A posture-adjustable adaptive gripper mechanism and clamping control calculation method

Abstract

This application provides an adjustable adaptive gripper mechanism and a gripping control calculation method, including: a housing, a first drive assembly, a swing arm linkage assembly, a clamp assembly, a bottom support block, a second drive assembly, and a first cam drive assembly; the first drive assembly is disposed on the housing, and the two sides of the housing are connected to the first end of the swing arm linkage assembly; the clamp assembly is disposed on the second end of the swing arm linkage assembly; the first drive assembly can drive the clamp assembly to move in opposite directions through the swing arm linkage assembly; this invention uses the first drive assembly and the swing arm linkage assembly to drive the clamp assembly to achieve the gripping, fixing, and movement of heavy objects; the second drive assembly drives the bottom support block to extend out of the clamp assembly through the first cam drive assembly to prevent the heavy objects from falling; the structure is simple and easy to maintain.

Description

Technical Field

[0001] This application belongs to the field of mechanical gripper technology, specifically relating to an adaptive gripper mechanism with adjustable posture and a gripping control calculation method. Background Technology

[0002] Mechanical grippers are mechanical devices used to grip, fix, and move objects, typically consisting of the gripper itself, a clamping mechanism, and a control system. They are widely used in automated production lines, robotic operations, logistics, and warehousing. Currently, in applications requiring the gripping of heavy objects or multi-degree-of-freedom adjustment, traditional gripper solutions require the assistance of robotic arms connected in series or parallel to assist in adjusting the posture of the heavy object. Consequently, their motion control algorithms are complex, and it is difficult to achieve centering and posture adjustment of the heavy object.

[0003] Based on the aforementioned technical problems, Chinese utility model patent CN219337721U discloses a multi-degree-of-freedom manipulator, relating to the field of manipulator technology. It includes a gripper and at least two sets of first linkage mechanisms hinged together. Each first linkage mechanism includes a first driving component, a first support arm, and a second support arm. The first driving component drives one end of the first support arm to rotate, and the other end of the first support arm is hinged to one end of the second support arm. The other end of the second support arm is hinged to the gripper. The system also includes a second linkage mechanism for further adjusting the gripping angle of the gripper, and a third linkage mechanism for controlling the opening and closing of the gripper. This invention solves the problems of limited gripping capabilities and high costs associated with using high-performance robotic arms. Furthermore, Chinese utility model CN208375316U discloses a multi-degree-of-freedom robotic arm, including a housing. The housing is characterized by a drive gear on its right side, a second drive gear on its left side, a first transmission gear in front of the drive gear, and a second transmission gear on the right side of the first transmission gear. The robotic arm also features a mechanical hook at the end of its gripper, which is hydraulically driven and rotates. The addition of joints increases the robotic arm's degrees of freedom. The mechanical hook can hook onto bagged objects, increasing the ways to handle items and improving efficiency. Since the driven pulley is mounted on a mounting block, and the mounting block's position is controlled by a motor-driven electric telescopic rod, when gripping irregular objects whose surfaces are uneven, the electric telescopic rod can be used to push the mounting block, causing the irregular object to be held in place by the belt and preventing it from falling.

[0004] The aforementioned patented technologies all utilize a transmission system to achieve arbitrary posture adjustment within the plane of the gripper, but the following technical problems still exist: existing grippers do not provide safety measures to prevent heavy objects from falling, and therefore there is still room for optimization in terms of fall prevention safety. Summary of the Invention

[0005] The present invention aims to solve at least one of the technical problems existing in the prior art or related art.

[0006] To address the aforementioned issues, the first aspect of this application provides an adaptive gripper mechanism with adjustable posture, comprising: a housing, a first drive assembly, a swing arm linkage assembly, a clamp assembly, a bottom support block, a second drive assembly, and a first cam drive assembly;

[0007] The first driving component is disposed on the outer shell, and the two sides of the outer shell are connected to the first end of the swing arm linkage assembly. The clamping component is disposed on the second end of the swing arm linkage assembly. The first driving component can drive the clamping component to move in opposite directions through the swing arm linkage assembly.

[0008] The bottom support block is disposed on the clamping assembly, the second drive assembly is disposed on the outer shell, and the swing arm linkage assembly is provided with a first cam drive assembly. The first cam drive assembly is connected to the bottom support block, and the second drive assembly can drive the bottom support block to extend or retract from the clamping assembly through the first cam drive assembly.

[0009] Optionally, the swing arm linkage assembly includes: a swing arm drive linkage, a swing arm driven linkage, a swing arm rod, a push-pull crossbar, and a side pull rod;

[0010] The first end of the swing arm drive link and the first end of the swing arm driven link are rotatably mounted on the outer shell. The second end of the swing arm rod is rotatably connected to the second end of the swing arm drive link and the second end of the swing arm driven link. The push-pull crossbar is mounted on the output end of the first drive assembly. The middle part of the swing arm drive link has a mounting groove. The first end of the side pull rod is rotatably connected to both ends of the push-pull crossbar. The second end of the side pull rod is rotatably connected to the swing arm drive link through the mounting groove.

[0011] Optionally, the clamp assembly includes: a clamp slide, a first slide, a slider, a second slide, and a third slide;

[0012] The first end of the clamp slide is connected to the swing arm rod. The second end of the clamp slide has a first sliding groove. The first end of the first slide is slidably disposed in the first sliding groove through the sliding member. The second end of the first slide has a second sliding groove. The first end of the second slide is slidably disposed in the second sliding groove through the sliding member. The second end of the second slide has a third sliding groove. The third slide is slidably disposed in the third sliding groove through the sliding member.

[0013] Optionally, the slider is a T-shaped structure.

[0014] Optionally, the second drive assembly includes: a mounting plate, a drive element, a rope winding wheel, a spindle, a driven wheel, a pulley, a drive rope, and a driven rope;

[0015] The mounting plate is disposed on the swing arm, the driving member is disposed on the top of the outer shell, the winding wheel is disposed on the output end of the driving member, the driven wheel is rotatably disposed on the mounting plate via the spindle, and a plurality of pulleys are respectively disposed on the outer shell and the mounting plate. The driving rope is sleeved on the winding wheel and the driven wheel on one side of the outer shell via a plurality of pulleys, and the driven rope is sleeved on the winding wheel and the driven wheel on the other side of the outer shell via a plurality of pulleys. When the driving member drives the winding wheel to rotate, the driving rope and the driven rope can drive the driven wheels on both sides of the outer shell to rotate in the same direction.

[0016] Optionally, the first cam drive assembly includes: a bottom-supporting cam, a bottom-supporting guide block, a bottom-supporting cam rod, a bottom-supporting drive rod, a bottom-supporting rotating shaft block, a mounting rod, a reverse-flipping lever, a bottom-supporting flipping block, a bottom-supporting swing rod, a connecting rod bracket, an active connecting rod, a driven connecting rod, and a connecting block;

[0017] The bottom-supporting cam is fixedly mounted on the spindle, and a bottom-supporting groove is formed on the bottom-supporting cam. The bottom-supporting guide block is mounted on the mounting plate. The first end of the bottom-supporting cam rod is mounted on the bottom-supporting drive rod, and the second end of the bottom-supporting cam rod is located in the bottom-supporting groove. The bottom-supporting drive rod is mounted in the bottom-supporting guide block. The bottom-supporting rotating shaft block is mounted on the swing arm rod through the mounting rod and the reverse rotation stop rod. The bottom-supporting flip block is rotatably connected to the bottom-supporting rotating shaft block. The first end of the bottom-supporting swing rod is connected to the bottom-supporting drive rod, and the second end of the bottom-supporting swing rod is connected to the bottom-supporting flip block. The connecting rod bracket is mounted on the first end of the clamp slide. The first ends of the active connecting rod and the driven connecting rod are respectively connected to the connecting rod bracket. The second ends of the active connecting rod and the driven connecting rod are rotatably connected to the bottom-supporting block. Several connecting blocks are provided between the bottom-supporting flip block and the active connecting rod.

[0018] Optionally, it also includes a flange shaft, which is disposed on the first end of the clamp slide, and a second cam drive assembly is disposed between the flange shaft and the mandrel.

[0019] Optionally, the second cam drive assembly includes: a flipping cam, a limiting plate, a flipping cam rod, a flipping drive rod, a clamp flipping block, a flipping swing rod, a flipping guide block, and a flipping connecting rod;

[0020] The flipping cam is fixedly mounted on the mandrel, and a flipping groove is formed on the flipping cam. The limiting plate is mounted on the mounting plate, and a limiting hole is formed on the limiting plate. The first end of the flipping cam rod is mounted on the flipping drive rod, and the second end of the flipping cam rod passes through the limiting hole and is located in the flipping groove. The clamp flipping block is fixedly connected to the flange shaft. The first end of the flipping swing rod is connected to the clamp flipping block. The flipping guide block is mounted on the mounting plate, and the flipping connecting rod is located in the flipping guide block. The first end of the flipping connecting rod is connected to the second end of the flipping swing rod, and the second end of the flipping connecting rod is connected to the flipping drive rod.

[0021] Optionally, the swing arm is also provided with a forward tilting stop, which is located directly below the mounting rod.

[0022] The second aspect of this application provides a gripping control calculation method, applied to an attitude-adjustable adaptive gripper mechanism according to any of the first aspects above, comprising the following steps:

[0023] S1: The single-sided movement distance of the swing arm can be obtained by using the geometry of the swing arm linkage assembly and the extension distance of the first drive assembly's telescopic end.

[0024]

[0025] In the formula:

[0026] S - The unilateral movement distance of the swing arm as it extends from the first drive assembly, in meters;

[0027] θ - The angle between the side tie rod and the horizontal plane, in rad;

[0028]

[0029] L1 - Distance from the centerline of the connecting shaft between the swing arm drive link and the housing to the centerline of the first drive assembly, in meters;

[0030] When the L2-clamp assembly is stretched to its maximum state, the vertical distance (m) from the centerline of the connecting shaft between the swing arm drive link and the housing to the center of symmetry of the push-pull crossbar;

[0031] L3 - Length of the push-pull crossbar, in meters;

[0032] L4 - Length of the side tie rod, in meters;

[0033] L5 - Distance between the swing arm drive link and the central axis of the connecting shaft between the housing and the side tie rod, in meters;

[0034] L6 - Distance between the central axis of the swing arm drive link and the side tie rod and the swing arm rod connecting shaft, in meters;

[0035] ΔL - Length of the extension end of the first drive component, in meters;

[0036] S2: Calculate the minimum thrust of the first drive assembly based on the geometry of the swing arm linkage assembly:

[0037]

[0038] In the formula:

[0039] F - Thrust of the first drive component, in N;

[0040] G - the weight of the clamped object, in N;

[0041] μ - The coefficient of friction between the clamping assembly and the object being clamped;

[0042] α - Angle between the side tie rod and the upper part of the swing arm drive link, in rad;

[0043]

[0044] L7 - The distance between the central axis of the connecting shaft of the rocker arm link and the rocker arm drive link and the rocker arm driven link, in meters;

[0045] L8 - The distance between the central axis of the connecting shaft of the swing arm and the swing arm drive linkage and the rotation center of the clamp assembly, in meters.

[0046] Beneficial effects

[0047] The embodiments of the present invention provide an adjustable adaptive gripper mechanism and a gripping control calculation method, which uses a first drive component and a swing arm linkage component to drive a clamping component to achieve the gripping, fixing and moving of heavy objects. The second drive component drives the bottom block to extend out of the clamping component through the first cam drive component to prevent the heavy objects from falling. The structure is simple and easy to maintain. Attached Figure Description

[0048] Figure 1 This is a structural diagram of the present invention;

[0049] Figure 2 For the present invention Figure 1 Enlarged view of the structure;

[0050] Figure 3 This is an exploded view of the first cam drive assembly and the second cam drive assembly of the present invention;

[0051] Figure 4 This is a structural diagram of the bottom support state of the present invention;

[0052] Figure 5 For the present invention Figure 4 Enlarged view of the structure;

[0053] Figure 6 This is a diagram of the flip-top support structure of the present invention;

[0054] Figure 7 For the present invention Figure 6 Enlarged view of the structure;

[0055] Figure 8 This is a structural diagram of the second cam drive assembly of the present invention;

[0056] Figure 9 This is a structural diagram of the connection between the flipping cam and the flipping cam rod of the present invention;

[0057] Figure 10 This is a structural diagram showing the connection between the bottom-supporting cam and the bottom-supporting cam rod of the present invention;

[0058] Figure 11 This is a simplified structural diagram of the present invention.

[0059] The reference numerals in the attached figures are as follows:

[0060] 1. Outer shell; 2. First drive assembly; 3. Swing arm linkage assembly; 4. Clamp assembly; 5. Base block; 6. Second drive assembly; 7. First cam drive assembly; 8. Swing arm drive linkage; 9. Swing arm driven linkage; 10. Swing arm rod; 11. Push-pull crossbar; 12. Side pull rod; 13. Clamp slide; 14. First slide; 15. Sliding element; 16. Second slide; 17. Third slide; 18. Mounting plate; 19. Drive element; 20. Rope winding pulley; 21. Mandrel; 22. Driven wheel; 23. Pulley; 24. Drive rope; 25. Driven rope; 2 6. Bottom-supporting cam; 27. Bottom-supporting guide block; 28. Bottom-supporting cam rod; 29. ​​Bottom-supporting drive rod; 30. Bottom-supporting rotating shaft block; 31. Mounting rod; 32. Reverse flipping stop rod; 33. Bottom-supporting flipping block; 34. Bottom-supporting swing rod; 35. Linkage bracket; 36. Driving link; 37. Driven link; 38. Connecting block; 39. Flange shaft; 40. Flipping cam; 41. Limiting plate; 42. Flipping cam rod; 43. Flipping drive rod; 44. Fixture flipping block; 45. Flipping swing rod; 46. Flipping guide block; 47. Flipping link; 48. Forward flipping stop rod. Detailed Implementation

[0061] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting the present invention.

[0062] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0063] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0064] The preferred embodiments of the present invention will be described below with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are for illustration and explanation only and are not intended to limit the present invention.

[0065] See also Figure 1-11As shown, an adaptive gripper mechanism with adjustable posture is provided according to an embodiment of this application, including: a housing 1, a first drive assembly 2, a swing arm linkage assembly 3, a clamp assembly 4, a bottom support block 5, a second drive assembly 6, and a first cam drive assembly 7; the first drive assembly 2 is disposed on the housing 1, and the two sides of the housing 1 are connected to the first ends of the swing arm linkage assembly 3; the clamp assembly 4 is disposed on the second ends of the swing arm linkage assembly 3; the first drive assembly 2 can drive the clamp assembly 4 to move in opposite directions through the swing arm linkage assembly 3; the bottom support block 5 is disposed on the clamp assembly 4; the second drive assembly 6 is disposed on the housing 1; the first cam drive assembly 7 is disposed on the swing arm linkage assembly 3; the first cam drive assembly 7 is connected to the bottom support block 5; the second drive assembly 6 can drive the bottom support block 5 to extend or retract from the clamp assembly 4 through the first cam drive assembly 7.

[0066] Specifically, the first drive assembly 2 is installed inside the outer shell 1, and the swing arm connecting assembly 3 is installed on both sides of the outer shell 1 and connected to the first drive assembly 2. The first drive assembly 2 can drive the clamping assembly 4 to move in opposite directions through the swing arm connecting assembly 3. When moving in opposite directions, it clamps, fixes, and moves the heavy object. After moving to the target position, the first drive assembly 2 drives the clamping assembly 4 to move in the opposite direction through the swing arm connecting assembly 3, which can release the heavy object, facilitating the handling and movement of the heavy object; the second drive assembly 6 is installed on the outer shell 1, the first... The cam drive assembly 7 is mounted on the swing arm linkage assembly 3. After the swing arm linkage assembly 3 drives the clamping assembly 4 to clamp the heavy object, the second drive assembly 6, through the first cam drive assembly 7, can drive the bottom support block 5 to extend out of the clamping assembly 4. This provides support from the bottom during the clamping, fixing, and moving of the heavy object, preventing it from falling. Before clamping the heavy object and when placing it, the second drive assembly 6, through the first cam drive assembly 7, can drive the bottom support block 5 to retract back into the clamping assembly 4, facilitating subsequent clamping and placement of the heavy object. This improves safety during the clamping, fixing, and moving of heavy objects, prevents them from falling, enhances operational safety, and features a simple structure for easy maintenance.

[0067] The swing arm linkage assembly 3 includes: a swing arm drive linkage 8, a swing arm driven linkage 9, a swing arm rod 10, a push-pull crossbar 11, and a side pull rod 12;

[0068] The first end of the swing arm drive link 8 and the first end of the swing arm driven link 9 are rotatably mounted on the outer shell 1. The second end of the swing arm rod 10 is rotatably connected to the second end of the swing arm drive link 8 and the second end of the swing arm driven link 9. The push-pull crossbar 11 is mounted on the output end of the first drive assembly 2. The middle part of the swing arm drive link 8 is provided with a mounting groove. The first end of the side pull rod 12 is rotatably connected to both ends of the push-pull crossbar 11. The second end of the side pull rod 12 is rotatably connected to the swing arm drive link 8 through the mounting groove.

[0069] Specifically, the first end of the swing arm drive link 8 and the swing arm driven link 9 are rotatably connected to the outer shell 1 via a pin, and the second end is rotatably connected to the swing arm rod 10 via a pin. When the first drive assembly 2 drives the push-pull crossbar 11 to move back and forth, the side pull rod 12 can drive the second end of the swing arm drive link 8 and the swing arm rod 10 connected to it to move in opposite directions, thereby enabling the clamping assembly 4 to clamp and release the heavy object. Since the swing arm drive link 8, the swing arm driven link 9, the swing arm rod 10 and the outer shell 1 form a parallelogram structure, the swing arm rod 10 always maintains a straight line state during the process of moving in opposite directions.

[0070] The clamp assembly 4 includes: a clamp slide 13, a first slide 14, a slider 15, a second slide 16, and a third slide 17;

[0071] The first end of the clamp slide 13 is connected to the swing arm 10. The second end of the clamp slide 13 is provided with a first groove. The first end of the first slide 14 is slidably disposed in the first groove through the sliding member 15. The second end of the first slide 14 is provided with a second groove. The first end of the second slide 16 is slidably disposed in the second groove through the sliding member 15. The second end of the second slide 16 is provided with a third groove. The third slide 17 is slidably disposed in the third groove through the sliding member 15.

[0072] The slider 15 has a T-shaped structure.

[0073] Specifically, the clamp slide 13 is used to clamp heavy objects. It is mounted on the swing arm 10. The clamp slide 13, the first slide 14, the second slide 16 and the third slide 17 are connected in sequence through the sliding member 15. There is one first slide 14, two second slides 16 and four third slides 17. When the heavy object is placed between the two clamp assemblies 4, the two clamp assemblies 4 move towards each other to clamp and fix the heavy object. The first slide 14, the second slide 16 and the third slide 17 can all rotate around their center through the sliding member 15 to adapt to the shape and size of the clamped heavy object, so as to achieve its adaptability to the shape and size of the clamped heavy object and improve the stability of clamping and fixing.

[0074] Among them, the slider 15 has a T-shaped structure, which can reduce the probability of the first slider 14, the second slider 16 and the third slider 17 falling off when sliding around its center, making it convenient to make adaptive adjustments according to the shape and size of the clamped weight, and also improving the stability during the adjustment process.

[0075] The second drive assembly 6 includes: a mounting plate 18, a drive component 19, a rope winding wheel 20, a spindle 21, a driven wheel 22, a pulley 23, a drive rope 24, and a driven rope 25;

[0076] The mounting plate 18 is disposed on the swing arm 10, the driving member 19 is disposed on the top of the outer shell 1, the winding wheel 20 is disposed on the output end of the driving member 19, the driven wheel 22 is rotatably disposed on the mounting plate 18 via the spindle 21, and a plurality of pulleys 23 are respectively disposed on the outer shell 1 and the mounting plate 18. The driving rope 24 is sleeved on the winding wheel 20 and the driven wheel 22 on one side of the outer shell 1 via a plurality of pulleys 23, and the driven rope 25 is sleeved on the winding wheel 20 and the driven wheel 22 on the other side of the outer shell 1 via a plurality of pulleys 23. When the driving member 19 drives the winding wheel 20 to rotate, the driving rope 24 and the driven rope 25 can drive the driven wheels 22 on both sides of the outer shell 1 to rotate in the same direction.

[0077] Specifically, the mounting plate 18 is mounted on the rocker arm 10 and is used to fix the driven wheel 22 and several pulleys 23. The drive component 19 is mounted on the outer shell 1. The drive rope 24 is sleeved on the winding wheel 20 and the driven wheel 22 on one side of the outer shell 1. The driven rope 25 is sleeved on the winding wheel 20 and the driven wheel 22 on the other side of the outer shell 1. The rotation of the output end of the drive component 19 can drive the winding wheel 20 to rotate. Through the drive rope 24 and the driven rope 25, the driven wheels 22 located on both sides of the outer shell 1 can be driven to rotate in the same direction, thereby driving the first cam drive assembly 7 located on the mounting plate 18.

[0078] Among them, by installing several pulleys 23 on the outer shell 1 and the mounting plate 18, the active rope 24 and the driven rope 25 are fixed and guided, so that the driven wheel 22 can be driven to rotate when the rope wheel 20 rotates.

[0079] The first cam drive assembly 7 includes: a bottom-supporting cam 26, a bottom-supporting guide block 27, a bottom-supporting cam rod 28, a bottom-supporting drive rod 29, a bottom-supporting rotating shaft block 30, a mounting rod 31, a reverse rotation lever 32, a bottom-supporting flip block 33, a bottom-supporting swing rod 34, a connecting rod bracket 35, an active connecting rod 36, a driven connecting rod 37, and a connecting block 38;

[0080] The bottom-supporting cam 26 is fixedly mounted on the spindle 21. A bottom-supporting groove is formed on the bottom-supporting cam 26. The bottom-supporting guide block 27 is mounted on the mounting plate 18. The first end of the bottom-supporting cam rod 28 is mounted on the bottom-supporting drive rod 29, and the second end of the bottom-supporting cam rod 28 is located within the bottom-supporting groove. The bottom-supporting drive rod 29 is located within the bottom-supporting guide block 27. The bottom-supporting rotating shaft block 30 is mounted on the swing arm 10 via the mounting rod 31 and the reverse rotation stop 32. The bottom-supporting flip block 33 is connected to the bottom-supporting rotating shaft block 26. The shaft block 30 is rotatably connected. The first end of the bottom-supporting swing rod 34 is connected to the bottom-supporting drive rod 29. The second end of the bottom-supporting swing rod 34 is connected to the bottom-supporting flip block 33. The connecting rod bracket 35 is disposed on the first end of the clamp slide 13. The first ends of the active connecting rod 36 and the driven connecting rod 37 are respectively connected to the connecting rod bracket 35. The second ends of the active connecting rod 36 and the driven connecting rod 37 are rotatably connected to the bottom-supporting block 5. A plurality of connecting blocks 38 are disposed between the bottom-supporting flip block 33 and the active connecting rod 36.

[0081] Specifically, the bottom-supporting cam 26 is fixedly connected to the spindle 21 by a key. When the spindle 21 rotates, it can drive the bottom-supporting cam 26 to rotate. Since the bottom-supporting guide block 27 can limit the bottom-supporting drive rod 29, the bottom-supporting cam 26 moves relative to the bottom-supporting groove while driving the bottom-supporting drive rod 29 to move along its axial direction. The bottom-supporting swing rod 34 drives the bottom-supporting flipping block 33 to flip under the drive of the bottom-supporting drive rod 29. Then, through the connecting block 38, it drives the pin on the active connecting rod 36 installed in the connecting rod bracket 35 to rotate, thereby driving the active connecting rod 36 and the driven connecting rod 37 to rotate, driving the bottom-supporting block 5 to extend or retract the clamp assembly 4, thereby achieving the effect of supporting the bottom of the heavy object to prevent it from falling.

[0082] Both the active link 36 and the driven link 37 are connected to the link bracket 35 via pins. The first ends of both the active link 36 and the driven link 37 are fixedly connected to the pins. The connecting block 38 is fixedly connected to the pin connecting the active link 36. Thus, when the connecting block 38 moves, it can drive the pin connected to the active link 36 to rotate, thereby driving the rotating link to move.

[0083] The bottom-supporting flip block 33 is rotatably mounted on the bottom-supporting rotating shaft block 30 via a pin. When one end of the bottom-supporting flip block 33 is subjected to force, it can rotate along the axis of the pin.

[0084] It also includes a flange shaft 39, which is disposed on the first end of the clamp slide 13, and a second cam drive assembly is disposed between the flange shaft 39 and the mandrel 21.

[0085] Specifically, the flange shaft 39 passes through the swing arm 10 and is connected to the clamp slide 13. The second cam drive assembly is installed between the spindle 21 and the flange shaft 39. The second cam drive assembly can drive the clamp assembly 4 to rotate through the flange shaft 39, so as to achieve the purpose of adjusting the clamp assembly 4 and the weight it holds in a multi-degree-of-freedom posture different from its plane.

[0086] The swing arm 10 has a mounting hole, and the flange shaft 39 is installed in the mounting hole through a bearing. The bearing end cover is fixed to the inner side of the lower end of the swing arm 10, and the snap ring is fixedly connected to the flangeless end of the flange shaft 39. The snap ring and the bearing end cover can prevent the flange shaft 39 from moving axially, making the clamping movement more precise.

[0087] The second cam drive assembly includes: a flipping cam 40, a limiting plate 41, a flipping cam rod 42, a flipping drive rod 43, a clamp flipping block 44, a flipping swing rod 45, a flipping guide block 46, and a flipping connecting rod 47;

[0088] The flipping cam 40 is fixedly mounted on the spindle 21. The flipping cam 40 has a flipping groove. The limiting plate 41 is mounted on the mounting plate 18 and has a limiting hole. The first end of the flipping cam rod 42 is mounted on the flipping drive rod 43, and the second end of the flipping cam rod 42 passes through the limiting hole and is located in the flipping groove. The clamp flipping block 44 is fixedly connected to the flange shaft 39. The first end of the flipping swing rod 45 is connected to the clamp flipping block 44. The flipping guide block 46 is mounted on the mounting plate 18. The flipping connecting rod 47 is located in the flipping guide block 46. The first end of the flipping connecting rod 47 is connected to the second end of the flipping swing rod 45, and the second end of the flipping connecting rod 47 is connected to the flipping drive rod 43.

[0089] Specifically, the flipping cam 40 is fixed to the spindle 21 by a key. When the spindle 21 rotates, it can drive the flipping cam 40 to rotate. Due to the limiting effect of the limiting plate 41 on the flipping cam rod 42, when the flipping cam 40 rotates, it can drive the flipping cam rod 42 to move along the limiting hole. The flipping drive rod 43 drives the flipping connecting rod 47 and the flipping swing rod 45 to move. The flipping guide block 46 can limit the flipping connecting rod 47. The flipping swing rod 45 drives the clamp flipping block 44 to move, thereby driving the flange shaft 39 and the clamp assembly 4 to rotate on the swing arm rod 10, so as to achieve the multi-degree-of-freedom posture adjustment of the clamp assembly 4 and the clamped weight in a plane different from its plane.

[0090] The flipping groove is an arc-shaped groove.

[0091] The swing arm 10 is also provided with a forward tilting stop 48, which is located directly below the mounting rod 31.

[0092] Specifically, the forward tilting stop 48 is mounted on the swing arm 10 and located directly below the mounting rod 31. The forward tilting stop 48 can limit the movement of the clamp tilting block 44.

[0093] Working principle: The extension end of the first drive component 2 moves, driving the push-pull crossbar 11 to move forward. The side pull rod 12 can pull the swing arm rod 10 inward. Since the swing arm driven link 9, the swing arm drive link 8, the swing arm rod 10 and the outer shell 1 form a parallelogram, the two swing arm rods 10 can always maintain the axial direction and clamp the heavy object inward, thereby achieving the clamping of the heavy object.

[0094] After clamping the weight, the output end of the drive unit 19 rotates in the forward direction, thereby driving the rope wheel 20 to rotate. Since the active rope 24 and the driven rope 25 are sleeved on the driven wheels 22 on both sides of the rope wheel 20 and the outer shell 1, they can drive the two driven wheels 22 to rotate in the same direction, thereby driving the bottom support cam 26 and the flipping cam 40 to rotate around the central axis of the spindle 21. At this time, the flipping groove on the flipping cam 40 is an arc segment, so the flipping swing rod 45 will not move. The distance between the bottoming groove on the bottoming cam 26 and the axis of the spindle 21 gradually increases, thereby driving the bottoming drive rod 29 to move. The bottoming swing rod 34 drives the bottoming flipping block 33 to move. When the bottoming flipping block 33 rotates around the pin, it drives the active connecting rod 36 to rotate through the connecting block 38, thereby driving the bottoming block 5 to extend out at the bottom of the clamping assembly 4. When the bottoming cam 26 rotates to the 90° position, the bottoming flipping block 33 moves to the limit position, and the drive component 19 stops moving, thereby achieving the function of supporting the bottom of the heavy object to prevent it from falling.

[0095] When the posture of the heavy object needs to be adjusted, after the bottom support block 5 completes the bottom support action, the drive component 19 continues to rotate in the forward direction. At this time, the bottom support groove of the bottom support cam 26 is an arc segment, so the bottom support swing rod 34 will not move. Meanwhile, the distance between the flipping groove on the flipping cam 40 and the axis of the spindle 21 gradually increases, thereby driving the flipping drive rod 43 to move. Through the flipping connecting rod 47, the flipping swing rod 45, and the clamp flipping block 44, the flange shaft 39 is driven to rotate around its central axis, thereby driving the clamp assembly 4 to rotate. After the flipping cam 40 rotates to the 180° position, the clamp flipping block 44 contacts the reverse flipping lever 32. The clamp assembly 4 rotates 90° and then stops moving. Since the connecting rod bracket 35 is fixedly connected to the clamp slide 13 and the bottom support block 5 is in the bottom support state, the rotation axis of the connecting block 38 connected to the bottom support flipping block 33 is collinear with the rotation axis of the clamp assembly 4. Therefore, the bottom support block 5 can rotate 90° with the clamp assembly 4, so that the posture adjustment of the heavy object in a plane other than the clamping plane can be realized when the object is in the bottom support state.

[0096] If you need to turn the clamp assembly 4 back to horizontal after rotating it to 90°, simply reverse the output end of the drive unit 19 to make the flip cam 40 rotate in the opposite direction to the 90° position.

[0097] When the clamp assembly 4 is in a horizontal position and in the bottoming state, if it is necessary to release the bottoming state, the output end of the drive component 19 is reversed to make the bottoming cam 26 rotate in the opposite direction to the 0° position.

[0098] When clamping a heavy object, as the swing arm 10 clamps, the first slide 14, the second slide 16 and the third slide 17 can rotate around their center so that the third slide 17 can find a position that fully fits the clamped heavy object.

[0099] The second aspect of this application provides a gripping control calculation method, applied to an attitude-adjustable adaptive gripper mechanism according to any of the first aspects above, comprising the following steps:

[0100] S1: The single-sided movement distance of the swing arm rod 10 can be obtained by using the geometry of the swing arm connecting rod assembly 3 and the extension distance of the telescopic end of the first drive assembly 2.

[0101]

[0102] In the formula:

[0103] S - The single-sided movement distance of the swing arm 10 as the first drive assembly 2 extends is measured in meters.

[0104] θ - The angle between the side tie rod 12 and the horizontal plane, in rad;

[0105]

[0106] The distance from the central axis of the connecting shaft between L1-swing arm drive link 8 and housing 1 to the central axis of the first drive assembly 2, in meters;

[0107] When L2-clamp assembly 4 is in its maximum state, the vertical distance from the center axis of the connecting shaft between the swing arm drive link 8 and the housing 1 to the center of symmetry of the push-pull crossbar 11 is m;

[0108] L3 - Length of push-pull crossbar 11, in meters;

[0109] L4 - Side tie rod 12, length in meters;

[0110] The distance between L5-swing arm drive link 8 and the central axis of the connecting shaft between the outer shell 1 and the side tie rod 12, in meters;

[0111] L6 - Distance between the central axis of the connecting shaft of the swing arm drive link 1 and the side tie rod 12 and the swing arm rod 10, in meters;

[0112] ΔL - Length of the telescopic end of the first drive component 2, in meters;

[0113] Therefore, by adjusting the extension length ΔL of the first drive component 2, the size of the clamped object can be precisely controlled.

[0114] S2: Calculate the minimum thrust of the first drive assembly 2 based on the geometry of the swing arm linkage assembly 3:

[0115]

[0116] In the formula:

[0117] F - Thrust of the first drive component 2, N;

[0118] G - the weight of the clamped object, in N;

[0119] The coefficient of friction between μ-clamp assembly 4 and the object being clamped;

[0120] α - The angle between the side tie rod 12 and the upper part of the swing arm drive link 8, in rad;

[0121]

[0122] L7 - Distance between the central axis of the connecting shaft of the swing arm rod 10 and the swing arm drive link 8 and the swing arm driven link 9, in meters;

[0123] The distance between the central axis of the connecting shaft of L8-swing arm rod 10 and swing arm drive linkage 8 and the rotation center of clamp assembly 4, in meters.

[0124] Therefore, by adjusting the minimum thrust of the first drive component 2 to satisfy the above relationship, the risk of the heavy object falling during movement can be prevented. This enables precise control and application during use.

[0125] The above are merely preferred embodiments of this application and are not intended to limit this application. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application should be included within the protection scope of this application. The above are merely preferred embodiments of this application. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of this application, and these improvements and modifications should also be considered within the protection scope of this application.

Claims

1. A pose-adjustable self-adapting gripper mechanism, characterized in that, include: The outer casing (1), the first drive assembly (2), the swing arm linkage assembly (3), the clamp assembly (4), the bottom support block (5), the second drive assembly (6), and the first cam drive assembly (7); The first driving component (2) is disposed on the outer shell (1). The two sides of the outer shell (1) are connected to the first end of the swing arm linkage assembly (3). The clamping assembly (4) is disposed on the second end of the swing arm linkage assembly (3). The first driving component (2) can drive the clamping assembly (4) to move in opposite directions through the swing arm linkage assembly (3). The bottom support block (5) is disposed on the clamp assembly (4), the second drive assembly (6) is disposed on the outer shell (1), the swing arm linkage assembly (3) is provided with a first cam drive assembly (7), the first cam drive assembly (7) is connected to the bottom support block (5), and the second drive assembly (6) can drive the bottom support block (5) to extend or retract from the clamp assembly (4) through the first cam drive assembly (7); The swing arm linkage assembly (3) includes: a swing arm drive linkage (8), a swing arm driven linkage (9), a swing arm rod (10), a push-pull crossbar (11), and a side pull rod (12); The first end of the swing arm drive link (8) and the first end of the swing arm driven link (9) are rotatably mounted on the outer shell (1). The swing arm rod (10) is rotatably connected to the second end of the swing arm drive link (8) and the second end of the swing arm driven link (9). The push-pull crossbar (11) is mounted on the output end of the first drive assembly (2). The middle part of the swing arm drive link (8) has an installation groove. The first end of the side pull rod (12) is rotatably connected to both ends of the push-pull crossbar (11). The second end of the side pull rod (12) is rotatably connected to the swing arm drive link (8) through the installation groove. The clamp assembly (4) includes: a clamp slide (13), a first slide (14), a slider (15), a second slide (16), and a third slide (17); The first end of the clamp slide (13) is connected to the swing arm (10). The second end of the clamp slide (13) is provided with a first groove. The first end of the first slide (14) is slidably disposed in the first groove through the sliding member (15). The second end of the first slide (14) is provided with a second groove. The first end of the second slide (16) is slidably disposed in the second groove through the sliding member (15). The second end of the second slide (16) is provided with a third groove. The third slide (17) is slidably disposed in the third groove through the sliding member (15). The second drive assembly (6) includes: a mounting plate (18), a drive member (19), a rope winding wheel (20), a spindle (21), a driven wheel (22), a pulley (23), a drive rope (24), and a driven rope (25); The mounting plate (18) is disposed on the swing arm (10), the driving member (19) is disposed on the top of the outer shell (1), the rope winding wheel (20) is disposed on the output end of the driving member (19), the driven wheel (22) is rotatably disposed on the mounting plate (18) through the spindle (21), a plurality of pulleys (23) are respectively disposed on the outer shell (1) and the mounting plate (18), and the driving rope (24) is wound through the plurality of pulleys (23). The driven wheel (22) is located on one side of the winding wheel (20) and the outer shell (1). The driven rope (25) is sleeved on the other side of the winding wheel (20) and the outer shell (1) through a plurality of pulleys (23). When the driving member (19) drives the winding wheel (20) to rotate, the driven rope (24) and the driven rope (25) can drive the driven wheels (22) on both sides of the outer shell (1) to rotate in the same direction. The first cam drive assembly (7) includes: a bottom-supporting cam (26), a bottom-supporting guide block (27), a bottom-supporting cam rod (28), a bottom-supporting drive rod (29), a bottom-supporting rotating shaft block (30), a mounting rod (31), a reverse rotation stop rod (32), a bottom-supporting rotation block (33), a bottom-supporting swing rod (34), a connecting rod bracket (35), an active connecting rod (36), a driven connecting rod (37), and a connecting block (38); The bottom-supporting cam (26) is fixedly mounted on the spindle (21). The bottom-supporting cam (26) has a bottom-supporting groove. The bottom-supporting guide block (27) is mounted on the mounting plate (18). The first end of the bottom-supporting cam rod (28) is mounted on the bottom-supporting drive rod (29). The second end of the bottom-supporting cam rod (28) is located in the bottom-supporting groove. The bottom-supporting drive rod (29) is located in the bottom-supporting guide block (27). The bottom-supporting rotating shaft block (30) is mounted on the swing arm rod (10) through the mounting rod (31) and the reverse rotation stop rod (32). The bottom-supporting flip block (33) and the bottom-supporting rotating shaft... The block (30) is rotatably connected. The first end of the bottom-supporting swing rod (34) is connected to the bottom-supporting drive rod (29). The second end of the bottom-supporting swing rod (34) is connected to the bottom-supporting flip block (33). The connecting rod bracket (35) is set on the first end of the clamp slide (13). The first ends of the active connecting rod (36) and the driven connecting rod (37) are respectively connected to the connecting rod bracket (35). The second ends of the active connecting rod (36) and the driven connecting rod (37) are rotatably connected to the bottom-supporting block (5). Several connecting blocks (38) are provided between the bottom-supporting flip block (33) and the active connecting rod (36).

2. The pose-adjustable self-adapting jaw mechanism of claim 1, wherein, The sliding member (15) has a T-shaped structure.

3. The attitude-adjustable adaptive gripper mechanism according to claim 2, characterized in that, It also includes a flange shaft (39), which is disposed on the first end of the clamp slide (13), and a second cam drive assembly is disposed between the flange shaft (39) and the mandrel (21).

4. The attitude-adjustable adaptive gripper mechanism according to claim 3, characterized in that, The second cam drive assembly includes: a flip cam (40), a limiting plate (41), a flip cam rod (42), a flip drive rod (43), a clamp flip block (44), a flip swing rod (45), a flip guide block (46), and a flip connecting rod (47); The flipping cam (40) is fixedly mounted on the spindle (21). The flipping cam (40) has a flipping groove. The limiting plate (41) is mounted on the mounting plate (18). The limiting plate (41) has a limiting hole. The first end of the flipping cam rod (42) is mounted on the flipping drive rod (43). The second end of the flipping cam rod (42) passes through the limiting hole and is located in the flipping groove. The clamp flipping block (44) is fixedly connected to the flange shaft (39). The first end of the flipping swing rod (45) is connected to the clamp flipping block (44). The flipping guide block (46) is mounted on the mounting plate (18). The flipping connecting rod (47) is located in the flipping guide block (46). The first end of the flipping connecting rod (47) is connected to the second end of the flipping swing rod (45). The second end of the flipping connecting rod (47) is connected to the flipping drive rod (43).

5. The attitude-adjustable adaptive gripper mechanism according to claim 4, characterized in that, The swing arm (10) is also provided with a forward tilting stop (48), which is located directly below the mounting rod (31).

6. A clamping control calculation method, applied to the attitude-adjustable adaptive gripper mechanism as described in any one of claims 1-5, characterized in that, Includes the following steps: S1: The single-sided movement distance of the swing arm rod (10) can be obtained by using the geometry of the swing arm linkage assembly (3) and the extension distance of the telescopic end of the first drive assembly (2): In the formula: - The unilateral movement distance of the swing arm (10) along the extension distance of the first drive assembly (2), in meters; - Angle between the side tie rod (12) and the horizontal plane, rad; - The distance from the central axis of the connecting shaft between the swing arm drive link (8) and the outer shell (1) to the central axis of the first drive assembly (2), in meters; - When the clamp assembly (4) is stretched to its maximum state, the vertical distance from the center axis of the connecting shaft between the swing arm drive link (8) and the outer shell (1) to the center of symmetry of the push-pull crossbar (11) is m; - Length of push-pull crossbar (11), m; - Length of the side tie rod (12), m; - The distance between the central axis of the connecting shaft of the swing arm drive link (8) and the housing (1) and the side tie rod (12), in meters; - The distance between the central axis of the connecting shaft of the swing arm drive link (8) and the side tie rod (12) and the swing arm rod (10), in meters; - The extension length of the telescopic end of the first drive component (2), in meters; S2: Calculate the minimum thrust of the first drive assembly (2) based on the geometry of the swing arm linkage assembly (3): In the formula: -Thrust of the first drive component (2), N; - The weight of the clamped object, in N; - The coefficient of friction between the clamping assembly (4) and the clamped object; - The angle between the side tie rod (12) and the upper part of the swing arm drive link (8), rad; - The distance between the axis of the connecting shaft of the swing arm rod (10) and the swing arm drive link (8) and the swing arm driven link (9), m; - The distance between the central axis of the connecting shaft of the swing arm rod (10) and the swing arm drive link (8) and the rotation center of the clamp assembly (4), m.

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