A gripping mechanism for a robot

Abstract

The present invention relates to the field of manipulator technology, and in particular to a gripping mechanism for a manipulator, comprising a fixed plate, a first rotating shaft is installed on one side of the top of the fixed plate through a bearing, two fixed shafts are arranged on one side of the other side of the top of the fixed plate, the two fixed shafts are arranged at intervals, a first rotating rod is installed on the first rotating shaft, and claws are installed on both fixed shafts through bearings, a first transmission mechanism is arranged between one of the claws and the first rotating rod, and a second transmission mechanism is arranged between the other claw and the first rotating rod. The device can avoid the phenomenon that the objects between the two claws are crushed due to excessive force applied by the two claws, has high practical value, and is worthy of promotion.

Description

Technical Field

[0001] The invention relates to the technical field of manipulators, and in particular to a grasping mechanism for manipulators. Background Art

[0002] The manipulator is the earliest industrial robot and the earliest modern robot. It can replace the heavy labor of people to realize the mechanization and automation of production. It can operate in harmful environments to protect personal safety. Therefore, it is widely used in machinery manufacturing, metallurgy, electronics, light industry and atomic energy. It is developed on the basis of the ancient robots that appeared in the early days. The research on manipulators began in the mid-20th century. With the development of computers and automation technology, computers have made amazing progress and developed in the direction of high speed, large capacity and low price. At the same time, the urgent need for mass production has promoted the progress of automation technology and laid the foundation for the development of robots. On the other hand, the research on nuclear energy technology requires certain operating machines to replace people to handle radioactive materials. There are many different types of manipulators, and different manipulators have different uses. However, the current manipulators are only suitable for a single field, and the grasping force cannot be adjusted when grasping objects, so the grasped objects are often destroyed. Summary of the invention

[0003] The purpose of the present invention is to solve the shortcomings of the prior art that the manipulator is only applicable to a single field and cannot adjust the grasping force when grasping an object, which often causes the grasped object to be damaged, and to propose a grasping mechanism for the manipulator.

[0004] In order to achieve the above object, the present invention adopts the following technical solutions:

[0005] A grasping mechanism for a robot is designed, comprising a fixed plate, a first rotating shaft is installed on one side of the top of the fixed plate through a bearing, two fixed shafts are arranged on one side of the other side of the top of the fixed plate, the two fixed shafts are arranged at an interval, a first rotating rod is installed on the first rotating shaft, and claws are installed on both of the two fixed shafts through bearings, a first transmission mechanism is arranged between one of the claws and the first rotating rod, and a second transmission mechanism is arranged between the other claw and the first rotating rod.

[0006] Preferably, the first transmission mechanism includes a second rotating shaft, the second rotating shaft is installed on the other side of the other side of the top of the fixed plate through a bearing, a second rotating rod is installed on the second rotating shaft, the first transmission mechanism also includes an extension rod installed on one of the claws, the extension rod is hinged on one end of the second rotating rod, and a first connecting rod is hinged between the second rotating rod and one end of the first rotating rod.

[0007] Preferably, the second transmission mechanism comprises a fixing rod mounted on the other of the claws, and a second connecting rod is hingedly connected between the fixing rod and the other end of the first rotating rod.

[0008] Preferably, the first connecting rod and the second connecting rod both include fixed blocks arranged at both ends, the first connecting rod further includes a first adjustment mechanism arranged between the two fixed blocks, and the second connecting rod further includes a second adjustment mechanism arranged between the two fixed blocks.

[0009] Preferably, the first adjustment mechanism includes sleeve tubes respectively installed on the inner sides of the two fixed blocks of the first connecting rod through bearings, a first threaded rod is slidably arranged in one of the sleeve tubes, a spring is arranged between one of the sleeve tubes and the first threaded rod, and the other sleeve tube is threadably matched with the first threaded rod.

[0010] Preferably, the second adjustment mechanism comprises internal threaded tubes respectively mounted on the inner sides of the two fixing blocks of the second connecting rod through bearings, and the adjacent ends of the two internal threaded tubes are threadedly connected to the two ends of the second threaded rod.

[0011] Preferably, a reinforcement plate is installed on the top between the two fixed shafts.

[0012] Preferably, buffer pads are installed on the relative inner sides of the two claws, and anti-slip grooves are provided on the relative inner sides of the two buffer pads.

[0013] Preferably, the two fixed shafts both pass through the fixed plate and are installed with nuts.

[0014] The present invention proposes a gripping mechanism for a manipulator, which has the beneficial effect that: the gripping mechanism for the manipulator is composed of a fixed block, a sleeve tube, a first threaded rod, a spring, etc. by setting an adjustment mechanism, so that the first connecting rod and the extension rod are both adjustable in length, and the force of the first connecting rod on the claws on one of the fixed shafts can be flexible, thereby avoiding the first connecting rod and the second connecting rod from applying too much force to the two claws, causing the objects between the two claws to be crushed. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 A main view of a gripping mechanism for a manipulator proposed by the present invention Figure 1 .

[0016] Figure 2 A main view of a gripping mechanism for a manipulator proposed by the present invention Figure 2 .

[0017] Figure 3 for Figure 2 A partial enlarged view at point A.

[0018] Figure 4 A cross-sectional view of a first adjusting mechanism in a gripping mechanism of a robot arm proposed by the present invention.

[0019] Figure 5 The figure is a cross-sectional view of a second adjusting mechanism in a gripping mechanism of a robot arm proposed by the present invention.

[0020] In the figure: a fixed plate 1, a first rotating shaft 2, a second rotating shaft 3, a fixed shaft 4, a first rotating rod 5, a second rotating rod 6, a claw 7, an extension rod 8, a first connecting rod 9, a fixed rod 10, a second connecting rod 11, a fixed block 12, a sleeve tube 13, a first threaded rod 14, a spring 15, a reinforcement plate 16, a buffer pad 17, a nut 18, a first adjusting mechanism 21, a second adjusting mechanism 22, an internal threaded tube 23, and a second threaded rod 24. DETAILED DESCRIPTION

[0021] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0022] Example 1

[0023] Reference Figure 1-5 , a grasping mechanism for a manipulator, comprising a fixed plate 1, a first rotating shaft 2 is installed on one side of the top of the fixed plate 1 through a bearing, two fixed shafts 4 are arranged on one side of the other side of the top of the fixed plate 1, and the two fixed shafts 4 are arranged at an interval, a first rotating rod 5 is fixedly installed on the first rotating shaft 2, and claws 7 are installed on the two fixed shafts 4 through bearings, a first transmission mechanism is arranged between one claw 7 and the first rotating rod 5, and a second transmission mechanism is arranged between the other claw 7 and the first rotating rod 5, the first transmission mechanism includes a second rotating shaft 3, the second rotating shaft 3 is installed on the other side of the other side of the top of the fixed plate 1 through a bearing, and a second rotating rod 6 is installed on the second rotating shaft 3, the The first transmission mechanism also includes an extension rod 8 installed on one of the claws 7, the extension rod 8 is hinged on one end of the second rotating rod 6, and a first connecting rod 9 is hinged between the second rotating rod 6 and one end of the first rotating rod 5; the second transmission mechanism includes a fixed rod 10 installed on the other claw 7, a second connecting rod 11 is hinged between the fixed rod 10 and the other end of the first rotating rod 5, the first connecting rod 9 and the second connecting rod 11 both include fixed blocks 12 arranged at both ends, the first connecting rod 9 also includes a first adjustment mechanism 21 arranged between the two fixed blocks 12, and the second connecting rod 11 also includes a second adjustment mechanism 22 arranged between the two fixed blocks 12.

[0024] The claw 7 at the extension rod 8 needs to apply a certain force to rotate. The extension rod 8 is a telescopic rod, and one end of the extension rod 8 is fixedly installed on one of the claws 7. The telescopic end of the extension rod 8 is hinged to one end of the second rotating rod 6, so that the second rotating rod 6 can drive one of the claws 7 to rotate around one of the fixed axes 4 through the extension rod 8 during the rotation process, and cooperate with the fixed rod 10 to drive the other claw 7 to rotate around the other fixed axis 4, so that the two claws 7 can clamp the object.

[0025] Working principle: install the fixed plate 1 on the corresponding manipulator, connect the first rotating shaft 2 with the motor on the manipulator, use the direction adjustment of the manipulator to move the grasping mechanism as a whole, when clamping is required, after the manipulator approaches the grasped object, let the two claws 7 be located on both sides of the object, the motor on the manipulator drives the first rotating shaft 2 to rotate, the first rotating shaft 2 drives the first rotating rod 5 to rotate, after the first rotating rod 5 rotates, it drives the first connecting rod 9 and the second connecting rod 11 to move, let the fixed rod 10 and the second rotating rod 6 move in opposite directions, the second rotating rod 6 drives one end of the extension rod 8 to rotate, so that the two claws 7 rotate in the same direction around the fixed shaft 4, but the second connecting rod 11 on the fixed rod 10 has a constant length, and the length of the first connecting rod 9 at the second rotating rod 6 can be changed. Since the length of the first connecting rod 9 and the extension rod 8 is limited, the first connecting rod 9 and Before the extension rod 8 reaches its limit, the fixed rod 10 will first rotate one of the claws 7, and then the extension rod 8 will rotate with the other claw 7 after the first connecting rod 9 and the extension rod 8 reach their limits. At this time, the distance between the two claws 7 will remain fixed, so that the movement between the two claws 7 begins to be synchronized. At this time, the first rotating shaft 2 is rotated in the opposite direction for a short distance. Since the claws 7 at the extension rod 8 will basically move only when they are subjected to force, the second connecting rod 11 allows the claws 7 at the fixed rod 10 to move directly, so that the two claws 7 clamp the object. The claws at the fixed rod 10 will continue to apply force, but the claws 7 at the extension rod 8 will also rotate with it. When the first connecting rod 9 and the extension rod 8 reach their limits, the two claws 7 will apply the same force, so that the force applied to the object during clamping basically increases successively, but will not exceed the limit of the object, thereby reducing the possibility of the object being crushed.

[0026] Example 2

[0027] Based on Example 1, optimization is performed. Figure 1-5 The first adjustment mechanism 21 includes a sleeve tube 13 installed on the inner side of two fixed blocks 12 of the first connecting rod 9 through bearings, a first threaded rod 14 is slidably arranged in one of the sleeve tubes 13, a spring 15 is arranged between one of the sleeve tubes 13 and the first threaded rod 14, and the other sleeve tube 13 is threadedly matched with the first threaded rod 14.

[0028] The second adjustment mechanism 22 includes internal threaded tubes 23 respectively mounted on the inner sides of the two fixing blocks 12 of the second connecting rod 11 through bearings. The adjacent ends of the two internal threaded tubes 23 are threadedly connected to the two ends of the second threaded rod 24 .

[0029] By setting the first adjusting mechanism 21 to be composed of a fixed block 12, a sleeve tube 13, a first threaded rod 14, a spring 15, etc., and by setting the second adjusting mechanism 22 to be composed of a fixed block 12, an internal threaded tube 23, a second threaded rod 24, etc., the first connecting rod 9 and the second connecting rod 11 are both adjustable in length, and the elastic force of the spring 15 delays the time for the first connecting rod 9 to apply force to the second rotating rod 6, so that the first connecting rod 9 and the second connecting rod 11 apply force to the two claws 7 at different times, and the two claws 7 start to move at different times. However, the two claws 7 can move together only after the first connecting rod 9 and the extension rod 8 reach their limits, so that the force applied by the two claws 7 to the clamped object is fixed; and the threaded cooperation between the sleeve tube 13 and the first threaded rod 14, and the threaded cooperation between the internal threaded tube 23 and the second threaded rod 24 can adjust the initial interval between the two claws 7, so that the two claws 7 can adapt to clamping objects of different sizes.

[0030] Example 3

[0031] Based on the optimization of Example 1 and Example 2, refer to Figure 1-5 A reinforcing plate 16 is fixedly installed on the top between the two fixed shafts 4, and buffer pads 17 are fixedly installed on the relative inner sides of the two claws 7. The relative inner sides of the two buffer pads 17 are provided with anti-slip grooves, and the two fixed shafts 4 pass through the fixed plate 1 and are threadedly installed with nuts 18.

[0032] When the clamped object is heavy, the supporting force at the top of the two fixed shafts 4 is relatively weak. After working for a long time, the top of the two fixed shafts 4 is prone to deflection. By setting the reinforcement plate 16, the top of the two fixed shafts 4 is provided with additional supporting force to avoid the top of the two fixed shafts 4 from being easily deflected, thereby avoiding the phenomenon that the upper parts of the two claws 7 are closed together and the lower parts of the two claws 7 are separated after the two claws 7 are closed.

[0033] By installing a buffer pad between the two clamping claws 7, the clamping claws 7 are more convenient to control during the process of clamping fragile objects. In addition, the two buffer pads 17 are provided with anti-slip grooves on the relative inner sides, so that the fragile objects are subjected to relatively small forces during the clamping process and the fragile objects are not easy to fall off from between the two clamping claws 7.

[0034] By arranging that both of the two fixed shafts 4 pass through the fixed plate 1 and are installed with nuts 18, it is more convenient to disassemble and install the fixed shaft 4, thereby facilitating the replacement and maintenance of the two claws 7 at a later stage.

[0035] 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 according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A gripping mechanism for a robot, comprising a fixing plate (1), characterized in that: A first rotating shaft (2) is mounted on one side of the top of the fixed plate (1) via a bearing, two fixed shafts (4) are arranged on one side of the other side of the top of the fixed plate (1), the two fixed shafts (4) are arranged at an interval, a first rotating rod (5) is mounted on the first rotating shaft (2), and claws (7) are mounted on both of the two fixed shafts (4) via bearings, a first transmission mechanism is arranged between one of the claws (7) and the first rotating rod (5), and a second transmission mechanism is arranged between the other claw (7) and the first rotating rod (5); The first transmission mechanism comprises a second rotating shaft (3), the second rotating shaft (3) is mounted on the other side of the other side of the top of the fixing plate (1) through a bearing, a second rotating rod (6) is mounted on the second rotating shaft (3), the first transmission mechanism also comprises an extension rod (8) mounted on one of the claws (7), the extension rod (8) is hinged on one end of the second rotating rod (6), and a first connecting rod (9) is hinged between the second rotating rod (6) and one end of the first rotating rod (5); The second transmission mechanism comprises a fixed rod (10) mounted on the other of the claws (7), and a second connecting rod (11) is hingedly connected between the fixed rod (10) and the other end of the first rotating rod (5); The first connecting rod (9) and the second connecting rod (11) both include fixed blocks (12) arranged at two ends, the first connecting rod (9) also includes a first adjustment mechanism (21) arranged between the two fixed blocks (12), and the second connecting rod (11) also includes a second adjustment mechanism (22) arranged between the two fixed blocks (12); The first adjustment mechanism (21) comprises a sleeve tube (13) which is respectively mounted on the inner side of the two fixed blocks (12) of the first connecting rod (9) through bearings, wherein a first threaded rod (14) is slidably arranged in one of the sleeve tubes (13), a spring (15) is arranged between one of the sleeve tubes (13) and the first threaded rod (14), and the other sleeve tube (13) is threadably matched with the first threaded rod (14).

2. The gripping mechanism for a robot according to claim 1, characterized in that: The second adjustment mechanism (22) comprises internal threaded tubes (23) respectively mounted on the inner sides of the two fixing blocks (12) of the second connecting rod (11) through bearings, and the adjacent ends of the two internal threaded tubes (23) are threadedly connected to the two ends of the second threaded rod (24).

3. The gripping mechanism for a robot according to claim 1, characterized in that: A reinforcing plate (16) is installed on the top between the two fixed shafts (4).

4. The gripping mechanism for a robot according to claim 1, characterized in that: Buffer pads (17) are installed on the relative inner sides of the two clamping claws (7), and anti-slip grooves are provided on the relative inner sides of the two buffer pads (17).

5. The gripping mechanism for a robot according to claim 1, characterized in that: The two fixed shafts (4) both pass through the fixed plate (1) and are installed with nuts (18).

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