Four-finger self-adaptive clamping jaw

Abstract

The utility model discloses a four-finger self-adaptive clamping jaw which comprises a support, a sleeve and clamping arms. Clamping arms are movably installed on the periphery of the bottom of the support through first shaft rods, movable blocks are movably installed at the bottoms of the clamping arms through second shaft rods, clamping plates are fixedly installed on the inner sides of the movable blocks, the second shaft rods are sleeved with torsion springs, and the two ends of the torsion springs are connected with the inner walls of the movable blocks and the bottoms of the clamping arms respectively. A supporting column is fixedly installed in the middle of the bottom of the support, a tray is fixedly installed at the bottom end of the supporting column, worms are vertically and rotatably installed on the periphery of the top of the tray and located on the inner sides of the clamping arms, and worm wheels are integrally formed on the outer walls of the top ends of the clamping arms. The clamping force of each group of clamping arms can be independently controlled, so that the clamping arms are more stable when clamping different types of irregular objects, and the clamping plates can be adaptively adjusted according to the angles of the outer walls of the objects, so that the grabbing stability and reliability are effectively improved.

Description

Technical Field

[0001] The utility model relates to the technical field of mechanical grippers, in particular to a four-finger adaptive gripper. Background Art

[0002] A manipulator is an automatic device that can imitate certain movements and functions of human hands and arms, and is used to grab, carry objects or operate tools according to a fixed program. It is characterized by being able to complete various expected operations through programming, and has the advantages of both human and mechanical machines in terms of structure and performance. The manipulator is the earliest industrial robot and the earliest modern robot. It can replace heavy labor of people to achieve mechanization and automation of production, and can operate in harmful environments to protect personal safety. Therefore, it is widely used in machinery manufacturing, metallurgy, electronics, light industry and atomic energy. The manipulator is generally divided into two parts: a mechanical arm and a gripper. The gripper is mainly responsible for grabbing objects, and the mechanical arm mainly drives the gripper to perform multi-axis motion;

[0003] However, when the current grippers are in use, multiple groups of grippers often exert force at the same time, and the holding force of each group of grippers remains consistent. As a result, when gripping irregular objects, the gripping work is often not completed well, and the uneven force can easily cause damage to the object. Secondly, when gripping irregular objects, the grippers cannot fit the outer wall of the object well, which may cause slipping and the like.

[0004] Therefore, how to provide a four-finger adaptive gripper is a problem that those skilled in the art need to solve urgently. Utility Model Content

[0005] One purpose of the utility model is to provide a four-finger adaptive clamp, which can individually control the clamping force of each group of clamp arms, making it more stable when clamping different types and irregular objects. Secondly, the clamping plate can also be adaptively adjusted according to the angle of the outer wall of the object, thereby effectively improving the grasping stability and reliability.

[0006] A four-finger adaptive clamp according to an embodiment of the utility model includes a bracket, a sleeve and a clamp arm;

[0007] Clamp arms are movably mounted on all four sides of the bottom of the bracket through a first shaft rod, a movable block is movably mounted on the bottom of the clamp arm through a second shaft rod, a clamp plate is fixedly mounted on the inner side of the movable block, a torsion spring is sleeved on the second shaft rod, and two ends of the torsion spring are respectively connected to the inner wall of the movable block and the bottom of the clamp arm;

[0008] A pillar is fixedly installed in the center of the bottom of the bracket, a tray is fixedly installed at the bottom of the pillar, a worm is vertically and rotatably installed around the top of the tray and on the inner side of each group of clamping arms, a worm wheel is integrally formed on the outer wall of the top end of the clamping arm, a servo motor is fixedly installed at the four corners of the top of the bracket, a torque sensor is installed on the output shaft at the bottom of the servo motor, and the other end of the torque sensor is transmission connected to the worm.

[0009] Furthermore, a sleeve is fixedly installed on the top of the bracket, and the multiple groups of servo motors and torque sensors are arranged on the inner side of the sleeve.

[0010] In this technical solution, multiple groups of servo motors and torque sensors are arranged in the sleeve, so that the servo motors and torque sensors can be protected by the sleeve to prevent exposure to harsh environments that affect their lifespan.

[0011] Furthermore, a mounting flange is fixedly mounted on the top of the sleeve, and a hole for mounting is penetrated through the mounting flange.

[0012] In this technical solution, the holes opened on the mounting flange can be used in conjunction with bolts and nuts to achieve a fixed connection between the clamp and the robotic arm.

[0013] Furthermore, the clamping plate is movably connected to the second shaft rod via a movable block.

[0014] In this technical solution, the clamping plate can be freely rotated around the second shaft rod through the movable block, so as to facilitate the free adjustment of the clamping plate angle.

[0015] Furthermore, an anti-slip pad is fixedly attached to the outer wall of the other side of the clamping plate.

[0016] In this technical solution, the anti-slip pad can greatly increase the friction force when the clamping plate clamps the object, thereby improving the clamping firmness.

[0017] Furthermore, the worm wheel and the worm are meshed with each other.

[0018] In this technical solution, the worm wheel is meshed with the worm, so that the worm can drive the worm wheel to rotate when the worm rotates.

[0019] The beneficial effects of the utility model are:

[0020] The utility model can respectively drive four groups of worms and worm wheels to rotate through four groups of servo motors, so that the four groups of clamping arms can be opened and closed independently, and the holding force can be judged according to the monitored torque size when opening and closing, so as to avoid excessive or insufficient clamping force and improve the stability and reliability when clamping objects. Secondly, the clamping plate can freely adjust the angle according to the object, so that it can fit tightly to the outer wall of the object, which is convenient for grasping irregular objects. Therefore, the clamping claw can be adaptively adjusted when grasping objects, so as to improve the clamping efficiency and can be suitable for grasping various types of objects. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0022] Figure 1 This is a front view structural schematic diagram of a four-finger adaptive gripper proposed by the utility model;

[0023] Figure 2 This is a schematic diagram of the sleeve split structure of a four-finger adaptive gripper proposed by the utility model;

[0024] Figure 3 The utility model provides a schematic diagram of the split structure of the clamping arm and the clamping plate of a four-finger adaptive clamp.

[0025] In the figure: 1. bracket; 2. sleeve; 3. mounting flange; 4. pillar; 5. tray; 6. clamping arm; 7. worm gear; 8. worm; 9. servo motor; 10. torque sensor; 11. second shaft; 12. torsion spring; 13. movable block; 14. splint; 15. anti-slip pad; 16. first shaft. DETAILED DESCRIPTION

[0026] Now the utility model is further described in detail with reference to the accompanying drawings. These drawings are simplified schematic diagrams, which only illustrate the basic structure of the utility model in a schematic manner, and therefore only show the components related to the utility model.

[0027] refer to Figure 1 and Figure 2 , a four-finger adaptive gripper, comprising a bracket 1, a sleeve 2 and a gripper arm 6;

[0028] A support 4 is fixedly installed at the center of the bottom of the bracket 1, a tray 5 is fixedly installed at the bottom of the support 4, a worm 8 is vertically and rotatably installed around the top of the tray 5 and inside each group of clamp arms 6, a worm wheel 7 is integrally formed on the outer wall of the top end of the clamp arm 6, and the worm wheel 7 and the worm 8 are meshed with each other;

[0029] A servo motor 9 is fixedly installed at the four corners of the top of the bracket 1, and a torque sensor 10 is installed on the output shaft at the bottom of the servo motor 9. The other end of the torque sensor 10 is connected to the worm 8 by transmission. The torque sensor 10 is used to connect the coupling of the servo motor 9 and the worm 8, so that the torque size can be monitored in real time when the worm 8 is driven to rotate;

[0030] Among them, a sleeve 2 is fixedly installed on the top of the bracket 1, and multiple groups of servo motors 9 and torque sensors 10 are arranged inside the sleeve 2. The sleeve 2 can protect the servo motors 9 and the torque sensors 10 to avoid them being directly exposed to the outside, thereby improving the overall aesthetics and avoiding direct exposure to harsh environments, thereby effectively extending the service life;

[0031] Secondly, a mounting flange 3 is fixedly mounted on the top of the sleeve 2, and a hole for mounting is provided through the mounting flange 3. The clamping jaw as a whole can be connected to the mechanical arm through the mounting flange 3, so that the mechanical arm can drive the clamping jaw to move;

[0032] In this technical solution, the servo motor 9 can drive the worm 8 to rotate, and at this time the worm 8 can drive the worm wheel 7 to rotate, so that the clamping arm 6 rotates around the first shaft 16. When the four groups of clamping arms 6 are opened and closed at the same time, the grasping work can be realized. In this process, the worm 8 driven by each group of servo motors 9 can monitor the torque size through the corresponding torque sensor 10, so as to facilitate the independent control of the clamping force of each clamping arm 6. The threshold range of the torque sensor 10 can be adjusted accordingly according to the actual clamped objects, so as to facilitate the stable reliability when clamping irregular objects.

[0033] refer to Figure 1 and Figure 3 The bracket 1 has a clamping arm 6 movably mounted on all four sides of the bottom through a first shaft 16, a movable block 13 movably mounted on the bottom of the clamping arm 6 through a second shaft 11, a clamping plate 14 is fixedly mounted on the inner side of the movable block 13, a torsion spring 12 is sleeved on the second shaft 11, and both ends of the torsion spring 12 are respectively connected to the inner wall of the movable block 13 and the bottom of the clamping arm 6;

[0034] The clamping plate 14 is movably connected to the second shaft 11 through the movable block 13, and the clamping plate 14 can rotate around the second shaft 11 through the movable block 13;

[0035] Secondly, an anti-skid pad 15 is fixedly attached to the outer wall of the other side of the clamping plate 14. The anti-skid pad 15 can make the clamping plate 14 more stable and firm when clamping objects.

[0036] In this embodiment, the clamping arm 6 can drive the clamping plate 14 to open and close when opening and closing to achieve the clamping of the object. When clamping, the clamping plate 14 can freely rotate and adjust the angle through the movable block 13, so that it can fit the object and facilitate the clamping of irregular objects. When loosened, the movable block 13 can be driven to reset through the torsion spring 12, so that the clamping plate 14 can always remain flat in the default state.

[0037] Working principle: First, the clamping jaw can be connected and fixed to the mechanical arm through the mounting flange 3, and then the mechanical arm can drive the clamping jaw to move. When it is necessary to grasp an object, the servo motor 9 can be used to start and drive the worm 8 to rotate. When the four groups of worms 8 rotate at the same time, the worm wheel 7 can be driven to rotate. At this time, the clamping arm 6 can rotate around the first shaft rod 16 to achieve opening and closing, and the opening and closing of the clamping arm 6 can drive the clamping plate 14 to clamp the object. During clamping, the servo motor 9 that controls the corresponding clamping arm 6 can monitor the torque through the corresponding torque sensor 10, so as to prevent the clamping force from being too large and causing damage to the object, and also prevent the clamping force from being too small and causing the clamping to be unstable. Therefore, it can be adjusted according to the actual applicability of the object. When clamping an object, the clamping plate 14 can also rotate around the second shaft rod 11 through the movable block 13, so as to automatically adjust the angle to ensure that the clamping plate 14 can fit tightly around the object and facilitate the grasping of irregular objects.

[0038] It is understandable that the servo motor in the present invention can be driven by an external power cord, and the servo motor can be controlled by programming using a main control system, and its control principle can be realized by existing control technology. The model of the servo motor is not limited to a single type and can be any type currently available on the market that is suitable for the present invention.

[0039] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes within the technical scope disclosed by the present invention according to the technical scheme and the utility model concept of the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A four-finger adaptive gripper, characterized in that: It comprises a bracket (1), a sleeve (2) and a clamping arm (6); The bottom of the bracket (1) is movably mounted with a clamping arm (6) via a first shaft (16), the bottom of the clamping arm (6) is movably mounted with a movable block (13) via a second shaft (11), a clamping plate (14) is fixedly mounted on the inner side of the movable block (13), a torsion spring (12) is sleeved on the second shaft (11), and the two ends of the torsion spring (12) are respectively connected to the inner wall of the movable block (13) and the bottom of the clamping arm (6); A support (4) is fixedly installed at the center of the bottom of the bracket (1), a tray (5) is fixedly installed at the bottom end of the support (4), a worm (8) is vertically and rotatably installed around the top of the tray (5) and located inside each group of clamp arms (6), a worm wheel (7) is integrally formed on the outer wall of the top end of the clamp arm (6), a servo motor (9) is fixedly installed at the four corners of the top of the bracket (1), a torque sensor (10) is installed on the bottom output shaft of the servo motor (9), and the other end of the torque sensor (10) is drivingly connected to the worm (8).

2. A four-finger adaptive gripper according to claim 1, characterized in that: A sleeve (2) is fixedly mounted on the top of the bracket (1), and a plurality of groups of servo motors (9) and torque sensors (10) are arranged on the inner side of the sleeve (2).

3. A four-finger adaptive gripper according to claim 1, characterized in that: A mounting flange (3) is fixedly mounted on the top of the sleeve (2), and a hole for mounting is provided through the mounting flange (3).

4. A four-finger adaptive gripper according to claim 1, characterized in that: The clamping plate (14) is movably connected to the second shaft rod (11) via a movable block (13).

5. The four-finger adaptive gripper according to claim 1, characterized in that: An anti-slip pad (15) is fixedly attached to the outer wall of the other side of the clamping plate (14).

6. The four-finger adaptive gripper according to claim 1, characterized in that: The worm wheel (7) and the worm (8) are meshed with each other.

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