Search

CN-121989282-A - Mechanical arm tail end gripping device of self-adaptive workpiece

CN121989282ACN 121989282 ACN121989282 ACN 121989282ACN-121989282-A

Abstract

The invention provides a manipulator tail end gripping device of a self-adaptive workpiece, which relates to the technical field of manipulators and comprises a disc base, a gripping driving module and at least three gripping execution assemblies which are uniformly distributed in the circumferential direction, wherein the disc base is connected with the manipulator tail end, the gripping execution assemblies comprise gripping support arms, gripping clamping seats, gripping units and point pressing supporting units, the gripping support arms can be radially and movably connected to the side parts of the base, the gripping units are rotatably arranged in circular arc-shaped mounting grooves of the gripping clamping seats so as to adapt to the shape of the workpiece and realize surface contact gripping, the point pressing supporting units are arranged at the bottoms of the gripping clamping seats and are abutted against the surface of the workpiece in a point rolling contact mode, the gripping force is adaptively increased when the workpiece moves downwards, the workpiece is supported from the bottom, the falling is prevented, and the gripping driving module drives the gripping support arms to synchronously and radially move so that stable gripping is realized. The invention is suitable for workpieces with different shapes, and improves the clamping firmness and the operation safety.

Inventors

  • REN BINGQIANG

Assignees

  • 广州市强鑫金属制品有限公司

Dates

Publication Date
20260508
Application Date
20260318

Claims (8)

  1. 1. The mechanical arm tail end gripping device for the self-adaptive workpiece comprises a disc base, a gripping driving module and at least three gripping execution assemblies, wherein the disc base is used for connecting the mechanical arm tail end and is used as a gripping main frame structure; The clamping seat is fixed at the lower end part of the clamping support arm, an installation groove with a circular arc-shaped cross section is formed in the clamping seat, the clamping unit is rotatably arranged in the installation groove, and the rotation center of the clamping unit is the center line of the installation groove; The point pressing support unit is arranged at the bottom of the clamping seat, when the end face of the clamping unit is in contact with the outer surface of the workpiece, the point pressing support unit is propped against the outer surface of the workpiece in a point rolling contact mode, and when the workpiece moves downwards due to insufficient clamping force, the point pressing support unit can improve the clamping force and support the workpiece from the bottom; the grabbing driving module is arranged on the disc base and connected with the tops of the clamping support arms, and the grabbing driving module is used for driving the clamping support arms to move radially synchronously.
  2. 2. The robot end gripping device of an adaptive workpiece according to claim 1, wherein a plurality of slides are provided on an inner wall of the mounting groove, and the gripping unit includes a semi-cylindrical abutting portion and a plurality of gripping rollers; the circumference surface of the semicircular cylinder supporting part is provided with a plurality of convex rings, and the convex rings are clamped into corresponding slide ways and are in sliding fit; The surface of the semicircular cylinder supporting part facing the workpiece is provided with a built-in groove, and the plurality of clamping rollers are arranged in the built-in groove side by side and can horizontally move.
  3. 3. The tail end gripping device of the self-adaptive workpiece manipulator according to claim 2, wherein the clamping roller is of a roller body structure, the upper end and the lower end of the clamping roller are provided with base parts, the base parts are rotationally connected with the central shaft end parts of the clamping roller, and the base parts are in sliding connection fit with the inner walls of the built-in grooves; the two adjacent base parts and the base part at the most side are connected with the inner wall of the built-in groove through avoiding springs.
  4. 4. A robot end gripping device for adapting a workpiece according to claim 3, wherein each clamping roller has a rubber layer on a surface thereof, and a wear-proof pattern on a surface of the rubber layer, and a pressure sensor is installed in the rubber layer.
  5. 5. The robot end gripping device of an adaptive workpiece according to claim 1, wherein the point pressing support unit comprises a point pressing support, a point pressing eccentric, and a lower support unit; The point is pressed the support and is fixed in centre gripping cassette bottom, and the point is pressed the eccentric wheel and is established on the point is pressed the support to can eccentric rotation, lower bearing unit top links to each other with centre gripping cassette bottom, and its lower tip extends to the point and presses the eccentric wheel below, the point is pressed the eccentric wheel and is linked to each other with lower bearing unit middle part, and when the point is pressed the eccentric wheel and is taken place rotatory rotation, the point is pressed the eccentric wheel and is driven down the bearing unit and radially slide along the disc base.
  6. 6. The device for gripping the tail end of the mechanical arm of the self-adaptive workpiece according to claim 5, wherein the position, close to the edge, on the end face of the point pressing eccentric wheel is provided with an eccentric shifting column, and the lower bearing unit comprises a movable bracket, an upper movable seat and a lower supporting part; The middle part of the movable support is provided with a guide hole, the eccentric shifting column stretches into the guide hole, the lower supporting part is fixed at the bottom of the movable support and used for supporting a workpiece from below, the upper movable seat is fixed on the top wall of the movable support and is in sliding connection with the bottom of the clamping seat, and the side part of the upper movable seat is further connected with the side wall of the bottom end of the clamping support arm through a prepositioning spring.
  7. 7. The device for gripping an end of a robot arm for self-adapting workpieces according to claim 6, wherein a plurality of radial arms are provided at the edge of the disc base and an upper slide is provided at the top of the gripping arms, the upper slide is slidably connected with the corresponding radial arm, an upper bracket is fixed to the disc base and a gripping driving module is mounted on the upper bracket, and the gripping driving module is connected with the plurality of upper slide and is used for driving the upper slide to move along the radial arms.
  8. 8. The robot end gripping device of an adaptive workpiece of claim 1, wherein the gripping drive module comprises a gripping motor, a gripping screw, and a plurality of fixed arms; The screw rod is rotationally arranged on the upper bracket, the top of the screw rod is connected with the output end of the motor, the middle position of the screw rod is provided with a threaded sleeve, a plurality of fixed support arms are circumferentially distributed and fixed on the side parts of the threaded sleeve, each fixed support arm is respectively vertically matched with the supporting leg of the upper bracket in a sliding manner, the fixed support arms are further hinged with a push-pull connecting rod, and the other end of the push-pull connecting rod is hinged with the upper sliding seat.

Description

Mechanical arm tail end gripping device of self-adaptive workpiece Technical Field The invention relates to the technical field of manipulators, in particular to a manipulator tail end gripping device for self-adapting workpieces. Background The manipulator can simulate certain action functions of a human hand and an arm, and is used for grabbing and carrying objects or operating an automatic operating device of a tool according to a fixed program. The manipulator is the earliest industrial robot and the earliest modern robot, can replace heavy labor of people to realize mechanization and automation of production, can operate under harmful environment to protect personal safety, and is widely applied to departments of mechanical manufacture, metallurgy, electronics, light industry, atomic energy and the like. The performance of its gripping device directly affects the stability and safety of the operation. Particularly, when the workpiece with irregular appearance, tolerance in size or vulnerable surface is processed, the gripping device has good self-adaptive capacity and reliable anti-falling function. The existing tail end grabbing device of the mechanical arm mostly adopts a rigid clamping jaw or a simple pneumatic clamp, and realizes clamping through synchronous or independent driving, but has the following defects: The traditional clamping jaw usually adopts a plane or fixed curved surface contact mode, and is difficult to attach to the outer wall of a workpiece with a complex curved surface, so that the contact area is insufficient, the clamping force is uneven, and slippage and even falling off are easy to generate in the process of carrying; Most gripping devices lack a mechanism for handling unexpected downward movement of a workpiece, once the gripping force is insufficient or the workpiece is affected by vibration, the workpiece is prone to slipping downward, potential safety hazards exist, and particularly risks are more prominent when heavy or high-value workpieces are operated. Therefore, a novel gripping device capable of adapting to the shape change of a workpiece and having the functions of surface contact clamping and bottom falling prevention is needed. Disclosure of Invention The invention aims to provide a manipulator tail end gripping device of a self-adaptive workpiece, which aims to solve the technical problems in the background technology. In order to achieve the above purpose, the present invention provides the following technical solutions: The mechanical arm tail end gripping device for the self-adaptive workpiece comprises a disc base, a gripping driving module and at least three gripping execution assemblies, wherein the disc base is used for being connected with the mechanical arm tail end to be used as a gripping main frame structure, a plurality of gripping execution assemblies are uniformly distributed on the side part of the disc base along the circumferential direction, the gripping execution assemblies comprise gripping support arms, gripping clamping seats, gripping units and point pressing supporting units, the top parts of the gripping support arms are connected with the side part of the disc base and can move radially, the gripping clamping seats are fixed at the lower end parts of the gripping support arms, an installation groove with an arc-shaped cross section is formed in the lower end parts of the gripping support arms, the gripping units are rotatably arranged in the installation groove, the rotation center of the gripping units is the center line of the installation groove, the point pressing supporting units are arranged at the bottom parts of the gripping clamping seats, when the end faces of the gripping units are in contact with the outer surfaces of the workpiece, the point pressing supporting units are in a point rolling contact mode, and can improve the gripping force and support the workpiece from the bottom when the workpiece moves downwards due to insufficient gripping force, the gripping driving module is arranged on the disc base, and the gripping driving module is used for driving the gripping support arms to move synchronously. Based on the technical scheme, the invention also provides the following optional technical schemes: In an alternative scheme, a plurality of slideways are arranged on the inner wall of the mounting groove, the clamping unit comprises a semi-cylinder supporting part and a plurality of clamping rollers, a plurality of convex rings are arranged on the circumferential surface of the semi-cylinder supporting part, the convex rings are clamped into the corresponding slideways and are in sliding fit, a built-in groove is formed in the surface of the semi-cylinder supporting part, facing to a workpiece, and the plurality of clamping rollers are arranged in the built-in groove side by side and can horizontally move. In an alternative scheme, the clamping roller is of a roller body structure, the upper end and the lower end of the