Dexterous mechanical hand for clamping multi-diameter zip-top cans and pulling open pull rings

Abstract

The invention discloses a dexterous mechanical hand for clamping multi-diameter zip-top cans and pulling open pull rings. The dexterous mechanical hand comprises a clamping mechanism composed of an outer end finger, an inner end finger, an exoskeleton connecting rod, a transmission connecting rod and a connecting plate, a ring opening mechanism composed of a sliding block, a lower connecting plate and a ring opening hook, and a driving mechanism composed of an air cylinder and a tail end connecting flange. When the air cylinder drives the sliding block to drive the transmission connecting rod to move in the notch of the connecting plate, the outer-end fingers and the inner-end fingers rotate towards the center at the same time to get close to achieve clamping. Meanwhile, a driving mechanism is not additionally arranged, linear motion of a sliding block of the clamping mechanism acts on motion of a ring opening hook at the same time, and the ring opening mechanism is obtained. On the basis of humanoid hand enveloping clamping and multifunctional module design, pop-top cans with the can diameter of 48-70 mm can be clamped in a self-adaptive mode, and pull rings of the pop-top cans can be pulled open efficiently.

Description

Technical Field

[0001] The invention relates to the technical field of robot end instrument hands, in particular to a dexterous instrument hand for clamping cans with multiple can diameters and pulling open pull rings. Background Art

[0002] More and more companies in industrial production and life are gradually using industrial robots to replace manual labor, thereby improving production efficiency and promoting high-quality development of the industry.

[0003] At present, most of the mechanical arms used for clamping cylindrical objects and cans on the market adopt the contour envelope clamping method of the inner arc, such as the mechanical gripper of the Chinese utility model patent with application number CN201821311057.3. This method can only be used for clamping cylindrical objects with a fixed diameter or a small diameter change. It has a narrow adaptability and cannot meet the requirements of clamping cans with multiple diameters without loosening. Another type of flexible mechanical arms and animal bionic mechanical arms, such as the bionic robot gripper of the Chinese invention patent with application number CN202111177046.7, clamp objects vertically, and cannot rotate the can 90° to a horizontal position after clamping it to complete actions such as dumping it.

[0004] In addition, the instrument hands on the market that can open the pull ring of cans usually design the hook and the front end of the instrument hand as one body. The principle is that the movement of the instrument hand drives the movement of the hook to open the pull ring. This method requires the instrument hand to rotate and move multiple times to adjust the position of the hook, and the movement is complicated and the stroke is long. At the same time, since the instrument hand and the hook are integrated to open the pull ring, the force on the other axis is increased, and higher requirements are placed on the stiffness and stress of the instrument hand. Usually, the thickness of the instrument hand is increased to enhance the stiffness to achieve improvement in the stress, which increases the size of the instrument hand and reduces the dexterity of operation. Summary of the invention

[0005] According to the relevant issues mentioned in the background technology, the present invention provides a dexterous instrument hand for clamping cans of multiple diameters and opening pull rings, including a clamping mechanism, an opening mechanism and a driving mechanism; the clamping mechanism includes an outer finger, an inner finger, an exoskeleton connecting rod, a transmission connecting rod and a connecting plate, which are used to clamp cylindrical objects; the opening mechanism includes a lower connecting plate, a slider and an opening hook, which are used to open the pull ring of a can; the driving mechanism includes a cylinder and an end flange to provide driving force.

[0006] The above-mentioned outer finger, inner finger and exoskeleton connecting rod are hingedly connected by being inserted into each other, and a miniature deep groove ball bearing is installed at the fitting position; the transmission connecting rod and the slider are connected by bolts through a hexagonal cylindrical plug, and the cylinder driving force pushes the slider to drive one end of the transmission connecting rod to move linearly in the groove of the connecting plate, and the middle section of the transmission connecting rod is hinged to one end of the inner finger, driving the inner finger to perform rotational motion. At the same time, one end of the transmission connecting rod is hinged to the exoskeleton connecting rod, pushing the exoskeleton connecting rod to drive the outer finger hinged to the other end of the exoskeleton connecting rod to perform rotational and translational motion; in addition, a number of plug bolts and deep groove ball bearings are used to connect and assemble with the fingers and connecting rods. On the premise of ensuring a stable connection, the rotation can be smoother and a certain degree of freedom can be maintained for rotational clamping.

[0007] In the above-mentioned open-loop mechanism, the supporting diagonal rod on the lower connecting plate plays the role of supporting and fixing the open-loop hook. The length of the groove below the slider is slightly larger than the diameter of the open-loop hook roller. When the slider moves horizontally, one side is tangent to the open-loop hook roller and drives the open-loop hook roller to move, and finally drives the open-loop hook to make a rotational motion to complete the pulling of the pull ring.

[0008] The beneficial effects of the present invention are as follows: the present invention is based on the human hand-like envelope clamping and multifunctional module design, including a clamping mechanism and an open-loop mechanism. The slider stroke for driving the two is 15 mm, so that the instrument hand can adaptively clamp canned beverages with a can diameter of 48-70 mm. At the same time, the stroke angle of the open-loop mechanism is 50 degrees, which can complete the efficient opening of the pull ring of the can. The overall instrument hand has the advantages of reasonable structure, good adaptability, low cost, lightweight and easy production. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0010] Figure 1 It is a three-dimensional schematic diagram of the hand gripping mechanism of the dexterous instrument of the present invention; Figure 2 It is an exploded schematic diagram of the hand gripping mechanism of the dexterous instrument of the present invention; Figure 3 for Figure 2 A side view showing the outer finger, inner finger and transmission connecting rod in the gripping mechanism shown; Figure 4 It is a three-dimensional schematic diagram of the open-loop mechanism of the present invention at another angle; Figure 5 for Figure 4An exploded schematic diagram of the open-loop mechanism of the dexterous instrument hand, in which the gripping mechanism and the driving mechanism are hidden; Figure 6 for Figure 1 The top view of the dexterous mechanical hand grabbing a 48mm can; Figure 7 for Figure 1 The top view of the dexterous mechanical hand grabbing a 70mm can; Figure 8 for Figure 4 The schematic diagram of the dexterous instrument hand opening ring mechanism hooking the pull ring, wherein the pull ring part of the can is not drawn; Fig. 9 for Figure 4 The diagram shown is a schematic diagram of the dexterous instrument hand ring opening mechanism when the pull ring is opened, wherein the pull ring part of the can is not drawn.

[0011] The corresponding relationship between the symbols and their meanings in the accompanying drawings is as follows: 100. Dexterous instrument hand; 20. Outer finger; 201. Outer anti-skid pad; 202. Outer finger connecting rod; 203. First connecting groove; 21. Inner finger; 211. Inner anti-skid pad; 212. Second connecting groove; 213. First bearing mounting hole; 30. Exoskeleton connecting rod; 301. Second bearing mounting hole; 31. Transmission connecting rod; 311. Upper supporting boss; 312. Lower supporting boss; 40. Upper connecting plate; 41. Sliding block; 411. Threaded connecting hole; 412. Open-loop hook driving groove; 42. Lower connecting plate; 421. Support diagonal rod; 43. Open-loop hook; 431. Open-loop hook roller; 432. Open-loop hook connecting hole; 50. Driving cylinder; 60. End connecting flange; 70. Plug bolt. DETAILED DESCRIPTION

[0012] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0013] See also Figures 1 to 9 , is a dexterous instrument hand 100 of the present invention, which is used to be installed at the end of a robot to complete the clamping of cans or cylindrical objects and the opening of the pull ring of the can. The dexterous instrument hand 100 includes: a clamping mechanism, a ring opening mechanism and a driving mechanism.

[0014] An embodiment of a dexterous instrument hand for gripping cans with multiple diameters and pulling open pull rings in the present invention: Figures 1 to 3The dexterous instrument hand includes a gripping mechanism, which includes an outer finger 20 and an inner finger 21 for adaptively enveloping the target tank, as well as an exoskeleton connecting rod 30, a transmission connecting rod 31, an upper connecting plate 40 and a lower connecting plate 42; the inner contour of the outer finger 20 is a straight line, and the inner contour of the inner finger 21 is an arc; the gripping parts of the outer finger 20 and the inner finger 21 are covered with an outer anti-slip pad 201 and an inner anti-slip pad 211; a miniature deep groove ball bearing is installed between the first bearing mounting hole 213 and the second bearing mounting hole 301, so that the connecting parts of the gripping mechanism can rotate more smoothly. The dexterous instrument hand also includes a driving mechanism, which includes a cylinder 50 and an end connecting flange 60. Among them: the upper connecting plate 40 and the lower connecting plate 42 have a pair of vertical notches correspondingly opened, and below the pair of vertical notches of the lower connecting plate 42 is another vertically opened notch, which serves as an open-loop hook driving groove.

[0015] See also Figures 1 to 3 The middle section of the inner finger 21 is hinged to one end of the upper connecting plate 40 and the lower connecting plate 42, and the other end of the upper connecting plate 40 and the lower connecting plate 42 is hinged to the cylinder 50. The cylinder 50 is inserted into the end connecting flange 60 and fixed by screws. The end connecting flange 60 is connected to the robot through the bolt holes opened therein; the transmission connecting rod 31 is hinged to the slider 41 at one end close to the cylinder, the middle section of the transmission connecting rod 31 is hinged to one end of the inner finger 21, and the end of the transmission connecting rod 31 away from the cylinder is hinged to one end of the exoskeleton connecting rod 30. The other end of the exoskeleton connecting rod 30 is inserted into the first connecting groove 203 where the outer finger 20 is located to be hinged, and one end of the outer finger connecting rod 202 Insert the second connecting groove 212 where the inner finger 21 is located to hinge; with the help of the supporting boss 311, the lower supporting boss 312 and the plug bolt 70 on the transmission connecting rod 31, the part where the transmission connecting rod 31, the slider 41 and the plug bolt 70 are hinged and matched, the movement is limited between the corresponding slots of the upper connecting plate 40 and the lower connecting plate 42; the cylinder 50 drives the slider 41 to move linearly, and the slider 41 drives the transmission connecting rod 31 to move linearly close to one end of the cylinder, and then the transmission connecting rod 31 pushes the inner finger 21 to rotate and clamp and pushes the exoskeleton connecting rod 30 to run, and the exoskeleton connecting rod 30 pushes the outer finger 20 to rotate and translate to realize the clamping action.

[0016] See also Figure 6 , 7When in use, the cylinder 50 is started to drive the slider 41 to move upward, and the connecting part of the transmission connecting rod 31 and the slider 41 and the plug bolt 70 move upward between the grooves of the upper connecting plate 40 and the lower connecting plate 42. Since the middle section of the inner finger 21 is hinged with the upper connecting plate 40 and the lower connecting plate 42, the middle section of the transmission connecting rod 31 drives the inner finger 21 to rotate toward the center. At the same time, the outer section of the transmission connecting rod 31 drives the exoskeleton connecting rod 30 to move upward, thereby driving the outer finger 20 to rotate and translate toward the center. The inner finger 21 and the outer finger 20 contact the cylindrical object located in the center, thereby stopping the movement and generating a clamping effect. According to the different diameters of the object, the stopping positions of the inner finger 21 and the outer finger 20 are also different, so that can adaptively clamp cans and cylindrical objects with multiple can diameters.

[0017] Embodiment 2 of a dexterous instrument hand for gripping cans with multiple can diameters and pulling open pull rings in the present invention: See also Figure 4 , 5 The dexterous instrument hand 100 also includes an open-loop hook 43, which forms an open-loop mechanism with the lower connecting plate 42 and the slider 41; the open-loop hook 43 is hinged to the supporting inclined rod 421 where the lower connecting plate 42 is located through the open-loop hook connecting hole 432 opened thereon, and the open-loop hook roller 431 where the open-loop hook 43 is located passes through the slot opened on the lower connecting plate 42 and is restricted in the open-loop hook driving slot 412 opened on the slider 41, so that it moves with the movement of the slider 41, and the slider 41 is threadedly connected to the cylinder 50 through the slider threaded connecting hole 411 opened thereon.

[0018] See also Figure 8 , 9 (The can is not shown in the figure, and the diameter of the can body is about 48-70mm). When in use, the open-loop hook 43 reaches the pull ring position in advance and is inserted under the pull ring. The cylinder 50 is started to drive the slider 41 to move to the right. The left side of the open-loop hook roller 431 contacts the open-loop hook driving groove 412 of the slider 41 and is driven to move to the right. Since the open-loop hook connecting hole 432 is hinged with the supporting inclined rod 421, the open-loop hook 43 will be Figure 8 The status shown changes to Fig. 9 State, that is, the tip of the ring-opening hook 43 is tilted upward, thereby hooking the pull ring, completing the ring opening of the can beverage.

[0019] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A dexterous instrument hand for gripping cans with multiple diameters and opening pull rings, characterized in that: It includes a clamping mechanism composed of an outer finger, an inner finger, an exoskeleton connecting rod, a transmission connecting rod, an upper connecting plate, and a lower connecting plate, an open-loop mechanism composed of a slider, a lower connecting plate, and an open-loop hook, and a driving mechanism composed of a driving cylinder and an end connecting flange; the driving cylinder drives the slider, thereby driving the transmission connecting rod to move in the corresponding grooves of the upper connecting plate and the lower connecting plate, and during the movement, the outer finger and the inner finger rotate and approach the center at the same time; at the same time, the open-loop mechanism cooperates with the driving mechanism to apply the linear motion of the slider of the clamping mechanism to the open-loop hook motion of the open-loop mechanism.

2. A dexterous instrument hand for gripping cans with multiple diameters and opening pull rings according to claim 1, characterized in that: The outer finger is hingedly connected to the second connecting groove of the inner finger through the outer finger connecting rod; one end of the exoskeleton connecting rod is hingedly connected to the first connecting groove of the outer finger; the transmission connecting rod is hingedly connected to the other end of the exoskeleton connecting rod, one end of the inner finger and the slider at the same time; the connecting plate is hingedly connected and fixed to the driving cylinder and the middle section of the inner finger respectively; the slider is connected to the transmission connecting rod and the open-loop hook, and respectively constitutes a clamping mechanism and an open-loop mechanism with independent functions and complex actions.

3. A dexterous instrument hand for gripping cans with multiple diameters and opening pull rings according to claim 2, characterized in that: The corresponding notches on the upper connecting plate and the lower connecting plate are used to limit the travel of the transmission connecting rod, so as to lock the clamping range of the outer end fingers and the inner end fingers and limit the movement angle of the open loop hook.

4. A dexterous instrument hand for gripping cans with multiple diameters and opening pull rings according to claim 3, characterized in that: The hinges of the clamping mechanism are connected by plug bolts and are also equipped with miniature deep groove ball bearings.

5. A dexterous instrument hand for gripping cans with multiple diameters and opening pull rings according to claim 4, characterized in that: An open-loop hook driving groove is reserved below the slider, and its length is slightly larger than the diameter of the open-loop hook roller, and is used to contact the open-loop hook roller surface on one side when driving the open-loop hook; a notch for the open-loop hook stroke movement is reserved on the lower connecting plate, and the length of the notch is larger than the open-loop hook movement stroke.

6. A dexterous instrument hand for gripping cans with multiple diameters and opening pull rings according to claim 5, characterized in that: The inner contour of the outer finger is a straight line, and the inner contour of the inner finger is an arc. The gripping positions of the outer finger and the inner finger are both covered with anti-slip pads.

7. A dexterous instrument hand for gripping cans with multiple diameters and opening pull rings according to claim 6, characterized in that: The transmission connecting rod has a symmetrical upper supporting boss and a lower supporting boss, and the driving bolt used to connect the transmission connecting rod and the sliding block and limit the stroke is raised and placed in the groove of the connecting plate.

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