located at the top of the bracket (210), a rotating support (233) fixed to the top of the bracket (210) by a rotating shaft, and a pull rod (234) for connecting the clamping plates (231) and the rotating support (233).

7. The quick-release robotic gripping mechanism as described in claim 6, characterized in that: One end of the cylinder (232) is movably connected to one of the clamping plates (231) via a movable pin, and the output end of the cylinder (232) is movably connected to another clamping plate (231) via a movable pin. The clamping plate (231) is movably connected to the bracket (210) via a rotating shaft. One end of the pull rod (234) is fixedly connected to the rotating support (233) via a fisheye bearing, and the other end of the pull rod (234) is movably connected to the clamping plate (231) via a movable pin.

Images