A flexible gripper with fast response and wireless control

Abstract

The present invention relates to a flexible gripper with rapid response and wireless control, belonging to the technical field of transport grippers. The gripper comprises: a support plate, a clamping plate, an articulated plate, and a driving mechanism. A guide rod with an elongated hole is fixed to the support plate; two clamping plates are provided, and their side edges are hinged to the two side edges of the support plate, and clamping blocks are fixed to the two clamping plates; two articulated plates are provided, and are hinged via an articulated shaft, one end of the articulated shaft being fixed to a connecting block and the other end being fixed to a sliding column, the sliding column sliding in the elongated hole, and the side edges of the two articulated plates being hinged to the side faces of the two clamping plates; the driving mechanism comprises a steering gear, a steering wheel, and a cable. The steering gear is fixed to the support plate; the steering wheel is fixed to the output shaft of the steering gear; one end of the cable is fixed to the suspension hole and the other end is fixed to the connecting block. The present invention utilizes the steering gear to drive the steering wheel to rotate, driving the cable to pull the connecting block, and the linkage sliding column slides in the guide sliding hole, which can facilitate the rapid approach or separation of the two clamping blocks, thereby improving the grasping speed of the flexible gripper.

Description

Technical Field

[0001] The present 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 modern automated production and intelligent robotics, the application of robots is rapidly expanding, particularly with the increasing demand for operations in complex, dynamic environments. Manipulators, as key actuators in robotic grasping systems, demonstrate significant advantages in flexibly grasping objects of varying shapes, sizes, and materials. Incorporating flexible structures or materials into manipulators creates flexible manipulators. Compared to traditional rigid manipulators, flexible manipulators can grasp irregular or fragile objects without damaging them. Current manipulators are primarily used for grasping stationary objects in static environments. However, many grasping tasks occur in dynamic environments, requiring objects to move at a certain speed. In dynamic environments, grasping systems must not only cope with changes in object shape and position, but also respond quickly to changes in the external environment. For example, during robotic grasping tasks, objects may change position or posture due to external forces, vibration, or other factors. This requires the grasping system to possess high response speed and precise motion control.

[0003] In addition, current manipulators rely primarily on the collaborative work of multiple sensing systems to identify object sizes in order to adapt to the needs of different scenarios. 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, each has its own limitations. Visual sensing systems are prone to errors in low ambient light or when objects are obstructed, and the image processing requires a large amount of computation, 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. They also have limited response speeds and cannot provide real-time feedback. 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 system complexity, difficulty in data processing and fusion, and high cost and power consumption.

[0004] While existing flexible robotic gripping systems have achieved a certain degree of diverse object handling and environmental adaptability, they still face significant technical limitations. When grasping in dynamic environments, existing systems generally suffer from slow response speeds, insufficient recognition accuracy, and excessive energy consumption, making them difficult to handle fast-moving or complex objects. Furthermore, while the integration of multiple sensors enhances system adaptability, it also complicates the system structure and control algorithms, increasing costs, power consumption, and maintenance difficulties.

[0005] Therefore, developing a flexible robotic gripping system with fast response, wireless control and high integration to meet the needs of efficient gripping 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 slow grasping speed.

[0007] The present invention solves the above technical problems with the following technical solutions: a flexible gripper with fast response and wireless control, comprising: a support plate, a splint, a hinged plate and a driving mechanism,

[0008] The two lever arrangement comprises a link rod and a pair of link rods, wherein the link rods are connected along the longitudinal direction of the link plate to form a pair of fixed loops, and the two link rods are connected along the longitudinal direction of the link plate to form a pair of fixed loops. The two link rods are connected along the longitudinal direction of the link plate to form a pair of fixed loops. The two link rods are connected along the longitudinal direction of the link plate to form a pair of fixed loops.

[0009] The beneficial effects of the present invention are: improving the traditional flexible gripper structure, using the servo to drive the steering wheel to rotate, driving the cable to pull the connecting block, and the linkage slide column slides in the guide slide hole. Since the slide column is fixed on the hinge shaft on the side where the two hinge plates are close to each other, and since the two hinge plates are hinged to the two clamping plates on the far sides of each other, it is convenient for the two clamping blocks to quickly approach or quickly move away, thereby improving the gripping speed of the flexible gripper.

[0010] On the basis of 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 pillar; 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 is: 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 hinge 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 interfere with 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 the 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 materials. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 This is a front structural diagram of a flexible gripper with rapid response and wireless control in an open state according to the present invention;

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

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

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

[0024] Figure 5 This is a rear view structural diagram of a flexible gripper with rapid response and wireless control for removing a rudder plate according to the present invention;

[0025] Figure 6 This 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 fast response and wireless control of the present invention.

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

[0027] 1. Support plate, 2. Clamp, 3. Articulated plate, 4. Drive mechanism, 41. Servo, 42. Steering wheel, 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. Return spring, 12. Limit block. DETAILED DESCRIPTION

[0028] The principles and features of the present invention are described below with reference to 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 the guide rod 5 is provided with a long hole 51 arranged along the length direction and passing through both sides; there are two splints 2, and one side of each splint is hinged to the two opposite sides of the support plate 1, and the sides of the two splints 2 close to each other are fixed with a clamping block 9; there are two hinged plates 3, and the sides close to each other are hingedly connected by a hinge shaft 6, one end of the hinge shaft 6 is fixed with a connecting block 7 and the other end is fixed with a sliding column 8, and 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 side surfaces 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 to the hanging hole 421 of the steering wheel 42 and the other end is fixed to 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 move closer to or away from each other.

[0031] In some specific embodiments, a control system 10 may also be included, which includes a Hall sensor 101, a magnet 102, a control box 103 and a controller. There are two Hall sensors 101, which are respectively fixed at both 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, with both ends of the return spring 11 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 of the hinge plates 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 can 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 replacements, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A flexible gripper with fast response and wireless control, characterized in that: include: A support plate (1), wherein a guide rod (5) is vertically fixed to the support plate (1), and the guide rod (5) is provided with long holes (51) arranged along the length direction and passing through both sides; Clamping plates (2), the clamping plates (2) are two and one side edge of each is hinged to the two opposite side edges 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; A hinged plate (3), wherein the hinged plate (3) is composed of two sides whose sides are close to each other and are hingedly connected via a hinge shaft (6), 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 thereof, the sliding column (8) slides in the long strip hole (51) along the length direction of the guide rod (5), and the sides of the two hinged plates (3) that are away from each other are respectively hinged to the sides 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 wheel (42) and a cable, the steering gear (41) being fixed on the support plate (1) and having an output shaft arranged in a direction parallel to the support plate (1); a fixing hole being provided in the middle of the steering wheel (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 wheel (42) and the other end being fixed on the connecting block (7), so as to drive the sliding column (8) to slide in the elongated hole (51) as the steering gear (41) rotates, thereby facilitating the two clamping blocks (9) to move closer to or farther away from each other; The system further 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 fixed to both ends of the guide rod (5); the magnetic block (102) is fixed to the sliding column (8); the control box (103) is located above the steering gear (41) and is fixed to the support plate (1) through a support; 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); It also includes a return spring (11), the two ends of which are respectively fixed on the two hinge plates (3); and a limit block (12), which is fixed on the hinge shaft (6) and can contact one of the hinge plates (3).

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

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

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

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