NL2037313A

NL2037313A - An Automated Robotic Gripper

Info

Publication number: NL2037313A
Application number: NL2037313A
Authority: NL
Inventors: Wang Yingxian; Tao Baochun; Jia Zhongnan
Original assignee: Hangzhou Vocational And Technical College
Priority date: 2024-01-09
Filing date: 2024-03-22
Publication date: 2024-04-16
Also published as: NL2037313B1

Abstract

The present invention relates to the field of robotic gripper technologies, specifically an automated robotic gripper. This gripper comprises a first mechanical arm with a movably connected rotating joint at its upper end. This joint is connected to a second mechanical arm and a second rotary motor. The second mechanical arm is also connected to a second connecting shaft, with the base of the first mechanical arm equipped at its lower end. Additionally, the gripper includes a female clamp, attached to the lower end ofthe second connecting shaft through a first rotating joint, leading to a clamp base. Inside the clamp base, a fourth rotary motor is connected to a threaded rod, with threaded blocks engaged on both sides, each block's lower end connected to the female clamp. The automated robotic gripper is designed for grasping smaller mechanical parts and enables free movement along assembly lines.

Description

An Automated Robotic Gripper

Technical Field

The present invention relates to the field of robotic gripper technologies, specifically concerning an automated robotic gripper.

Background

With societal progress, automation machinery is increasingly prevalent, and robots replacing manual labor in factories are common. Not only can they speed up work processes, but they can also operate continuously, thereby reducing manpower.

Robots need to grasp objects with grippers when moving or clamping. Traditional robotic grippers often have fixed-size pincers, making the process of changing pincers for smaller mechanical parts cumbersome. Additionally, the position of robotic grippers on assembly lines is usually fixed, making it impossible to move promptly to other positions for grasping.

Therefore, it is necessary to provide a new automated robotic gripper to solve the aforementioned technical issues.

Summary of Invention

To address the above technical problems, this invention provides an automated robotic gripper.

This invention provides an automated robotic gripper, comprising:

A first mechanical arm, with its upper end movably connected to a rotating joint, one end of the rotating joint movably connected to a second mechanical arm, and the other end of the rotating joint fixedly connected to a second rotary motor. The second mechanical arm's one end is movably connected to a second connecting shaft, and the first mechanical arm's lower end is equipped with a base;

A female clamp, with the lower end of the second connecting shaft fixedly connected to a first rotating joint, which in turn is fixedly connected to a clamp base at its lower end. Inside the center of the clamp base, a fourth rotary motor is fixedly connected, whose output end is fixedly connected to a threaded rod. On both sides of the threaded rod, threaded blocks are engaged and symmetrically movably connected, with the lower end of each threaded block fixedly connected to the female clamp;

A male clamp, set inside the female clamp, with the center of the clamp base's lower end fixedly connected to a male clamp base. Inside one side of the male clamp base, a push rod motor is fixedly connected, with its output end fixedly connected to the root of the male clamp. Anti-slip pads are fixedly attached to the inner sides of both the female and male clamps;

Sliding wheels, with one side of the base fixedly connected to a first rotary motor, whose output end passes through the base to the inside and is fixedly connected to a shaft. Multiple sets of sliding wheels are fitted onto the shaft, and the base's lower end is symmetrically fixedly connected with connecting hooks.

Preferably, the upper end of the first mechanical arm is driven by a third rotary motor to rotate the rotating joint, allowing the rotating joint to freely rotate.

Preferably, one end of the rotating joint is driven by a first connecting shaft to rotate the second mechanical arm, allowing the second mechanical arm to freely rotate.

Preferably, one end of the second mechanical arm is driven by a connecting joint to rotate the second connecting shaft, allowing the second connecting shaft to freely rotate.

Preferably, the upper end of the base is driven by a second rotating joint to rotate the first mechanical arm, allowing the first mechanical arm to freely rotate.

Preferably, one side of the base is fixedly connected with a control host, which can centrally control all electronic components.

Preferably, the first rotating joint, the first rotary motor, the second rotary motor, the third rotary motor, the fourth rotary motor, the push rod motor, and the second rotating joint are electrically connected to the control host via wires, allowing control signals to be transmitted to all electronic components.

Preferably, one side of the control host is fixedly connected with a power cord, providing power to the robotic gripper.

Compared with related technologies, the automated robotic gripper provided by this invention has the following beneficial effects:

This invention provides an automated robotic gripper; 1. This invention allows for the gripping of mechanical parts of various sizes through the combination of the female and male clamps, with the first rotating joint driving the clamp base to adjust direction. The fourth rotary motor drives the threaded rod to move the threaded blocks, which in turn moves the female clamp to grasp larger mechanical parts. The push rod motor inside the male clamp base drives the root of the male clamp for gripping smaller mechanical parts, thus achieving gripping without the need to change clamps. 2. This invention allows the robotic gripper to move on pre-set tracks on the assembly line through sliding wheels. The first rotary motor drives the shaft to rotate, which in turn drives the sliding wheels, thereby enabling the movement of the robotic gripper.

Description of the Drawings

FIG.1: schematic diagram of the overall structure of the automated robotic gripper provided by this invention;

FIG.2: rear view schematic diagram of the automated robotic gripper shown in

FIG.1;

FIG.3: front sectional view schematic diagram of the clamp base shown in FIG. 1;

FIG.4: side sectional view schematic diagram of the base shown in FIG.1.

In the drawings, the numerals represent: 1, first mechanical arm; 2, rotating joint; 3, second mechanical arm; 4, connecting joint; 5, first rotating joint; 6, clamp base; 7, female clamp; 8, first connecting shaft; 9, second connecting shaft; 10, wires; 11, power cord; 12, control host; 13, base; 14, connecting hooks; 15, first rotary motor; 16, second rotary motor; 17, third rotary motor; 18, shaft; 19, sliding wheels; 20, fourth rotary motor; 21, threaded rod; 22, threaded blocks; 23, anti-slip pads; 24, male clamp base; 25, push rod motor; 26, male clamp; 27, second rotating joint,

Specific Embodiments

To make the objectives, technical solutions, and advantages of this invention clearer, the following elaborates on the invention in detail with reference to the drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain this invention and are not intended to limit the scope of this invention.

The specific implementation of this invention is described in detail below, in conjunction with specific embodiments.

Referring to FIGs. 1 to 4, an embodiment of the automated robotic gripper provided by this invention includes:

A first mechanical arm 1, with its upper end movably connected to a rotating joint 2. One end of rotating joint 2 is movably connected to a second mechanical arm 3, and the other end is fixedly connected to a second rotary motor 16. One end of the second mechanical arm 3 is movably connected to a second connecting shaft 9, and the lower end of the first mechanical arm 1 is equipped with a base 13;

A female clamp 7, with the lower end of the second connecting shaft 9 fixedly 5 connected to a first rotating joint 5. The lower end of the first rotating joint 5 is fixedly connected to a clamp base 6, within the center of which a fourth rotary motor 20 is fixedly connected. The output end of the fourth rotary motor 20 is fixedly connected to a threaded rod 21, with threaded blocks 22 engaged on both sides and movably connected symmetrically, each having its lower end fixedly connected to the female clamp 7;

A male clamp 26, located inside the female clamp 7, with the center of the clamp base's 6 lower end fixedly connected to a male clamp base 24. Inside one side of the male clamp base 24, a push rod motor 25 is fixedly connected, with its output end fixedly connected at the root of the male clamp 26. Anti-slip pads 23 are fixedly attached to the inner sides of both the female and male clamps 7, 26;

Sliding wheels 19, with one side of the base 13 fixedly connected to a first rotary motor 15, whose output end passes through the base 13 to the inside and is fixedly connected to a shaft 18. Multiple sets of sliding wheels 19 are fitted onto the shaft 18, and the base's 13 lower end is symmetrically fixedly connected with connecting hooks 14.

It is noted that the female clamp 7 can grasp larger mechanical parts by driving the clamp base 6 to adjust direction via the first rotating joint 5 and moving the female clamp 7 by the fourth rotary motor 20 driving the threaded rod 21, which in turn drives the threaded blocks 22. Smaller mechanical parts are grasped by the male clamp 26 moved by the output end of the push rod motor 25 located inside the male clamp base 24. This configuration allows for grasping mechanical parts of various sizes without needing to change clamps. The movement of the robotic gripper is achieved by the first rotary motor 15 driving the shaft 18 to rotate the sliding wheels 19.

In this embodiment of the invention, as shown in FIGs. 1 and 4, the upper end of the first mechanical arm 1 is rotated by the third rotary motor 17 driving the rotating joint 2, allowing the rotating joint 2 to freely rotate.

In this embodiment, as shown in FIGs. 1 and 4, one end of the rotating joint 2 drives the second mechanical arm 3 to rotate via the first connecting shaft 8, allowing the second mechanical arm 3 to freely rotate.

As shown in FIGs. 1 and 4, one end of the second mechanical arm 3 is rotated by the connecting joint 4 driving the second connecting shaft 9, allowing the second connecting shaft 9 to freely rotate.

As shown in FIGs. 1 and 4, the base 13's upper end rotates the first mechanical arm 1 via the second rotating joint 27, allowing the first mechanical arm 1 to freely rotate.

As shown in FIGs. 1 and 4, one side of the base 13 is fixedly connected with a control host 12, which can centrally control all electronic components.

In this embodiment, as shown in FIGs. 1 and 4, the first rotating joint 5, the first rotary motor 15, the second rotary motor 16, the third rotary motor 17, the fourth rotary motor 20, the push rod motor 25, and the second rotating joint 27 are electrically connected to the control host 12 via wires 10, enabling the transmission of control signals to all electronic components.

As shown in FIGs. 1 and 4, one side of the control host 12 is fixedly connected with a power cord 11, providing power to the robotic gripper.

The working principle of the automated robotic gripper provided by this invention is as follows:

Initially, the power cord 11 connected to the side of the control host 12 is connected to the power supply. Then, the base 13 is fixed onto the corresponding track via connecting hooks 14 with the sliding wheels 19, allowing for the robotic gripper's movement. The control host 12 operates the second rotating joint 27 to rotate the first mechanical arm 1, with the third rotary motor 17 rotating the rotating joint 2, the second rotary motor 16 driving the first connecting shaft 8 to rotate the second mechanical arm 3, and the connecting joint 4 driving the second connecting shaft 9 to rotate the first rotating joint 5. The rotation of the clamp base 6 by the first rotating joint 5, enables grasping at different positions and angles. The internal fourth rotary motor 20 in the clamp base 6 drives the threaded rod 21 to rotate, which in turn moves the threaded blocks 22 to move the female clamp 7 for grasping larger mechanical parts, while the push rod motor 25 within the male clamp base 24 located at the lower end of clamp base 6 moves the male clamp 26 for grasping smaller parts. The robotic gripper's movement is facilitated by the first rotary motor 15 located on the side of the base 13, which drives the shaft 18 to rotate the sliding wheels 19.

The embodiments described above are only examples of the invention and do not limit the scope of the patent for this invention. Any equivalent structure or process changes derived from the content of this specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the scope of this invention's patent protection.

Claims

CONCLUSIONS

An automated robot gripper, characterized by comprising: A first mechanical arm (1), wherein the upper end of said first mechanical arm (1) is movably connected to a swivel joint {2}, at one end of the swivel joint ( 2) a second mechanical arm (3) is movably connected, and to the other end of the rotating connection (2) a second rotating motor {16} is fixedly connected, to one end of the second mechanical arm (3) a second mechanical arm is movable connecting shaft (9) is connected, and a base {13) is provided at the lower end of the first mechanical arm (1); A nut clamp (7), wherein a first rotating connection (5) is firmly connected to the lower end of the said second connecting shaft (9), a clamp holder (6) is fixedly connected to the lower end of the first rotating connection (5), in a fourth rotating motor (20) is firmly connected to the internal center of the clamp holder {6}, a screw rod {21} is fixed to the output of the fourth rotating motor {20}, both sides of the screw rod {21} are screw blocks {22} connected in a gripping and symmetrically movable manner, a nut clamp (7) is fixedly connected to the lower end of the screw blocks (22); An inner clamp (26), wherein the inner clamp (26) is placed inside the aforementioned nut clamp (7), an inner clamp holder (24) is firmly connected in the center to the lower end of the clamp holder {6}, on the inside of the inner clamp holder (24) a push rod motor {25} is firmly connected, to the output of the push rod motor (25) is firmly connected to the base of the inner clamp (26), to the inside of both the nut clamp (7) and the inner clamp {26} anti-slip mats (23) are firmly connected; A sliding wheel (19), to which a first rotating motor {15} is fixedly connected to one side of the base (13), through the base (13) into the interior at the exit of the first rotating motor {15) a rotating shaft {18} is firmly connected, several sets of sliding wheels (19) are arranged over the rotating shaft (18), connecting hooks {14) are fixedly connected to the lower end of the base (13).

The automated robot gripper according to claim 1, characterized in that the upper end of said first mechanical arm {1} rotates the rotary joint (2) through a third rotating motor {17}.

The automated robot gripper according to claim 1 or 2, characterized in that one end of said pivot link (2) rotates the second mechanical arm (3) through a first link shaft (8).

The automated robot gripper according to claim 1, 2 or 3, characterized in that one end of said second mechanical arm (3) rotates the second connecting shaft (9) through a connecting joint (4).

The automated robot gripper according to any one of the preceding claims, characterized in that the upper end of said base {13) rotates the first mechanical arm (1) through a second pivot connection (27).

The automated robot gripper according to any one of the preceding claims, characterized in that a control main unit (12) is fixedly connected to one side of said base {13}.

The automated robot gripper according to claims 1 and 6, characterized in that said first rotary joint (5), the first rotary motor (15), the second rotary motor (16), the third rotary motor (17}, the fourth rotary motor ( 20), the push rod motor (25), and the second pivot link (27) are electrically connected to the control main unit {12) by electrical wires (10).

The automated robot gripper according to claim 6 or 7, characterized in that a power cable (11) is fixedly connected to one side of said control main unit {12}.