An adaptive grasping manipulator

Abstract

The present invention relates to the technical field of automatic grasping, and in particular to an adaptive grasping manipulator, comprising a grasping mechanism, which includes a shell, a box body fixedly connected to the outside of the shell, and a bracket fixedly connected to the outside of the shell, a long slot provided on the outside of the shell, a load-bearing component adapted to be installed on the outside of the shell, a power component adapted to be installed inside the box body, a transmission component adapted to be installed inside the shell, a driven component adapted to be installed inside the shell, a clamping component adapted to be installed on the outside of the load-bearing component, and a accommodating component adapted to be installed inside the shell; under the interaction of various components, after the manipulator clamps an object, it can automatically self-lock, so that each clamping block will not leave the clamped object, to ensure that the clamped object will not fall, and after clamping the object, it can also separate the transmission component and the driven component from each other, so that the clamped object will not be damaged by excessive clamping.

Description

Technical Field

[0001] The present invention relates to the technical field of automatic grasping, and in particular to an adaptive grasping manipulator. Background Art

[0002] A gripper is a device used in automation and robotics applications to grasp, move objects, or perform other operations. It typically consists of a robotic arm, sensors, actuators, and a control system. The specific form and function of a gripper vary, and the appropriate type can be selected based on the application's needs. However, current grippers often lack a self-locking function after grasping an object. This can easily lead to the gripper being knocked against something or accidentally touched by a human operator while handling the object, causing it to release and potentially break the gripper. Summary of the Invention

[0003] In view of the above problems in the prior art, the present invention is proposed.

[0004] Therefore, the object of the present invention is to provide an adaptive grasping manipulator, the purpose of which is to automatically self-lock after the manipulator grasps an object to prevent the clamped object from being broken.

[0005] In order to solve the above technical problems, the present invention provides the following technical solutions: an adaptive grasping manipulator, characterized in that: it includes:

[0006] A gripping mechanism comprising a housing, a box body fixedly connected to the outside of the housing, and a bracket fixedly connected to the outside of the housing, a long slot provided on the outside of the housing, a load-bearing component adapted to be mounted on the outside of the housing, a power component adapted to be mounted inside the box body, a transmission component adapted to be mounted inside the housing, a driven component adapted to be mounted inside the housing, a clamping component adapted to be mounted outside the load-bearing component, and a receiving component adapted to be mounted inside the housing;

[0007] The auxiliary mechanism includes a lower rod adapted to be mounted on the outside of the driven component, a screw block fixedly connected to one end of the lower rod, an upper rod adapted to be mounted on the outside of the transmission component, a connecting component adapted to be mounted inside the screw block, a rotating component adapted to be mounted outside the connecting component, a transition component adapted to be mounted inside the accommodating component, a self-locking component adapted to be mounted on the outside of the bearing component, and a clamping component adapted to be mounted inside the bearing component. As a preferred embodiment of the adaptive grasping manipulator of the present invention, the bearing component includes a base fixedly connected to the outside of the housing, a fan-shaped groove provided inside the base, and a fine groove provided inside the base.

[0008] As a preferred solution of the adaptive grasping robot described in the present invention, the power component includes a motor arranged inside the box, an output shaft adapted to be installed outside the motor, and a gear fixedly connected to the outside of the output shaft.

[0009] As a preferred embodiment of the adaptive gripping manipulator of the present invention, the transmission component includes a first threaded column threadedly connected to the interior of the housing, a first long gear fixedly connected to one end of the first threaded column, and a connector rotatably connected to the other end of the first threaded column, a first spring provided at the bottom end of the connector, and a connecting assembly adapted to be installed at one end of the first spring;

[0010] Wherein, the first threaded column is threadedly connected to the shell.

[0011] As a preferred solution of the adaptive grasping manipulator described in the present invention, the connecting assembly includes a disc arranged at one end of the first spring, a connecting block fixedly connected to the outside of the disc, and a gear ring fixedly connected to the outside of the connecting block, an insertion column fixedly connected to the bottom end of the disc, a cavity opened inside the insertion column, a second spring arranged inside the cavity, a limiting plate fixedly connected to one end of the second spring, a clamping block fixedly connected to the outside of the limiting plate, a side inclined surface opened on the outside of the clamping block, and a lower inclined surface opened at the bottom end of the clamping block;

[0012] The driven component includes a lower column slidably connected to the inside of the base, a sliding cavity provided inside the lower column, a special-shaped cavity provided at the bottom end of the sliding cavity, a connecting plate fixedly connected to the bottom end of the lower column, and a side groove provided on the outside of the lower column;

[0013] Among them, one end of the first spring is fixedly connected to the top of the disc, the other end of the first spring is fixedly connected to the bottom of the connector, the connector is slidably connected to the inside of the sliding cavity, the disc is arranged inside the sliding cavity, the connecting block is arranged inside the side groove, the lower rod is fixedly connected to the outside of the lower column, and the upper rod is fixedly connected to the outside of the connector.

[0014] As a preferred embodiment of the adaptive gripping manipulator of the present invention, the clamping component includes a connecting arm hingedly connected to the bottom end of the base, a support rod hingedly connected to the outside of the connecting arm, and a mounting block fixedly connected to the inside of the connecting arm, a first clamping block rotatably connected to the outside of the mounting block, a second clamping block rotatably connected to the outside of the first clamping block, and a third clamping block rotatably connected to the outside of the second clamping block;

[0015] Wherein, one end of the support rod is hinged to the outside of the connecting plate, and the outside of the third clamping block is provided with a flexible material.

[0016] As a preferred solution of the adaptive grasping robot described in the present invention, the accommodating component includes a support groove opened inside the shell, a first support plate fixedly connected to the top end of the support groove, and a second support plate fixedly connected to the bottom end of the support groove.

[0017] As a preferred embodiment of the adaptive grasping manipulator of the present invention, the connecting component includes a cylinder rotatably connected to the interior of the upper rod, a spiral groove provided on the outside of the cylinder, a block fixedly connected to the bottom end of the cylinder, and a gear plate fixedly connected to the outside of the cylinder;

[0018] Wherein, the cylindrical thread is connected inside the screw block.

[0019] As a preferred embodiment of the adaptive gripping manipulator of the present invention, the rotating component includes a cylinder rotatably connected to the interior of the bracket, a slide groove provided inside the cylinder, a thin plate fixedly connected to the bottom end of the cylinder, and a thick plate fixedly connected to the outside of the thin plate;

[0020] Wherein, the transition component includes a rotating column rotatably connected to the inside of the first support plate, and a second long gear rotatably connected to the outside of the rotating column;

[0021] The rotating column is rotatably connected to the inside of the second supporting plate, the block is slidably connected to the inside of the sliding groove, and an inclined surface is formed between the thin plate and the thick plate.

[0022] As a preferred embodiment of the adaptive grasping manipulator of the present invention, the self-locking component includes a support frame fixedly connected to the top of the base, a ratchet rotatably connected to the inside of the support frame, a long tube fixedly connected to the outside of the ratchet, and a long rod slidably connected to the inside of the long tube;

[0023] The clamping component includes a bottom block slidably connected to the inside of the slot, a cavity provided inside the bottom block, and a connecting post slidably connected to the inside of the cavity, a third spring provided at the bottom end of the connecting post, and a clamping block fixedly connected to the top end of the connecting post;

[0024] Wherein, the long rod is hinged on the outside of the lower column, the bottom block is arranged on the outside of the thin plate, and the third spring is arranged inside the cavity.

[0025] The beneficial effects of the present invention are as follows: under the interaction of various components, the robot can automatically self-lock after clamping the object, so that each clamping block will not leave the clamped object, to ensure that the clamped object will not fall and be damaged. After clamping the object, the transmission component and the driven component can also be separated from each other, so that the clamped object will not be damaged by excessive clamping. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] To more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. Those skilled in the art can also derive other drawings based on these drawings without inventive effort. Among them:

[0027] Figure 1 It is a schematic diagram of the overall structure of the present invention.

[0028] Figure 2 It is a partial structural diagram of the present invention.

[0029] Figure 3 It is a partial cross-sectional structural schematic diagram of the present invention.

[0030] Figure 4 Schematic diagram of the connection assembly structure of the present invention.

[0031] Figure 5 It is a schematic diagram of the cross-sectional structure of the lower column of the present invention.

[0032] Figure 6 It is a schematic diagram of the cross-sectional structure of the shell of the present invention.

[0033] Figure 7 It is a schematic cross-sectional structural diagram of the clamping component of the present invention.

[0034] Figure 8 It is a schematic cross-sectional structural diagram of the rotating component of the present invention.

[0035] Figure 9 It is a structural schematic diagram of the self-locking component of the present invention.

[0036] Figure 10 It is a partially enlarged structural schematic diagram of the present invention. DETAILED DESCRIPTION

[0037] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0038] In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention may also be implemented in other ways different from those described herein. Those skilled in the art may make similar generalizations without violating the connotation of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0039] Secondly, the term "one embodiment" or "embodiment" herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The phrase "in one embodiment" appearing in various places throughout this specification does not necessarily refer to the same embodiment, nor does it refer to a separate or selective embodiment that is mutually exclusive of other embodiments.

[0040] Furthermore, the present invention is described in detail with reference to schematic diagrams. For ease of illustration, when describing the embodiments of the present invention, cross-sectional views illustrating device structures may be partially enlarged and not to scale. Furthermore, the schematic diagrams are merely illustrative and should not limit the scope of protection of the present invention. Furthermore, in actual production, the three-dimensional dimensions of length, width, and depth should be included.

[0041] Example 1

[0042] Reference Figures 1 to 7 , as a first embodiment of the present invention, provides an adaptive grasping manipulator, the device comprising,

[0043] The gripping mechanism 100 includes a housing 101, a housing 102 fixedly connected to the outside of the housing 101, a bracket 103 fixedly connected to the outside of the housing 101, a long slot 104 defined on the outside of the housing 101, a load-bearing component 105 adapted to be mounted on the outside of the housing 101, a power component 106 adapted to be mounted inside the housing 101, a transmission component 107 adapted to be mounted inside the housing 101, a driven component 108 adapted to be mounted inside the housing 101, a clamping component 109 adapted to be mounted outside the load-bearing component 105, and a receiving component 110 adapted to be mounted inside the housing 101.

[0044] The auxiliary mechanism 200 includes a lower rod 201 adapted to be installed on the outside of the driven component 108, a screw block 202 fixedly connected to one end of the lower rod 201, an upper rod 203 adapted to be installed on the outside of the transmission component 107, a connecting component 204 adapted to be installed inside the screw block 202, a rotating component 205 adapted to be installed on the outside of the connecting component 204, a transition component 206 adapted to be installed inside the accommodating component 110, a self-locking component 207 adapted to be installed on the outside of the bearing component 105, and a clamping component 208 adapted to be installed inside the bearing component 105.

[0045] Specifically, the supporting component 105 includes a base 105a fixedly connected to the outside of the housing 101, a fan-shaped groove 105b defined inside the base 105a, and a thin groove 105c defined inside the base 105a.

[0046] Furthermore, the power component 106 includes a motor 106a disposed inside the housing 102, an output shaft 106b adapted to be mounted on the outside of the motor 106a, and a gear 106c fixedly connected to the outside of the output shaft 106b.

[0047] The transmission component 107 includes a first threaded column 107a threadedly connected to the interior of the housing 101, a first long gear 107b fixedly connected to one end of the first threaded column 107a, a connecting body 107c rotatably connected to the other end of the first threaded column 107a, a first spring 107d provided at the bottom end of the connecting body 107c, and a connecting assembly 107e adapted to be mounted on one end of the first spring 107d.

[0048] The first threaded column 107 a is threadedly connected to the housing 101 .

[0049] Preferably, the connecting assembly 107e includes a disc 107e-1 provided at one end of the first spring 107d, a connecting block 107e-2 fixedly connected to the outside of the disc 107e-1, and a gear ring 107e-3 fixedly connected to the outside of the connecting block 107e-2, an insertion column 107e-4 fixedly connected to the bottom end of the disc 107e-1, a cavity 107e-5 defined inside the insertion column 107e-4, a second spring 107e-6 defined inside the cavity 107e-5, a limiting plate 107e-7 fixedly connected to one end of the second spring 107e-6, a clamping block 107e-8 fixedly connected to the outside of the limiting plate 107e-7, a side inclined surface 107e-9 defined on the outside of the clamping block 107e-8, and a lower inclined surface 107e-10 defined at the bottom end of the clamping block 107e-8.

[0050] The driven component 108 includes a lower column 108a slidably connected to the interior of the base 105a, a sliding cavity 108b defined within the lower column 108a, a special-shaped cavity 108c defined at the bottom end of the sliding cavity 108b, a connecting plate 108d fixedly connected to the bottom end of the lower column 108a, and a side groove 108e defined on the outside of the lower column 108a.

[0051] Among them, one end of the first spring 107d is fixedly connected to the top of the disc 107e-1, the other end of the first spring 107d is fixedly connected to the bottom of the connecting body 107c, the connecting body 107c is slidably connected to the inside of the sliding cavity 108b, the disc 107e-1 is arranged inside the sliding cavity 108b, the connecting block 107e-2 is arranged inside the side groove 108e, the lower rod 201 is fixedly connected to the outside of the lower column 108a, and the upper rod 203 is fixedly connected to the outside of the connecting body 107c.

[0052] It should be noted that the clamping member 109 includes a connecting arm 109a hingedly connected to the bottom end of the base 105a, a support rod 109b hingedly connected to the outside of the connecting arm 109a, and a mounting block 109c fixedly connected to the inside of the connecting arm 109a, a first clamping block 109d rotatably connected to the outside of the mounting block 109c, a second clamping block 109e rotatably connected to the outside of the first clamping block 109d, and a third clamping block 109f rotatably connected to the outside of the second clamping block 109e.

[0053] Among them, one end of the support rod 109b is hinged to the outside of the connecting plate 108d, and the outside of the third clamping block 109f is set to be flexible material to achieve rigid-flexible coupling grasping and protect the outer surface of the clamped object.

[0054] When in use, the motor 106a is started, and the motor 106a drives the gear 106c to rotate through the output shaft 106b, and the gear 106c drives the first threaded column 107a to rotate through the first long gear 107b. Since the first threaded column 107a is threadedly connected to the housing 101, the first threaded column 107a rotates and drives itself to move upward. The upward movement of the first threaded column 107a drives the connecting body 107c to move upward. The connecting body 107c drives the connecting component 107e to move upward through the first spring 107d. Since the connecting component 107e is embedded in the special-shaped cavity 108c, the upward movement of the connecting component 107e drives the lower column 108a upward. The lower column 108a moves upward, driving the connecting plate 108d to move upward, and the connecting plate 108d drives the connecting arm 109a to move inward through the support rod 109b. The connecting arm 109a drives the first clamping block 109d, the second clamping block 109e and the third clamping block 109f to move inward through the mounting block 109c to clamp the object. Since the first clamping block 109d, the second clamping block 109e and the third clamping block 109f are respectively rotatably connected to the mounting block 109c, in the process of clamping the object, multiple clamping blocks will adaptively rotate a certain angle according to the shape of the clamped object to fit the clamped object more closely, so that this robot can clamp objects of different shapes.

[0055] In summary, by cooperating with multiple clamps of different sizes, the robot arm can adaptively rotate the clamps to a certain angle according to the shape of the object's surface when clamping an object, so that the clamps can fit more closely to the surface of the clamped object. Through this design, the robot arm can clamp objects of different shapes.

[0056] Example 2

[0057] Reference Figures 1 to 8 , which is the second embodiment of the present invention. This embodiment is different from the first embodiment in that: the accommodating component 110 includes a supporting groove 110a opened inside the shell 101, a first supporting plate 110b fixedly connected to the top end of the supporting groove 110a, and a second supporting plate 110c fixedly connected to the bottom end of the supporting groove 110a.

[0058] Furthermore, the connecting member 204 includes a cylinder 204a rotatably connected to the interior of the upper rod 203, a spiral groove 204b provided on the outside of the cylinder 204a, a block 204c fixedly connected to the bottom end of the cylinder 204a, and a gear plate 204d fixedly connected to the outside of the cylinder 204a.

[0059] The cylinder 204 a is threadedly connected to the interior of the screw block 202 .

[0060] When in use, before the manipulator has clamped an object, the transmission component 107 and the driven component 108 move upward synchronously, the lower rod 201 and the upper rod 203 also move upward synchronously, and the bottom end of the cylinder 204a slides upward inside the cylinder 205a. When the manipulator has clamped the object, the motor 106a continues to work, and the connecting body 107c continues to move upward. However, since the clamping component 109 has already clamped the object, the connecting arm 109a cannot continue to move inward, so the lower column 108a cannot continue to move upward. At this time, the connecting body 107c continues to rise, but the transmission component 107 is still engaged with the lower column 108a and cannot rise. Therefore, during the process of the connecting body 107c continuing to rise, the first spring 107d The connecting body 107c and the lower cylinder 108a start to move relative to each other. The connecting body 107c drives the cylinder 204a to rise through the upper rod 203. Since the cylinder 204a is threadedly connected to the screw block 202, the cylinder 204a rotates under the action of the screw block 202 during the process of the cylinder 204a rising. The cylinder 204a drives the second long gear 206b to rotate through the gear plate 204d. The second long gear 206b rotates through the gear ring 107e-3 and the connecting block. 107e-2 drives the disc 107e-1 to rotate, and the rotation of the disc 107e-1 drives the insertion column 107e-4 to rotate. The side slope 107e-9 provided on the outside of the insertion column 107e-4 and the inner wall of the special-shaped cavity 108c squeeze each other. Under the action of the squeezing force, the insertion column 107e-4 retreats into the cavity 107e-5, and the second spring 107e-6 is squeezed. As the insertion column 107e-4 retreats into the cavity 107e-5, the connecting component 1 07e is no longer engaged with the lower column 108a, so the connecting component 107e will continue to rise following the connecting body 107c. Since the lower rod 201 and the upper rod 203 are still relatively far apart, the cylinder 204a continues to rotate. Therefore, under the interaction of the gear plate 204d, the second long gear 206b and the gear ring 107e-3, the connecting component 107e spirally rises until the transmission component 107 rises to the initial position, the motor 106a stops rotating, and the clamping work is completed.

[0061] When it is necessary to release the clamped object, the motor 106a reverses and drives the transmission component 107 downward. At this time, the lower rod 201 and the upper rod 203 approach each other. Under the action of the screw block 202, the cylinder 204a reverses and descends, thereby driving the connecting assembly 107e to reverse and descend through the gear plate 204d, the second long gear 206b and the gear ring 107e-3. When it descends to the bottom end of the clamping block 107e-8 and fits the upper end surface of the special-shaped cavity 108c, the transmission component 107 continues to descend, and the lower inclined surface 107e-10 opened at the bottom end of the clamping block 107e-8 and the upper end surface of the special-shaped cavity 108c squeeze each other. Under the action of the squeezing force, the clamping block 107e-8 retreats into the cavity 107e-5, and the second elastic The spring 107e-6 is squeezed, and when the insertion column 107e-4 completely enters the special-shaped cavity 108c, the clamping block 107e-8 reverses and descends to the initial position. Under the action of the rebound force of the second spring 107e-6, the clamping block 107e-8 is pushed out and re-clamped into the clamping groove on the side wall of the special-shaped cavity 108c. At this time, the connecting assembly 107e and the lower column 108a are clamped with each other again, and the transmission component 107 continues to descend, driving the driven component 108 to descend, so that the connecting arm 109a extends outward, and the clamping block gradually releases the clamped object. When the transmission component 107, the driven component 108 and the clamping component 109 return to their initial positions, the motor 106a stops working. At this time, the work of releasing the clamped object is completed.

[0062] In summary, through the interaction of components such as the transmission component 107, the driven component 108, the lower rod 201, the screw block 202, the upper rod 203 and the connecting component 204, the transmission component 107 and the driven component 108 can be separated from each other after the manipulator clamps the object, so that the force of the transmission component 107 continuing to rise will not be transmitted to the clamped object through the driven component 108 and the clamping component 109, thereby preventing the clamped object from being damaged. This ensures that the motor can complete the entire stroke during clamping without the need for software technologies such as sensors and chips to automatically stop rotating after the manipulator clamps the object to prevent the object from being damaged. That is, the mechanical structure realizes that the manipulator can clamp objects of different sizes without damaging the clamped object.

[0063] Example 3

[0064] Reference Figures 1 to 10 , which is the third embodiment of the present invention. This embodiment differs from the second embodiment in that: the rotating component 205 includes a cylinder 205a rotatably connected to the inside of the bracket 103, a slide groove 205b provided inside the cylinder 205a, a thin plate 205c fixedly connected to the bottom end of the cylinder 205a, and a thick plate 205d fixedly connected to the outside of the thin plate 205c;

[0065] The transition component 206 includes a rotating column 206a rotatably connected to the inside of the first support plate 110b, and a second long gear 206b rotatably connected to the outside of the rotating column 206a;

[0066] The rotating column 206a is rotatably connected to the inside of the second supporting plate 110c, the block 204c is slidably connected to the inside of the sliding groove 205b, and an inclined surface is formed between the thin plate 205c and the thick plate 205d.

[0067] Furthermore, the self-locking component 207 includes a support frame 207a fixedly connected to the top of the base 105a, a ratchet 207b rotatably connected to the inside of the support frame 207a, a long tube 207c fixedly connected to the outside of the ratchet 207b, and a long rod 207d slidably connected to the inside of the long tube 207c;

[0068] The engaging member 208 includes a bottom block 208a slidably connected to the interior of the slot 105c, a cavity 208b defined within the bottom block 208a, a connecting post 208c slidably connected to the interior of the cavity 208b, a third spring 208d disposed at the bottom end of the connecting post 208c, and a locking block 208e fixedly connected to the top end of the connecting post 208c.

[0069] The long rod 207d is hinged to the outside of the lower column 108a, the bottom block 208a is arranged on the outside of the thin plate 205c, and the third spring 208d is arranged inside the cavity 208b.

[0070] When in use, before clamping an object, the transmission component 107 and the driven component 108 move upward synchronously, so that the lower cylinder 108a drives the ratchet 207b to rotate forward through the long rod 207d and the long cylinder 207c. When the manipulator clamps the object, the transmission component 107 and the driven component 108 begin to move away from each other, and the upper rod 203 and the lower rod 201 begin to move away from each other, so that the upper rod 203 drives the cylinder 204a to rotate through the screw block 202. The rotation of the cylinder 204a drives the cylinder 205a to rotate through the block 204c. The rotation of the cylinder 205a drives the thin plate 205c and the thick plate 205d to rotate. When the thin plate 205c and the thick plate 205d rotate, the thin plate 205c and the thick plate 205d rotate. The inclined surface between the plates 205d will squeeze the bottom block 208a. Under the action of the squeezing force, the bottom block 208a moves upward, and the bottom block 208a drives the clamping block 208e to move upward through the third spring 208d and the connecting column 208c. When the bottom block 208a completely rises from the thin plate 205c to the top of the thick plate 205d, the clamping component 208 has completed its ascent. At this time, the clamping block 208e will jam the ratchet 207b, preventing it from reversing, thereby preventing the lower column 108a from moving downward and the connecting arm 109a from expanding outward, so that the clamping block will not separate from the clamped object, so as to ensure that the clamped object will not fall and be damaged due to collision with the robot or accidental touch by the staff.

[0071] When the clamped object needs to be released, the motor 106a reverses, driving the transmission component 107 and the driven component 108 to approach each other, so that the lower rod 201 and the upper rod 203 approach each other. Under the action of the screw block 202, the cylinder 204a is reversed, thereby driving the thin plate 205c and the thick plate 205d to reverse through the cylinder 205a. When the transmission component 107 and the driven component 108 are re-engaged, the thin plate 205c and the thick plate 205d rotate to the initial position, and the clamping component 208 also falls back to the initial position. At this time, the clamping block 208e no longer clamps the ratchet 207b, and the lower column 108a releases the self-locking, and continues to move downward under the drive of the transmission component 107, so that the connecting arm 109a extends outward, and the clamping block no longer clamps the object, thereby realizing the function of releasing the clamped object.

[0072] In summary, with the interaction of various components, the robot can automatically self-lock after clamping the object, so that each clamping block will not leave the clamped object, to ensure that the clamped object will not fall and be damaged. After clamping the object, the transmission component 107 and the driven component 108 can be separated from each other, so that the clamped object will not be damaged by over-clamping.

[0073] It is important to note that the construction and arrangement of the present application shown in a number of different exemplary embodiments are merely illustrative. Although only a few embodiments are described in detail in this disclosure, it should be readily understood by those who refer to this disclosure that many modifications are possible (e.g., the size, scale, structure, shape and proportion of various elements, as well as parameter values ​​(e.g., temperature, pressure, etc.), mounting arrangements, use of materials, color, directional changes, etc.) without departing substantially from the novel teachings and advantages of the subject matter described in this application. For example, an element shown as integrally formed may be composed of multiple parts or elements, the position of the element may be inverted or otherwise changed, and the nature or number or position of the discrete elements may be altered or changed. Therefore, all such modifications are intended to be included within the scope of the present invention. The order or sequence of any process or method steps may be changed or reordered according to alternative embodiments. In the claims, any "means plus function" clause is intended to cover the structure described herein that performs the function, and is not only structurally equivalent but also equivalent structures. Other replacements, modifications, changes, and omissions may be made in the design, operating conditions, and arrangement of the exemplary embodiments without departing from the scope of the present invention. Therefore, the invention is not limited to the specific embodiments, but extends to various modifications that still fall within the scope of the appended claims.

[0074] Additionally, in order to provide a concise description of exemplary embodiments, all features of an actual embodiment (ie, those features that are not relevant to the best mode presently contemplated for carrying out the invention or those that are not relevant to implementing the invention) may not be described.

[0075] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present invention may be modified or replaced by equivalents without departing from the spirit and scope of the technical solutions of the present invention, which should all be included in the scope of the claims of the present invention.

Claims

1. An adaptive grasping manipulator, characterized in that: include, A gripping mechanism (100) comprising a housing (101), a box (102) fixedly connected to the outside of the housing (101), and a bracket (103) fixedly connected to the outside of the housing (101), a long slot (104) provided on the outside of the housing (101), a bearing component (105) adapted to be mounted on the outside of the housing (101), a power component (106) adapted to be mounted inside the box (102), a transmission component (107) adapted to be mounted inside the housing (101), a driven component (108) adapted to be mounted inside the housing (101), a clamping component (109) adapted to be mounted outside the bearing component (105), and a receiving component (110) adapted to be mounted inside the housing (101); The auxiliary mechanism (200) comprises a lower rod (201) adapted to be mounted on the outside of the driven component (108), a screw block (202) fixedly connected to one end of the lower rod (201), an upper rod (203) adapted to be mounted on the outside of the transmission component (107), a connecting component (204) adapted to be mounted inside the screw block (202), a rotating component (205) adapted to be mounted on the outside of the connecting component (204), a transition component (206) adapted to be mounted inside the accommodating component (110), a self-locking component (207) adapted to be mounted on the outside of the bearing component (105), and a clamping component (208) adapted to be mounted inside the bearing component (105); The bearing component (105) comprises a base (105a) fixedly connected to the outside of the housing (101), a fan-shaped groove (105b) provided inside the base (105a), and a fine groove (105c) provided inside the base (105a); The transmission component (107) includes a first threaded column (107a) threadedly connected to the interior of the housing (101), a first long gear (107b) fixedly connected to one end of the first threaded column (107a), and a connecting body (107c) rotatably connected to the other end of the first threaded column (107a), a first spring (107d) arranged at the bottom end of the connecting body (107c), and a connecting assembly (107e) adapted to be mounted on one end of the first spring (107d); Wherein, the first threaded column (107a) is threadedly connected to the housing (101); The connecting assembly (107e) includes a disk (107e-1) arranged at one end of the first spring (107d), a connecting block (107e-2) fixedly connected to the outside of the disk (107e-1), a gear ring (107e-3) fixedly connected to the outside of the connecting block (107e-2), an insertion column (107e-4) fixedly connected to the bottom end of the disk (107e-1), a cavity (107e-4) provided inside the insertion column (107e-4), and a groove (107e-5) formed in the groove. e-5), a second spring (107e-6) arranged inside the cavity (107e-5), a limiting plate (107e-7) fixedly connected to one end of the second spring (107e-6), a clamping block (107e-8) fixedly connected to the outside of the limiting plate (107e-7), a side inclined surface (107e-9) provided on the outside of the clamping block (107e-8), and a lower inclined surface (107e-10) provided at the bottom end of the clamping block (107e-8); The driven component (108) includes a lower column (108a) slidably connected to the interior of the base (105a), a sliding cavity (108b) provided inside the lower column (108a), and a special-shaped cavity (108c) provided at the bottom end of the sliding cavity (108b), a connecting plate (108d) fixedly connected to the bottom end of the lower column (108a), and a side groove (108e) provided on the outside of the lower column (108a); Wherein, one end of the first spring (107d) is fixedly connected to the top of the disc (107e-1), the other end of the first spring (107d) is fixedly connected to the bottom of the connector (107c), the connector (107c) is slidably connected inside the sliding cavity (108b), the disc (107e-1) is arranged inside the sliding cavity (108b), the connecting block (107e-2) is arranged inside the side groove (108e), the lower rod (201) is fixedly connected to the outside of the lower column (108a), and the upper rod (203) is fixedly connected to the outside of the connector (107c); The accommodating component (110) comprises a supporting groove (110a) provided inside the housing (101), a first supporting plate (110b) fixedly connected to the top end of the supporting groove (110a), and a second supporting plate (110c) fixedly connected to the bottom end of the supporting groove (110a); The connecting component (204) includes a cylinder (204a) rotatably connected to the interior of the upper rod (203), a spiral groove (204b) provided on the outside of the cylinder (204a), a block (204c) fixedly connected to the bottom end of the cylinder (204a), and a gear plate (204d) fixedly connected to the outside of the cylinder (204a); Wherein, the cylinder (204a) is threadedly connected to the interior of the screw block (202); The rotating component (205) includes a cylinder (205a) rotatably connected to the interior of the bracket (103), a slide groove (205b) provided inside the cylinder (205a), a thin plate (205c) fixedly connected to the bottom end of the cylinder (205a), and a thick plate (205d) fixedly connected to the outside of the thin plate (205c); The transition component (206) comprises a rotating column (206a) rotatably connected to the inside of the first support plate (110b), and a second long gear (206b) rotatably connected to the outside of the rotating column (206a); The rotating column (206a) is rotatably connected inside the second support plate (110c), the block (204c) is slidably connected inside the slide groove (205b), and an inclined surface is formed between the thin plate (205c) and the thick plate (205d); The self-locking component (207) comprises a support frame (207a) fixedly connected to the top of the base (105a), a ratchet (207b) rotatably connected to the inside of the support frame (207a), a long tube (207c) fixedly connected to the outside of the ratchet (207b), and a long rod (207d) slidably connected to the inside of the long tube (207c); The clamping component (208) includes a bottom block (208a) slidably connected to the inside of the slot (105c), a cavity (208b) opened inside the bottom block (208a), and a connecting column (208c) slidably connected to the inside of the cavity (208b), a third spring (208d) arranged at the bottom end of the connecting column (208c), and a clamping block (208e) fixedly connected to the top end of the connecting column (208c); The long rod (207d) is hinged to the outside of the lower column (108a), the bottom block (208a) is arranged on the outside of the thin plate (205c), and the third spring (208d) is arranged inside the cavity (208b).

2. The adaptive gripping manipulator according to claim 1, characterized in that: The power component (106) includes a motor (106a) arranged inside the box (102), an output shaft (106b) adapted to be installed outside the motor (106a), and a gear (106c) fixedly connected to the outside of the output shaft (106b).

3. The adaptive grasping manipulator according to claim 2, characterized in that: The clamping component (109) includes a connecting arm (109a) hinged to the bottom end of the base (105a), a support rod (109b) hinged to the outside of the connecting arm (109a), and a mounting block (109c) fixedly connected to the inside of the connecting arm (109a), a first clamping block (109d) rotatably connected to the outside of the mounting block (109c), a second clamping block (109e) rotatably connected to the outside of the first clamping block (109d), and a third clamping block (109f) rotatably connected to the outside of the second clamping block (109e); One end of the support rod (109b) is hinged to the outside of the connecting plate (108d).

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