Flexible gripper with quick response and wireless control

Abstract

The invention relates to a flexible gripper with quick response and wireless control, and belongs to the technical field of transportation grippers, the flexible gripper comprises a supporting plate, a clamping plate, a hinge plate and a driving mechanism, and the supporting plate is fixedly provided with a guide rod with a long-strip-shaped hole; the side edges of the two clamping plates are hinged to the two side edges of the supporting plate correspondingly, and clamping blocks are fixed to the two clamping plates. The two hinged plates are hinged through a hinged shaft, a connecting block is fixed to one end of the hinged shaft, a sliding column is fixed to the other end of the hinged shaft and slides in the long-strip-shaped hole, and the side edges of the two hinged plates are hinged to the side faces of the two clamping plates respectively. The driving mechanism comprises a steering engine, a steering wheel and a cable, and the steering engine is fixed on the supporting plate; the steering wheel is fixedly sleeved on an output shaft of the steering engine; one end of the cable is fixed on the hanging hole, and the other end of the cable is fixed on the connecting block. The steering engine is used for driving the steering wheel to rotate, the cable is driven to pull the connecting block and the linkage sliding column to slide in the guide sliding hole, the two clamping blocks can be conveniently and rapidly close to or away from each other, and the grabbing speed of the flexible gripper is increased.

Description

Technical Field

[0001] The invention relates to the technical field of transport grippers, and in particular to a flexible gripper with rapid response and wireless control. Background Art

[0002] In the field of modern automated production and intelligent robots, the application scope of robots is rapidly expanding, especially in the field of complex dynamic environments. As an important actuator in the robot grasping system, the manipulator has shown great advantages in flexibly grasping objects of different shapes, sizes and materials. The flexible manipulator is formed by combining flexible structures or materials in the manipulator. Compared with the traditional rigid manipulator, the flexible manipulator can grasp irregular or fragile objects without damaging the object. Today's manipulators are mostly used to grasp stationary objects in static environments. However, many grasping tasks are completed in dynamic environments, and the objects to be grasped have a certain moving speed. In a dynamic environment, the grasping system must not only cope with changes in the shape and position of the object, but also respond quickly to changes in the external environment. For example, in a robot grasping task, the object may change its position or posture due to external forces, vibrations or other factors, which requires the grasping system to have high response speed and precise motion control.

[0003] In addition, current manipulators mainly rely on the collaborative work of multiple sensor systems to adapt to the needs of different scenarios in terms of object size recognition. Common methods include visual sensing systems, force and tactile sensors, etc. In dynamic environments, although the object size recognition technologies of existing manipulators are diverse, they each have their own limitations. The visual sensing system is prone to errors when the ambient light is weak or the object is blocked, and the image processing calculation is large, resulting in slow real-time response; force and tactile sensors can only obtain information about the contact area, making it difficult to accurately measure the overall size, and the response speed is limited, and real-time feedback cannot be provided. Although the combined use of multiple sensing technologies can improve the accuracy and adaptability of size recognition, it also brings challenges and problems such as complex systems, difficult data processing and fusion, high cost and power consumption.

[0004] Although the existing flexible manipulator grasping systems have achieved a certain degree of diversified object grasping and environmental adaptability, they still have significant technical limitations. When grasping in a dynamic environment, existing systems generally face problems such as slow response speed, insufficient recognition accuracy, and excessive energy consumption, making it difficult to deal with fast-moving or complex-shaped target objects. In addition, although the combination of multiple sensors enhances the adaptability of the system, it also makes the system structure and control algorithm more complex, increasing costs, power consumption, and maintenance difficulties.

[0005] Therefore, developing a flexible manipulator grasping system with fast response, wireless control and high integration to meet the needs of efficient grasping in dynamic environments will bring important technological progress and application value to this field. Summary of the invention

[0006] The present invention provides a flexible gripper with rapid response and wireless control, which solves the technical problems of the existing flexible gripper having a complex structure and a slow grasping speed.

[0007] The technical solution of the present invention to solve the above technical problems is as follows: a flexible gripper with rapid response and wireless control, comprising: a support plate, a clamping plate, a hinge plate and a driving mechanism,

[0008] A guide rod is vertically fixed on the support plate, and the guide rod is provided with a long hole arranged along the length direction and passing through both sides; the clamping plates are two and one side edge of each clamping plate is respectively hinged on the two opposite sides of the support plate, and the sides of the two clamping plates close to each other are fixed with clamping blocks; the hinged plate is two and the side edges close to each other are hingedly connected through a hinge shaft, one end of the hinge shaft is fixed with a connecting block and the other end is fixed with a sliding column, the sliding column slides in the long hole along the length direction of the guide rod, and the side edges of the two hinged plates away from each other are respectively hinged on the sides of the two clamping plates close to each other; the driving mechanism includes a steering gear, a steering wheel and a cable, the steering gear is fixed on the support plate and its output shaft is arranged in a direction parallel to the support plate; a fixing hole is provided in the middle of the steering wheel and is sleeved on the outer peripheral side of the output shaft of the steering gear; one end of the cable is fixed on the hanging hole of the steering wheel and the other end is fixed on the connecting block, so as to drive the sliding column to slide in the long hole with the rotation of the steering gear, so as to facilitate the two clamping blocks to approach or move away from each other.

[0009] The beneficial effects of the present invention are: improving the traditional flexible gripper structure, utilizing the servo engine to drive the steering wheel to rotate, driving the cable to pull the connecting block, and the linkage sliding column sliding in the guide sliding hole; since the sliding column is fixed on the hinge shaft on the side where the two hinged plates are close to each other, and since the two hinged plates are hinged on the two clamping plates at the far sides of each other, the two clamping blocks can be quickly approached or quickly moved away, thereby improving the grabbing speed of the flexible gripper.

[0010] Based on the above technical solution, the present invention can also be improved as follows.

[0011] Furthermore, it also includes a control system, which includes a Hall sensor, a magnetic block, a control box and a controller, wherein there are two Hall sensors and they are respectively fixed at the two ends of the guide rod; the magnetic block is fixed on the sliding column; the control box is located above the servo and is fixed to the support plate through a support column; the controller is fixed in the control box, and is electrically connected to the servo, and is wirelessly connected to the two Hall sensors.

[0012] A further beneficial effect of the above method is that based on the Hall principle, the Hall sensors fixed at both ends of the guide rod are used to sense the magnetic blocks fixed on the sliding column respectively, so that the controller can wirelessly sense the position of the sliding column and control the clamping or release of the two clamps.

[0013] Furthermore, it also includes a return spring, and both ends of the return spring are respectively fixed on the two hinged plates.

[0014] The above method has the further beneficial effect of: using the two ends of the reset spring to be fixed on the two hinge plates respectively, it is beneficial for the two hinge plates to quickly reset to the initial state and improve the release speed of the two clamping blocks.

[0015] Furthermore, it also includes a limit block, which is fixed on the hinge shaft and can abut against one of the hinge plates.

[0016] A further beneficial effect of the above method is that the two hinge plates can be prevented from rotating at a large angle by using a limit block fixed on the hinge shaft to interfere with a shift.

[0017] Furthermore, there are multiple hanging holes.

[0018] Furthermore, the steering wheel is semicircular.

[0019] Furthermore, the two clamping blocks are both made of flexible material. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a front view structural schematic diagram of an open state of a flexible gripper with fast response and wireless control of the present invention;

[0021] Figure 2 It is a front view structural schematic diagram of a flexible gripper with fast response and wireless control in a contracted state according to the present invention;

[0022] Figure 3 It is a front view structural diagram of a grasping state in a flexible gripper with fast response and wireless control of the present invention;

[0023] Figure 4 It is a rear view structural schematic diagram of a flexible gripper with rapid response and wireless control in an unfolded state according to the present invention;

[0024] Figure 5 It is a rear view structural schematic diagram of a flexible gripper with rapid response and wireless control for removing a steering plate in the present invention;

[0025] Figure 6 The present invention is a schematic diagram of the assembly structure of two clamping blocks, a hinge shaft, a sliding column, a connecting block and a return spring in a flexible gripper with rapid response and wireless control.

[0026] In the accompanying drawings, the components represented by the reference numerals are listed as follows:

[0027] 1. Support plate, 2. Clamp, 3. Articulated plate, 4. Driving mechanism, 41. Servo, 42. Steering disc, 421. Suspension hole, 5. Guide rod, 51. Long hole, 6. Articulated shaft, 7. Connecting block, 8. Sliding column, 9. Clamp, 10. Control system, 101. Hall sensor, 102. Magnetic block, 103. Control box, 11. Reset spring, 12. Limit block. DETAILED DESCRIPTION

[0028] The principles and features of the present invention are described below in conjunction with the accompanying drawings. The examples given are only used to explain the present invention and are not used to limit the scope of the present invention.

[0029] like Figure 1 As shown, a flexible gripper with fast response and wireless control includes: a support plate 1, a clamping plate 2, a hinge plate 3 and a driving mechanism 4,

[0030] A guide rod 5 is vertically fixed on the support plate 1, and a long hole 51 is arranged along the length direction and passes through both sides of the guide rod 5; there are two clamping plates 2, and one side edge of each clamping plate 2 is hinged to the two opposite sides of the support plate 1, and clamping blocks 9 are fixed to the sides of the two clamping plates 2 that are close to each other; there are two hinged plates 3, and the sides of the two hinged plates 3 that are close to each other are hingedly connected through a hinge shaft 6, and a connecting block 7 is fixed to one end of the hinge shaft 6 and a sliding column 8 is fixed to the other end. The sliding column 8 slides in the long hole 51 along the length direction of the guide rod 5, and the two hinged plates 3 are away from each other. The side edges are respectively hinged on the sides of the two clamping plates 2 that are close to each other; the driving mechanism 4 includes a steering gear 41, a steering wheel 42 and a cable, the steering gear 41 is fixed on the support plate 1 and its output shaft is arranged in a direction parallel to the support plate 1; a fixing hole is provided in the middle of the steering wheel 42 and is sleeved on the outer peripheral side of the output shaft of the steering gear 41; one end of the cable is fixed on the hanging hole 421 of the steering wheel 42 and the other end is fixed on the connecting block 7, so as to drive the sliding column 8 to slide in the long hole 51 as the steering gear 41 rotates, so as to facilitate the two clamping blocks 9 to approach or move away from each other.

[0031] In some specific embodiments, a control system 10 may also be included, the control system 10 includes a Hall sensor 101, a magnet 102, a control box 103 and a controller, there are two Hall sensors 101 and they are respectively fixed on the two ends of the guide rod 5; the magnet 102 is fixed on the sliding column 8; the control box 103 is located above the servo 41 and is fixed on the support plate 1 through a support; the controller is fixed in the control box 103, and is electrically connected to the servo 41, and is wirelessly connected to the two Hall sensors 101.

[0032] In some specific embodiments, a return spring 11 may be further included, and both ends of the return spring 11 are respectively fixed on the two hinge plates 3 .

[0033] In some specific embodiments, a limit block 12 may be further included. The limit block 12 is fixed on the hinge shaft 6 and may abut against one hinge plate 3 .

[0034] Specifically, there may be a plurality of hanging holes 421 .

[0035] Specifically, the steering wheel 42 may be semicircular.

[0036] Specifically, both clamping blocks 9 may be made of flexible materials.

[0037] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A flexible gripper with fast response and wireless control, characterized in that: include: A support plate (1), a guide rod (5) being vertically fixed on the support plate (1), and the guide rod (5) being provided with long holes (51) arranged along the length direction and penetrating through both sides; Clamping plates (2), the clamping plates (2) being two in number and one side edge of each clamping plate being hinged to two opposite side edges of the supporting plate (1), and clamping blocks (9) being fixed to the sides of the two clamping plates (2) that are close to each other; A hinged plate (3), wherein the hinged plate (3) is composed of two side edges close to each other and hingedly connected via a hinge shaft (6), a connecting block (7) being fixed at one end of the hinge shaft (6) and a sliding column (8) being fixed at the other end thereof, the sliding column (8) sliding in the long strip hole (51) along the length direction of the guide rod (5), and the side edges of the two hinged plates (3) that are far from each other are respectively hingedly connected to the side surfaces of the two clamping plates (2) that are close to each other; A driving mechanism (4), the driving mechanism (4) comprising a steering gear (41), a steering disc (42) and a cable, the steering gear (41) being fixed on the support plate (1) and its output shaft being arranged in a direction parallel to the support plate (1); a fixing hole being provided in the middle of the steering disc (42) and being sleeved on the outer peripheral side of the output shaft of the steering gear (41); one end of the cable being fixed on the hanging hole (421) of the steering disc (42) and the other end being fixed on the connecting block (7), so as to drive the sliding column (8) to slide in the long strip hole (51) as the steering gear (41) rotates, so as to facilitate the two clamping blocks (9) to approach or move away from each other.

2. The flexible gripper with rapid response and wireless control according to claim 1, characterized in that: The invention also comprises a control system (10), wherein the control system (10) comprises a Hall sensor (101), a magnetic block (102), a control box (103) and a controller, wherein the Hall sensors (101) are two and are respectively fixed at two ends of the guide rod (5); the magnetic block (102) is fixed on the sliding column (8); the control box (103) is located above the steering gear (41) and is fixed on the support plate (1) through a support column; the controller is fixed in the control box (103), is electrically connected to the steering gear (41), and is wirelessly connected to the two Hall sensors (101).

3. The flexible gripper with rapid response and wireless control according to claim 1, characterized in that: It also comprises a return spring (11), the two ends of which are respectively fixed on the two hinge plates (3).

4. The flexible gripper with rapid response and wireless control according to claim 1, characterized in that: It also comprises a limit block (12), which is fixed on the hinge shaft (6) and can abut against one of the hinge plates (3).

5. The flexible gripper with rapid response and wireless control according to claim 1, characterized in that: There are multiple hanging holes (421).

6. The flexible gripper with rapid response and wireless control according to claim 1, characterized in that: The steering disc (42) is semicircular.

7. The flexible gripper with rapid response and wireless control according to claim 1, characterized in that: The two clamping blocks (9) are both made of flexible material.

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