CN-115107081-B - Tail end clamping tool of mechanical arm

CN115107081BCN 115107081 BCN115107081 BCN 115107081BCN-115107081-B

Abstract

The invention provides a tail end clamping tool of a mechanical arm, which comprises a first fixing part arranged at the tail end of the mechanical arm, a first power source arranged on the first fixing part and a first executing assembly, wherein the first executing assembly comprises a fixing main body, a second power source arranged on the fixing main body and two clamping parts, a screw rod transmission structure is arranged in the fixing main body, the second power source enables the two clamping parts to be mutually close to or separated from each other through the screw rod transmission structure, the fixing main body is rotationally connected with the first fixing part, and an output shaft of the first power source is in transmission connection with the fixing main body.

Inventors

MAO ZEQING
WU HAITENG
YANG ZIHE
LUO FULIANG
Zou Zhiyin

Assignees

杭州申昊科技股份有限公司
杭州申昊科技股份有限公司

Dates

Publication Date: 20260421
Application Date: 20211101
Priority Date: 20211101

Claims (4)

1. A terminal clamping tool of a mechanical arm is characterized in that, Comprises a first fixing part arranged at the tail end of a mechanical arm, a first power source arranged on the first fixing part, and a first executing component, wherein the first executing component comprises a fixing main body, a second power source arranged on the fixing main body, and two clamping parts, a screw rod transmission structure is arranged in the fixing main body, the second power source enables the two clamping parts to be mutually close to or separated from each other through the screw rod transmission structure, the fixing main body is rotationally connected with the first fixing part, an output shaft of the first power source is in transmission connection with the fixing main body, The screw rod transmission structure comprises a gear set and a threaded rod, the gear set is arranged in the fixed main body, the threaded rod is connected with the fixed main body in a rotating way, an output shaft of the second power source is connected with the gear set in a transmission way, the gear set is fixedly connected with the threaded rod, two clamping pieces are provided with threaded holes matched with the threaded rod, the spiral directions of the threads in the two threaded holes are opposite, the clamping pieces are connected with the fixed main body in a sliding way, the fixed main body limits the clamping pieces to do linear motion only, The gear set comprises a first gear and a second gear which are meshed with each other, the first gear and the second gear are bevel gears, The two clamping pieces are fixedly connected with a fourth connecting piece, the threaded hole is arranged on the fourth connecting piece, the fixed main body is provided with a sliding hole for the fourth connecting piece to pass through, the sliding hole limits the fourth connecting piece to do linear motion only, The fourth connecting piece is provided with a positioning part which abuts against the inner wall of the fixed main body to prevent the fourth connecting piece from deflecting, The clamping piece is provided with a shuttle hole, a click switch piece is arranged in the shuttle hole, a return elastic piece is arranged between the click switch piece and the clamping piece, The second depth camera is mounted on the first fixing piece; The mechanical arm further comprises a tail end operation tool, wherein the tail end operation tool comprises a second fixing piece arranged on the mechanical arm, a guide sleeve fixed on the second fixing piece and an operation rod, the operation rod is connected with the guide sleeve in a sliding manner, an elastic auxiliary piece is arranged between the operation rod and the guide sleeve, a pressure sensor for detecting spring pressure is arranged between the elastic auxiliary piece and the guide sleeve or between the elastic auxiliary piece and the operation rod, the pressure sensor is electrically connected with the control system, and a stop structure for limiting the sliding position of the operation rod is arranged between the operation rod and the guide sleeve; The stop structure comprises a stop piece connected to one end of the operating rod and a stop part arranged on the guide sleeve, and when the operating rod moves to a fixed position relative to the guide sleeve, the stop piece and the stop part are in contact to prevent the operating rod from being separated from the guide sleeve; The mechanical arm further comprises an end-operated switch tool, and the end-operated switch tool comprises a third fixing piece arranged on the mechanical arm, a motor arranged on the third fixing piece and a transmission rod in transmission connection with an output shaft of the motor, wherein the transmission rod is in bearing connection with the third fixing piece, an operating piece is arranged at the end part of the transmission rod, the operating piece and the transmission rod are circumferentially and relatively fixed and axially relatively slide, the cross section of part of the transmission rod is non-circular, and the operating piece is provided with a non-circular through hole matched with the transmission rod; The mechanical arm further comprises a tail end screwing tool, the tail end screwing tool comprises a fourth fixing piece arranged on the mechanical arm, a power mechanism arranged on the fourth fixing piece and a driving rod assembly connected with an output shaft of the power mechanism in a transmission mode, the driving rod assembly is connected with a fourth fixing piece through a bearing, the driving rod assembly comprises a driving rod and a sleeve, the driving rod assembly and the driving rod are fixed axially and relatively in a circumferential direction, the sleeve is sleeved on the driving rod, the cross section of the driving rod is non-circular, a sleeve hole matched with the appearance of the driving rod is formed in the sleeve, an elastic slow release piece is arranged between the driving rod and the sleeve, the sleeve is fixedly connected with the screwing piece, a blocking part for limiting the sliding position of the sleeve is arranged between the sleeve and the driving rod, the blocking part is arranged on the first blocking part of the sleeve and a second blocking part arranged on the driving rod, the first blocking part and the second blocking part are mutually blocked to prevent the sleeve from being separated from the driving rod when the sleeve is slid to the fixed position relative to the driving rod, the fourth fixing piece is fixedly connected with a fixing sleeve, the fixing sleeve is sleeved outside the driving rod assembly, a bearing is arranged between the driving rod assembly and the fixing sleeve, a sleeve is arranged between the sleeve and the fixing sleeve, and the sleeve is provided with a limiting position structure for limiting the sliding position and the second blocking part is arranged on the second blocking part and the second blocking part.
2. A robot end gripping tool according to claim 1, wherein, The clamping piece is provided with clamping parts extending to two sides, and when the two clamping pieces are close to each other, the clamping parts of the two clamping pieces are mutually abutted.
3. A robot end gripping tool according to claim 1, wherein, The clamping piece is provided with half concave parts, and when the two clamping pieces are close to each other, the half concave parts of the two clamping pieces are mutually overlapped and combined to form a complete clamping hole.
4. A robot end gripping tool according to claim 3, wherein, The clamping holes are square holes.

Description

Tail end clamping tool of mechanical arm Technical Field The invention relates to a tail end clamping tool of a mechanical arm. Background Along with the development of robot industry, the terminal clamping tools on the market are various in variety in order to meet the demands of various working conditions. However, the existing end clamping tool has complex mechanical structure and redundant parts, so that the waste of maintenance cost and unnecessary resource waste are caused. Disclosure of Invention In order to solve the technical problems, the invention provides a tail end clamping tool of a mechanical arm with a simple structure. The invention adopts the following technical proposal The utility model provides a terminal centre gripping instrument of arm, includes the first mounting of establishing at the arm end, installs at first mounting's first power supply, first execution subassembly includes fixed main part, installs in fixed main part's second power supply, two holders, be equipped with screw drive structure in the fixed main part, the second power supply passes through screw drive structure makes two be close to each other or separate between the holder, fixed main part with first mounting pivoted is connected, the output shaft of first power supply with fixed main part transmission is connected. Optionally, the lead screw transmission structure includes gear train and threaded rod, the gear train install in the fixed main part, the threaded rod with fixed main part pivoted is connected, the output shaft of second power supply with the gear train transmission is connected, the gear train with threaded rod fixed connection, two the holder be equipped with threaded rod complex screw hole, two the screw direction of threaded hole internal thread is opposite, the holder with fixed main part gliding is connected, fixed main part restriction the holder is only rectilinear motion. Optionally, the gear set includes a first gear and a second gear meshed with each other, and the first gear and the second gear are bevel gears. Optionally, two the clamping pieces are all fixedly connected with fourth connecting piece, the screw hole is located fourth connecting piece, fixed body is equipped with the confession the sliding hole that fourth connecting piece worn out, the sliding hole restriction fourth connecting piece only is rectilinear motion. Optionally, the fourth connecting piece is provided with a positioning part, and the positioning part abuts against the inner wall of the fixed main body to prevent the fourth connecting piece from deflecting. Optionally, the holder is equipped with the shuttle hole, be equipped with the click switch spare in the shuttle hole, the click switch spare with be equipped with return elastic component between the holder. Optionally, the clamping piece is provided with the clamping part that extends to both sides, two when the clamping piece is close to each other, two the clamping part of clamping piece is contradicted each other. Optionally, the clamping piece is provided with half concave parts, and when the two clamping pieces are close to each other, the half concave parts of the two clamping pieces are mutually overlapped and combined into a complete clamping hole. Optionally, the clamping hole is a square hole. Optionally, a second depth camera is further included, the second depth camera being mounted to the first mount. Compared with the prior art, the technical scheme provided by the invention has the following beneficial effects: The tail end clamping tool of the mechanical arm provided by the invention has the advantages of simple mechanical structure, fewer component parts and cost saving. Drawings FIG. 1 is a general assembly view of an operating robot of the present invention; FIG. 2 is a schematic illustration of the operation of the row of ground knives of the present invention; FIG. 3 is a second schematic view of the operation structure of the row cutter of the present invention; FIG. 4 is one of the cross-sectional views of the running blade operating configuration of the present invention; FIG. 5 is one of the cross-sectional views of the line extension mechanism of the present invention; FIG. 6 is one of the exploded views of the row actuator of the present invention; FIG. 7 is one of the cross-sectional views of the row actuator of the present invention; FIG. 8 is a schematic view of a line gland assembly of the present invention; FIG. 9 is a longitudinal cross-sectional view of the line gland assembly of the present invention; FIG. 10 is a schematic view of an alignment member of the present invention; FIG. 11 is a cross-sectional view of an alignment member of the present invention; FIG. 12 is a third schematic view of the knife operating structure of the present invention; FIG. 13 is a schematic view of the telescoping mechanism of the present invention; FIG. 14 is a second cross-sectional view of the telescoping mechanism of the present inventio