Self-adaptive mechanical grabbing unit, grabbing hand and grabbing and releasing method

Abstract

The invention belongs to the technical field of mechanical design, and particularly discloses a self-adaptive mechanical grabbing unit, a grabbing hand and a grabbing and releasing method. The self-adaptive mechanical grabbing unit comprises a first connecting part and an overturning platform which are hinged to each other in the vertical direction; the overturning platform comprises a grabbing connecting part and a clamping jaw part, and the clamping jaw part is arranged at the bottom of the grabbing connecting part in a resettable mode. The first connecting part is movably provided with a self-locking platform through a self-locking mechanism, and the self-locking platform corresponds to the clamping jaw part in the vertical direction. The clamping jaw part is rotationally connected to the grabbing connecting part in a sleeving mode through the first rotating shaft, the first rotating shaft is sleeved with the first compression spring, the two ends of the first compression spring abut against the grabbing connecting part and the clamping jaw part, and therefore various objects with notches can be grabbed on the premise that a mechanical arm is not replaced; the device is purely mechanically operated, so that the operation is simple, the efficiency is high, and the use cost is reduced.

Description

Technical Field

[0001] The present invention belongs to the technical field of mechanical design, and specifically relates to an adaptive mechanical grasping unit, a grasper, and a grasping and releasing method; and is mainly used for the transportation of palletized turnover boxes. Background Art

[0002] In the logistics palletizing industry, such as fertilizer, cement, flour and other industries, machine palletizing can accurately and efficiently replace manual processing of ever-changing palletizing tasks, greatly improving industrial production efficiency. The palletizing gripper, as the core component of the palletizing robot - the end effector, plays a vital role in the palletizing process.

[0003] Since industrial robots are expensive, the use of industrial robots is usually expanded by replacing the robot gripper. However, replacing the robot gripper affects efficiency due to the complexity of the operation, thereby increasing the cost of use.

[0004] In addition, industrial products are characterized by diversity, differentiation, and personalization, which put forward higher requirements on the use functions of robotic grippers. The grippers need to be designed to grasp different objects or objects of irregular shapes. Under this demand, mechanical adaptive grippers came into being. That is, the shape and size of the object to be grasped are known before grasping, and the object to be grasped is not detected during grasping, but the structure can be adaptively adjusted to achieve grasping.

[0005] However, the adaptive robotic grippers currently used mainly rely on control systems to open and close the grippers to grasp or release objects. However, using a control system to control the opening and closing of the grippers will increase costs due to the need to configure a control system, and require the involvement of electronic components, which increases the complexity of the operation. Summary of the invention

[0006] The present invention provides an adaptive mechanical grasping unit, a gripper, and a grasping and releasing method, which aim to eliminate the need for frequent replacement of grippers and the need for reliance on a control system, and can complete the grasping and releasing of stacked turnover boxes solely by spring force. The application of the adaptive mechanical gripper enables industrial robots to achieve more difficult grasping, and has broad application prospects.

[0007] The technical problem to be solved by the present invention is achieved by adopting the following technical solutions:

[0008] An adaptive mechanical grasping unit, comprising a first connection part and a flipping platform hinged to each other in a vertical direction; the flipping platform comprises a grasping connection part and a clamping claw part, the clamping claw part is resettably arranged at the bottom of the grasping connection part; the first connection part is movably mounted with a self-locking platform through a self-locking mechanism, and the self-locking platform corresponds to the clamping claw part in the vertical direction;

[0009] The self-locking mechanism comprises a second sleeve, an unlocking port on the first connecting portion, and a vertical plane on the flip platform;

[0010] A sliding hole is formed at the bottom of each outer plate in the vertical direction, and the second sleeve is sleeved on the sliding holes of the two outer plates in a rolling manner;

[0011] When the circumferential surface of the second sleeve contacts the vertical plane along the axial direction of the second sleeve, the vertical rotational freedom of the vertical plane is constrained, that is, the self-locking platform is self-locking at this time;

[0012] When the circumferential surface of the second sleeve corresponds to the unlocking port along the axial direction of the second sleeve, the second sleeve is separated from the vertical plane, and the self-locking platform is unlocked;

[0013] The first connection part is rotatably sleeved with the grabbing connection part through a connecting rod driving mechanism, and the connecting rod driving mechanism is driven by a self-locking mechanism. Under the drive of the connecting rod driving mechanism, the grabbing connection part is deflected relative to the first connection part, thereby achieving the purpose of releasing the object by the grabbing unit.

[0014] Preferably, the unlocking opening is an arc-shaped unlocking opening, and the arc-shaped unlocking opening is used to unlock the self-locking platform. When unlocking, the contact between the self-locking platform and the self-locking platform is eliminated, so that the contact force disappears, thereby achieving unlocking. After unlocking, the flipping platform can achieve the flipping action;

[0015] The arc-shaped unlocking opening is also provided with an arc-shaped groove, and the arc-shaped groove is used to eliminate interference between axial fixing parts of the bearing.

[0016] Preferably, the bottom of the grabbing connection part is connected to the clamping claw part by rotating the first rotating shaft, and the first rotating shaft is connected to the first return spring, one end of the first return spring is in contact with the clamping claw part, and the other end is in contact with the grabbing connection part.

[0017] Preferably, the first connecting portion comprises a rectangular fixing portion and two outer plates respectively connected along the length direction of the fixing portion, each outer plate extends downward in the vertical direction, and a first gap is left between the two outer plates;

[0018] A first arc-shaped hole is formed on the side wall of each outer plate in the vertical direction, and the connecting rod driving mechanism includes a flip switch, a second rotating shaft, a connecting rod and a third rotating shaft;

[0019] The top end of the flip switch is sleeved with the second rotating shaft in the vertical direction, the second rotating shaft is inserted and matched on the first arc-shaped hole, the third rotating shaft is sleeved on the grabbing connection part, and the connecting rod is rotatably sleeved on the second rotating shaft and the third rotating shaft in sequence;

[0020] The connecting rod has a bending portion, which is movably sleeved on the flip platform to drive the flip platform to deflect relative to the first connecting portion, and the bottom of the flip switch corresponds to the self-locking platform in the vertical direction.

[0021] Preferably, two first arc-shaped holes are opened on the outer plate along the vertical direction, and two second rotating shafts are also provided on the outer plate. The two rotating shafts are respectively inserted and matched in the two first arc-shaped holes, and the flip switches are respectively rotatably sleeved on the two second rotating shafts, and the connecting rod is sleeved on the third rotating shaft and the second rotating shaft located high on the vertical plane.

[0022] Preferably, the fixing portion and the flip switch are jointly provided with a reset mechanism along the vertical direction, so as to enable the flip switch to move parallel to the outer plate when the reset mechanism is reset.

[0023] By adopting the above scheme, the first arc-shaped hole at the upper end is formed into an arc along the vertical direction with the second rotating shaft as the center and the distance between the second rotating shaft at the upper end and the third rotating shaft as the radius. The second rotating shaft rotates (rolls) with the first arc-shaped hole, and the second rotating shaft at the lower end rotates with the first arc-shaped hole at the lower end. Under the constraint condition of the two first arc-shaped holes, the flip switch remains in the vertical downward direction.

[0024] Preferably, the reset mechanism includes a connecting column and a second reset spring, the top of the connecting column is connected to the fixed part in the vertical direction, and the bottom is connected to the flip switch, the second reset spring is sleeved on the connecting column, and the head and tail ends of the second reset spring are in contact with the flip switch and the fixed part respectively.

[0025] By adopting the above solution, the flip switch moves parallel to the outer plate, the top of the flip switch cooperates with the fixing part and the second reset spring, the fixing part contacts and cooperates with the second reset spring, and reset is achieved by the second reset spring.

[0026] Preferably, there are two connecting rods, and the two connecting rods are rotatably sleeved on the second rotating shaft and the third rotating shaft in sequence along the axial direction of the second rotating shaft, and the bending parts of the two connecting rods are sleeved with the first sleeve together;

[0027] The top of the grabbing connection part has two arc-shaped mounting parts, and there is a second gap between the two arc-shaped mounting parts. The side wall of each arc-shaped mounting part is provided with a second arc-shaped hole along the radial direction of the arc-shaped mounting part, and the side wall of each arc-shaped mounting part is provided with a third arc-shaped hole along the axial direction of the arc-shaped mounting part. The bent part of each connecting rod is inserted and matched in the third arc-shaped hole, and the first sleeve is inserted and matched in the second arc-shaped holes of the two arc-shaped mounting parts, and the first sleeve is located in the second gap.

[0028] By adopting the above scheme, the connecting rod and the flip switch are fitted through the first sleeve, with the third rotating shaft as the flip axis, and limitedly rotate along the first arc hole track on the outer plate, and the bottom end of the connecting rod is connected to the flip platform groove through a pin connection.

[0029] Preferably, a sliding hole is provided at the bottom of each outer plate along the vertical direction, and the sliding hole is a straight groove along the vertical direction, and the second sleeve moves up and down in the vertical direction in the straight groove.

[0030] Preferably, the clamping claw portion is a movable plate with an inclined surface, and the inclined surface corresponds to a preset notch on the clamped object.

[0031] By adopting the above solution, the inclined surface can be conveniently matched with the notch on the clamped object, that is, the clamping claw part clamps the clamped object with the notch through the inclined surface.

[0032] Preferably, the bottom shape of the self-locking platform is U-shaped, matching the top edge of a preset clamped object, so that the clamped object can push the flip switch to move upward through the U-shaped structure.

[0033] Preferably, the flip switch is a rod-shaped structure, and the rod-shaped structure is provided with a hollow portion, and the bottom of the rod-shaped structure is provided with an overlapping portion, and the overlapping portion matches the top of the flip switch.

[0034] An adaptive mechanical gripper comprises the above-mentioned gripping unit.

[0035] Preferably, the gripper comprises a second connection portion with a rectangular bottom cross-section and two of the above-mentioned gripping units, and along the length direction of the second connection portion, the two gripping units are symmetrically installed at the bottom of the second connection portion.

[0036] Preferably, the second connecting portion includes two connecting plates and a mechanical axis. Along the straight line direction from one of the grabbing units to the other grabbing unit, the two connecting plates are respectively installed in parallel on the outer side walls connecting the two grabbing units and extend in the vertical direction. The mechanical axis is rotatably installed between the extended sections of the two connecting plates.

[0037] A method for grasping and releasing, characterized in that it comprises the following steps:

[0038] Step 1 Crawl:

[0039] Step 1.1 The gripper moves to the top of the turnover box with the notch, and moves vertically downward. After the clamping claw on the gripper contacts the top of the turnover box, it is subjected to a vertical upward reaction force exerted by the turnover box. The reaction force will generate a component force perpendicular to the contact surface of the clamping claw at the contact point with the clamping claw;

[0040] Step 1.2: When the force component is greater than the elastic force given by the first reset spring, the clamping claw part contracts inwards, and the gripper abuts against the outer wall of the turnover box in the vertical direction and continues to move downwards until the clamping claw part reaches the notch of the turnover box. Since the contact between the clamping claw part and the turnover box disappears, the turnover box stops exerting a reaction force on the clamping claw part, the first reset spring is reset, and the clamping claw part hooks the notch to complete the grabbing;

[0041] Step 2: Release:

[0042] S2.1 The gripper continues to move downward in the vertical direction, the bottom end of the contact notch of the clamping claw continues to shrink, and moves downward along the side of the turnover box; the top of the turnover box moves upward relative to the clamping claw until it contacts the self-locking platform. After the self-locking platform is subjected to the reaction force applied by the top of the turnover box, it moves upward and drives the second sleeve to move upward to the unlocking port on the flip platform. At this time, since the second sleeve has no contact with the flip platform, the vertical rotational freedom of the vertical plane is not constrained, that is, the constraint force of the second sleeve on the flip platform disappears, the flip platform is released from the self-locking state, and the flip platform is unlocked to meet the flipping conditions;

[0043] S2.2 The gripper continues to move downward in the vertical direction, and the self-locking platform continues to move upward due to the reaction force applied by the turnover box. The self-locking platform contacts the bottom of the flip switch, and transmits the force applied to the self-locking platform to the flip switch. The flip switch moves upward, driving the connecting rod to rotate on the second and third shafts, causing a deflection relative to the flip switch. Then the connecting rod is transmitted to the flip platform under the activity of the first sleeve, causing the flip platform to deflect relative to the first connecting part, and finally releasing the turnover box.

[0044] The beneficial effects of the present invention are:

[0045] (1) The present invention rotates the clamping claw part and sleeves it on the grabbing connection part through the first rotating shaft, and the first compression spring is sleeved on the first rotating shaft, and its two ends are against the grabbing connection part and the clamping claw part. The main purpose is that when the side wall of the turnover box contacts the clamping claw part, the clamping claw part is subjected to a vertical upward reaction force exerted by the turnover box, and the reaction force generates a component force perpendicular to the contact surface of the clamping claw part at the contact point with the clamping claw part; when this component force is greater than the elastic force given by the first reset spring, the clamping claw part contracts inward, and along the vertical direction, the gripper abuts on the outer wall of the turnover box and continues to move downward until the clamping claw part reaches the turnover box slot. Since the contact between the clamping claw part and the turnover box disappears, the turnover box stops applying pressure to the clamping claw part, the first reset spring is reset, and the clamping claw part hooks the slot to complete the grabbing, which can realize the grabbing of various objects with slots without replacing the manipulator. Compared with the replacement of the manipulator claw, the present invention is purely mechanical operation, so it is simple to operate, efficient, and has low cost;

[0046] (2) The present invention utilizes a self-locking mechanism to realize the self-locking or unlocking of the self-locking platform relative to the vertical plane, specifically: when the flipping platform contacts the second sleeve, and the second sleeve ensures the clamping and static state, the flipping platform is in a self-locking state, and after the self-locking platform is subjected to upward pressure and moves upward by the outer diameter of the second sleeve, it contacts the flip switch, and continues to move upward, which will exert a reaction force on the flipping platform, that is, the self-locking platform is subjected to upward pressure and moves upward along the sliding hole, and moves to the unlocking port on the flipping platform to release the self-locking, and automatically resets when the pressure disappears. The above scheme belongs to pure mechanical operation and does not require control by a control system. Therefore, compared with the control means of the control system, it is simple to operate, has low use cost, high practicality, and a wide range of applications;

[0047] (3) With the assistance of the fourth rotating shaft, the present invention utilizes a connecting rod driving mechanism to drive the flipping platform to deflect relative to the outer plate. Specifically, the self-locking platform continues to move upward under the pressure given by the turnover box, and the self-locking platform contacts the bottom of the flip switch, and the pressure on the self-locking platform is transmitted to the flip switch. The flip switch moves upward, driving the connecting rod to rotate on the second rotating shaft and the third rotating shaft to deflect. Then, the connecting rod is transmitted to the flipping platform under the activity of the first sleeve, so that the flipping platform rotates around the axis of the fourth rotating shaft after the self-locking is released and deflects relative to the first connecting part. The deflection angle is set to an acute angle, and finally the turnover box is released. The above scheme is a purely mechanical operation and does not require control by a control system. Therefore, compared with the control means of the control system, it is simple to operate, has low use cost, high practicality, and a wide range of applications. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] Figure 1 It is a structural schematic diagram of the grabbing unit in the present invention;

[0049] Figure 2 It is a schematic diagram of the structure of the grabbing unit in the present invention after removing an outer plate;

[0050] Figure 3 for Figure 2 The structural diagram of part A in the figure;

[0051] Figure 4 A front view of the grabbing unit of the present invention after removing an outer plate;

[0052] Figure 5 A side view of the grabbing unit of the present invention after removing an outer plate;

[0053] Figure 6 for Figure 5 The structural diagram of part B;

[0054] Figure 7 It is a structural schematic diagram of the mechanical gripper in the present invention;

[0055] Figure 8It is a schematic diagram of the state of the mechanical gripper in the present invention grasping and releasing the turnover box with the notch;

[0056] In the figure: first connecting part 1; fixing part 11; outer plate 12; first arc-shaped hole 121; sliding hole 122; flip platform 2; grab connecting part 21; arc-shaped mounting part 211; second arc-shaped hole 212; third arc-shaped hole 213; clamping claw part 22; first rotating shaft 23; first return spring 24; self-locking platform 25; connecting rod driving mechanism 3; flip switch 31; second rotating shaft 32; connecting rod 33; third rotating shaft 34; return mechanism 35; connecting column 351; second return spring 352; self-locking mechanism 4; second sleeve 41; arc-shaped unlocking port 42; vertical plane 43; arc-shaped groove 44; second connecting part 5; connecting plate 52; mechanical axis 53; rotating motor 51; first sleeve 36; notch 7; fourth rotating shaft 6. DETAILED DESCRIPTION

[0057] In order to make the technical means, creative features, objectives and effects of the present invention easier to understand, the present invention is further described below with reference to specific illustrations.

[0058] Example 1

[0059] like Figure 1-6 As shown, an adaptive mechanical grasping unit,

[0060] The invention comprises a first connection part 1 and a flip platform 2 which are hinged to each other in a vertical direction; the flip platform 2 comprises a grab connection part 21 and a clamping claw part 22, and the clamping claw part 22 is resettable and arranged at the bottom of the grab connection part 21, specifically: the bottom of the grab connection part 21 is rotatably sleeved with the clamping claw part 22 through a first rotating shaft 23, and a first reset spring 24 is sleeved on the first rotating shaft 23, and one end of the first reset spring 24 abuts against the clamping claw part 22, and the other end abuts against the grab connection part 21;

[0061] In the vertical direction, a self-locking platform 25 is movably installed at the bottom of the first connecting portion 1 through a self-locking mechanism 4, and the self-locking platform 25 corresponds to the clamping claw portion 22;

[0062] The self-locking mechanism 4 includes a second sleeve 41, an unlocking port on the first connecting portion 1, and a vertical plane 43 on the flip platform 2;

[0063] A sliding hole 122 is formed at the bottom of each outer plate 12 in the vertical direction, and the second sleeve 41 is rolled and sleeved on the sliding holes 122 of the two outer plates 12;

[0064] When the circumferential surface of the second sleeve 41 contacts the vertical plane 43 along the axial direction of the second sleeve 41, the vertical rotational freedom of the vertical plane 43 is constrained, and the self-locking platform 25 is self-locked at this time;

[0065] When the circumferential surface of the second sleeve 41 corresponds to the unlocking port along the axial direction of the second sleeve 41, it is separated from the vertical plane 43, and the self-locking platform 25 is unlocked at this time; the first connecting part 1 is rotatably sleeved with the grabbing connecting part 21 through the connecting rod driving mechanism 3, and the connecting rod driving mechanism 3 is driven by the self-locking mechanism 4. Under the drive of the connecting rod driving mechanism 3, the grabbing connecting part 21 is deflected relative to the first connecting part 1, thereby achieving the purpose of releasing the object by the grabbing unit;

[0066] Specifically: the connecting rod driving mechanism 3 drives the fourth rotating shaft 6 connected to the bottom of the flip platform 2 and the first connecting part 1 to rotate, so that the flip platform 2 is deflected relative to the first connecting part 1, and the deflection angle between the two is 0-45°;

[0067] It should be noted that the distance between the self-locking platform 25 and the bottom of the flip switch 31 is the outer diameter of the second sleeve 41. The purpose is that the flip platform 2 is in contact with the second sleeve 41. The second sleeve 41 ensures that the flip platform 2 is in a self-locking state when the flip platform 2 is clamped and in a stationary state. After the self-locking platform 25 is subjected to upward pressure and moves upward by the outer diameter of the second sleeve 41, it contacts the flip switch 31. Continuing to move upward will apply pressure to the flip platform 2, that is, the self-locking platform 25 is subjected to upward pressure and moves upward along the sliding hole 122 to the release position on the flip platform 2. The self-locking is released at the lock mouth, and it automatically resets when the pressure disappears. The fourth rotating shaft 6 is connected to the outer plate 12, and the flip platform 2 rotates around the axis of the fourth rotating shaft 6 after the self-locking is released; the unlocking mouth is an arc-shaped unlocking mouth 42, and the arc-shaped unlocking mouth 42 is used to unlock the self-locking platform 25. When unlocking, the contact with the self-locking platform 25 is eliminated, so that the contact force disappears, thereby achieving unlocking. After unlocking, the flip platform 2 can realize the flipping action; an arc-shaped unlocking mouth 42 is also provided with an arc-shaped groove 44, and the arc-shaped groove 44 is used to eliminate the interference between the axial fixing parts of the bearing.

[0068] The first connecting portion 1 includes a rectangular fixed portion 11 and two outer plates 12 respectively connected along the length direction of the fixed portion 11, each outer plate 12 extends downward in the vertical direction, and a first gap is left between the two outer plates 12. Specifically: a chamber is provided in the fixed portion, and the components on the reset mechanism penetrate into the chamber and then extend out of the chamber;

[0069] The side wall of each outer plate 12 is provided with two first arc-shaped holes 121 in the vertical direction. The connecting rod driving mechanism 3 includes a flip switch 31, a second rotating shaft 32, a connecting rod 33, a third rotating shaft 34 and a reset mechanism 35;

[0070] The top of the flip switch 31 is respectively sleeved with two second rotating shafts 32 in the vertical direction, each second rotating shaft 32 is inserted and matched on the first arc-shaped hole 121, the third rotating shaft 34 is sleeved on the grabbing connecting part 21, and the connecting rod 33 is rotatably sleeved on the second rotating shaft 32 and the third rotating shaft 34 in sequence;

[0071] The connecting rod 33 has a bending portion, which is movably sleeved on the flip platform 2 to drive the flip platform 2 to deflect relative to the first connecting portion 1 with the assistance of the first rotating shaft 23. The bottom of the flip switch 31 corresponds to the self-locking platform 25 in the vertical direction.

[0072] The fixing part 11 and the flip switch 31 are provided with a reset mechanism in the vertical direction, which is used to make the flip switch 31 move parallel to the outer plate 12 when the reset mechanism is reset. With the above scheme, in the vertical direction, the first arc hole 121 at the upper end is centered on the second rotating shaft 32, and the distance between the second rotating shaft 32 at the upper end and the third rotating shaft 34 is used as the radius to form an arc, the second rotating shaft 23 is matched with the first arc hole 121 in rotation (rolling), and the second rotating shaft 32 at the lower end is matched with the first arc hole 121 at the lower end in rotation. Under the constraint condition of the two first arc holes 121, the flip switch 31 maintains the vertical downward direction;

[0073] The reset mechanism 35 includes a connecting column 351 and a second reset spring 352. The top of the connecting column 351 is connected to the fixing portion 11 in the vertical direction, and the bottom is connected to the flip switch 31. The second reset spring 352 is sleeved on the connecting column 351, and the head and tail ends of the second reset spring 352 are in contact with the flip switch 31 and the fixing portion 11 respectively.

[0074] With the above solution, the flip switch 31 moves parallel to the outer plate 12, the top of the flip switch 31 cooperates with the fixing part 11 and the second reset spring 352, the fixing part 11 contacts and cooperates with the second reset spring 352, and reset is achieved by the second reset spring 352. There are two connecting rods 33, and the two connecting rods 33 are rotated and sleeved on the second rotating shaft 32 and the third rotating shaft 34 in sequence along the axial direction of the second rotating shaft 32, and the bending parts of the two connecting rods 33 are sleeved with the first sleeve 36;

[0075] The top of the grabbing connection part 21 has two arc-shaped mounting parts 211, and there is a second gap between the two arc-shaped mounting parts 211. The side wall of each arc-shaped mounting part 211 is provided with a second arc-shaped hole 212 along the radial direction of the arc-shaped mounting part 211, and the side wall of each arc-shaped mounting part 211 is provided with a third arc-shaped hole 213 along the axial direction of the arc-shaped mounting part 211. The bent part of each connecting rod 33 is inserted and matched in the third arc-shaped hole 213, and the first sleeve 36 is inserted and matched in the second arc-shaped holes 212 of the two arc-shaped mounting parts 211, and the first sleeve 36 is located in the second gap.

[0076] By adopting the above scheme, the connecting rod 33 and the flip switch 31 are penetrated and matched through the first sleeve 36, and the connecting rod 33 is axially fixed by the first sleeve 36, with the third rotating shaft 34 as the flip axis, and limitedly rotated along the trajectory of the first arc-shaped hole 121 on the outer plate 12, and the bottom end of the connecting rod 33 is connected to the groove of the flip platform 2 through a pin connection.

[0077] The sliding hole 122 is a straight groove along the vertical direction, and the second sleeve 41 moves up and down in the vertical direction in the straight groove.

[0078] The clamping jaw portion 22 is a movable plate with an inclined surface, and the inclined surface corresponds to the preset notch 7 on the clamped object.

[0079] By adopting the above solution, the inclined surface can be conveniently matched with the notch 7 on the clamped object, that is, the clamping claw portion 22 clamps the clamped object with the notch 7 through the inclined surface.

[0080] The bottom shape of the self-locking platform 25 is U-shaped, matching the top edge of the preset clamped object, so that the clamped object can push the flip switch 31 to move upward through the U-shaped structure.

[0081] The flip switch 31 is a rod-shaped structure, and a hollow portion is provided on the rod-shaped structure. An overlapping portion is provided at the bottom of the rod-shaped structure, and the overlapping portion matches the top of the flip switch.

[0082] Example 2

[0083] An adaptive mechanical gripper comprises the gripping unit in embodiment 1.

[0084] like Figure 7 As shown, the gripper includes a second connection portion 5 with a rectangular bottom cross-section and two of the above-mentioned gripping units. Along the length direction of the second connection portion 5, the two gripping units are symmetrically installed at the bottom of the second connection portion 5.

[0085] The second connecting part 5 includes two connecting plates 52 and a mechanical axis 53. Along the straight line direction from one grabbing unit to the other grabbing unit, the two connecting plates 52 are respectively installed in parallel on the outer side walls connecting the two grabbing units and extend in the vertical direction. The mechanical axis 53 is rotatably installed between the extended sections of the two connecting plates 52.

[0086] A rotating motor 51 is also mounted on the connecting plate 52 , and a free end of the rotating motor 51 is fixedly connected to a mechanical shaft 53 for providing rotating power.

[0087] It should be noted that the mechanical shaft 53 is also externally connected to a mechanical arm, through which the gripper can be moved to the top of the turnover box;

[0088] The mechanical gripper grasps or releases the turnover box with the slot 7 according to the following steps, that is, the turnover box (such as Figure 8 shown):

[0089] Step 1.1 The gripper moves to the top of the turnover box with the notch 7, and moves vertically downward. After the clamping claw 22 on the gripper contacts the top of the turnover box, it is subjected to a vertical upward reaction force exerted by the turnover box. The reaction force will generate a component force perpendicular to the contact surface of the clamping claw 22 at the contact point with the clamping claw 22;

[0090] Step 1.2: When this force component is greater than the elastic force given by the first return spring 24, the clamping claw 22 contracts inwards, and in the vertical direction, the gripper abuts against the outer wall of the turnover box and continues to move downward until the clamping claw 22 reaches the turnover box slot 7. Since the contact between the clamping claw 22 and the turnover box disappears, the turnover box stops applying a reaction force to the clamping claw 22, the first return spring 24 is reset, the clamping claw 22 hooks the slot to complete the grabbing, and the turnover box is transferred to the target position by the robot arm;

[0091] Step 2: Release:

[0092] After S2.1 moves to the target position, the gripper continues to move downward in the vertical direction, the clamping claw part 22 continues to shrink when contacting the bottom of the slot 7, and moves downward along the side of the turnover box; the top of the turnover box moves upward relative to the clamping claw part 22 until it contacts the self-locking platform 25. After the self-locking platform 25 is subjected to the reaction force applied by the top of the turnover box, it moves upward and drives the second sleeve 41 to move upward to the unlocking port on the flip platform 2. At this time, since the second sleeve 41 has no contact with the flip platform 2, the vertical rotational freedom of the vertical plane 43 is not constrained, and the constraint force of the second sleeve 21 on the flip platform 2 disappears, the flip platform 2 is released from the self-locking state, and the flip platform 2 is unlocked to meet the flipping conditions;

[0093] S2.2 The gripper continues to move downward in the vertical direction, and the self-locking platform 25 continues to move upward due to the reaction force applied by the turnover box. The self-locking platform 25 contacts the bottom of the flip switch 31, and transmits the force applied to the self-locking platform 25 to the flip switch 31. The flip switch 31 moves upward, driving the connecting rod 33 to rotate on the second rotating shaft 32 and the third rotating shaft 34 and deflect. Then the connecting rod 33 is transmitted to the flip platform 2 under the activity of the first sleeve 36, so that the flip platform 2 rotates around the axis of the fourth rotating shaft 6 after the self-locking is released and deflects relative to the first connecting part 1. The deflection angle is set to an acute angle, and finally the turnover box is released.

[0094] The above shows and describes the basic principles and main features of the present invention and the advantages of the present invention. It should be understood by those skilled in the art that the present invention is not limited to the above embodiments. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention to be protected. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. An adaptive mechanical grasping unit, characterized in that: The invention comprises a first connection part and a flip platform which are mutually hinged in the vertical direction; the flip platform comprises a grab connection part and a clamping claw part, and the clamping claw part is resettable and arranged at the bottom of the grab connection part; the first connection part is movably equipped with a self-locking platform through a self-locking mechanism, and the self-locking platform corresponds to the clamping claw part in the vertical direction; a connecting rod driving mechanism The self-locking mechanism comprises a second sleeve, an unlocking port on the first connecting portion, and a vertical plane on the flip platform; A sliding hole is formed at the bottom of each outer plate in the vertical direction, and the second sleeve is sleeved on the sliding holes of the two outer plates in a rolling manner; When the circumferential surface of the second sleeve contacts the vertical plane along the axial direction of the second sleeve, the vertical rotational freedom of the vertical plane is constrained, that is, the self-locking platform is self-locking at this time; When the circumferential surface of the second sleeve corresponds to the unlocking port along the axial direction of the second sleeve, the second sleeve is separated from the vertical plane, and the self-locking platform is unlocked; The first connection part is rotatably sleeved with the grabbing connection part through a connecting rod driving mechanism, and the connecting rod driving mechanism is driven by a self-locking mechanism. Under the drive of the connecting rod driving mechanism, the grabbing connection part is deflected relative to the first connection part, thereby achieving the purpose of releasing the object by the grabbing unit.

2. The gripping unit according to claim 1, characterized in that: The bottom of the grabbing connection part is rotatably sleeved with the clamping claw part through the first rotating shaft, and the first rotating shaft is sleeved with a first reset spring, one end of the first reset spring is in contact with the clamping claw part, and the other end is in contact with the grabbing connection part.

3. The gripping unit according to claim 1, characterized in that: The first connecting portion includes a rectangular fixing portion and two outer plates respectively connected along the length direction of the fixing portion, each outer plate extends downward in a vertical direction, and a first gap is left between the two outer plates; A first arc-shaped hole is formed on the side wall of each outer plate in the vertical direction, and the connecting rod driving mechanism includes a flip switch, a second rotating shaft, a connecting rod and a third rotating shaft; The top end of the flip switch is sleeved with the second rotating shaft in the vertical direction, the second rotating shaft is inserted and matched on the first arc-shaped hole, the third rotating shaft is sleeved on the grabbing connection part, and the connecting rod is rotatably sleeved on the second rotating shaft and the third rotating shaft in sequence; The connecting rod has a bending portion, which is movably sleeved on the flip platform to drive the flip platform to deflect relative to the first connecting portion, and the bottom of the flip switch corresponds to the self-locking platform in the vertical direction.

4. The gripping unit according to claim 1, characterized in that: The fixing part and the flip switch are jointly provided with a reset mechanism in the vertical direction, which is used to make the flip switch move parallel to the outer plate when the reset mechanism is reset.

5. The gripping unit according to claim 4, characterized in that: The reset mechanism includes a connecting column and a second reset spring, the top of the connecting column is connected to the fixing part in the vertical direction, and the bottom of the connecting column is connected to the flip switch, the second reset spring is sleeved on the connecting column, and the head and tail ends of the second reset spring are in contact with the flip switch and the fixing part respectively.

6. The gripping unit according to claim 3, characterized in that: There are two connecting rods, and the two connecting rods are rotatably sleeved on the second rotating shaft and the third rotating shaft in sequence along the axial direction of the second rotating shaft, and the bending parts of the two connecting rods are sleeved with the first sleeve together; The top of the grabbing connection part has two arc-shaped mounting parts, and there is a second gap between the two arc-shaped mounting parts. The side wall of each arc-shaped mounting part is provided with a second arc-shaped hole along the radial direction of the arc-shaped mounting part, and the side wall of each arc-shaped mounting part is provided with a third arc-shaped hole along the axial direction of the arc-shaped mounting part. The bent part of each connecting rod is inserted and matched in the third arc-shaped hole, and the first sleeve is inserted and matched in the second arc-shaped holes of the two arc-shaped mounting parts, and the first sleeve is located in the second gap.

7. The gripping unit according to claim 1, characterized in that: The sliding hole is a straight groove along the vertical direction, and the second sleeve moves up and down in the vertical direction in the straight groove.

8. An adaptive mechanical gripper, characterized in that: The invention comprises the grabbing unit according to any one of claims 1 to 7.

9. The mechanical gripper according to claim 8, characterized in that: The gripper comprises a second connection portion with a rectangular bottom cross-section and two of the above-mentioned gripping units. Along the length direction of the second connection portion, the two gripping units are symmetrically installed at the bottom of the second connection portion.

10. A method of grabbing and releasing, characterized in that: The following steps are involved: step 1 Crawl: Step 1.1 The gripper moves to the top of the turnover box with the notch, and moves vertically downward. After the clamping claw on the gripper contacts the top of the turnover box, it is subjected to a vertical upward reaction force exerted by the turnover box. The reaction force generates a component force perpendicular to the contact surface of the clamping claw at the contact point with the clamping claw. Step 1.2: When the force component is greater than the elastic force given by the first reset spring, the clamping claw part contracts inwards, and the gripper abuts against the outer wall of the turnover box in the vertical direction and continues to move downwards until the clamping claw part reaches the notch of the turnover box. Since the contact between the clamping claw part and the turnover box disappears, the turnover box stops exerting a reaction force on the clamping claw part, the first reset spring is reset, and the clamping claw part hooks the notch to complete the grabbing; Step 2: Release: S2.1 The gripper continues to move downward in the vertical direction, the bottom end of the contact notch of the clamping claw continues to shrink, and moves downward along the side of the turnover box; the top of the turnover box moves upward relative to the clamping claw until it contacts the self-locking platform. After the self-locking platform is subjected to the reaction force applied by the top of the turnover box, it moves upward and drives the second sleeve to move upward to the unlocking port on the flip platform. At this time, since the second sleeve has no contact with the flip platform, the vertical rotational freedom of the vertical plane is not constrained, that is, the constraint force of the second sleeve on the flip platform disappears, the flip platform is released from the self-locking state, and the flip platform is unlocked to meet the flipping conditions; S2.2 The gripper continues to move downward in the vertical direction, and the self-locking platform continues to move upward due to the reaction force applied by the turnover box. The self-locking platform contacts the bottom of the flip switch, and transmits the force applied to the self-locking platform to the flip switch. The flip switch moves upward, driving the connecting rod to rotate on the second and third shafts, causing a deflection relative to the flip switch. Then the connecting rod is transmitted to the flip platform under the activity of the first sleeve, causing the flip platform to deflect relative to the first connecting part, and finally releasing the turnover box.

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