Rotatable multifunctional gripping apparatus for short assembly

Abstract

The invention relates to the technical field of rotary grippers, in particular to a short-mounted rotatable multifunctional gripper which comprises a connecting part. And the connecting part is fixedly provided with a rotary support. And the rotary support is rotationally connected with a middle shell. And the middle shell is provided with a motor. The rotary support is provided with insections, and the insections circularly extend to form a ring shape. An output shaft of the motor is connected with a gear meshed with the insection, and the gear annularly moves in the annular extending direction of the insection. The rotary support with the insection is arranged on the connecting part, the motor is inversely arranged on the middle shell, and the gear meshed with the insection of the rotary support is arranged on the output shaft of the motor, so that the limitation of the length of the motor to the length of the whole gripping apparatus is relieved, and the length of the whole gripping apparatus is obviously reduced.

Description

Technical Field

[0001] The invention relates to the technical field of rotary grippers, in particular to a low-profile, rotatable, multifunctional gripper. Background Art

[0002] The gripper is a gripping mechanism consisting of a connecting part, an intermediate body and two mechanical claws. The gripper's gripping position is controlled by the mechanical arm by connecting the gripper's connecting part to the mechanical arm of a crane or other equipment. The length of the mechanical arm is fixed according to the specifications of the mechanical arm equipment, so the shorter the overall length of the gripper, the better the controllability of the gripping work. In order to achieve the effect of shortening the length, the prior art places the telescopic rod that controls the gripping of the gripper horizontally, that is, the two ends of the telescopic rod are respectively connected to half of the mechanical claw, and the clamping and releasing states of the mechanical claw are controlled by the extension and retraction of the telescopic rod. However, in grippers that also have a rotating function, the rotating device is usually arranged between the mechanical claws of the connecting part to control the rotation of the mechanical claws. In the prior art, the motor body is arranged at the connecting part, and the output shaft is connected to the outer shell of the mechanical claw. The rotation of the output shaft drives the outer shell of the mechanical claw to rotate, thereby causing the mechanical claw to rotate. Therefore, the length of the motor body has become an inevitable obstacle to further shortening the length of the entire gripper. Summary of the Invention

[0003] To address the above-mentioned technical problems, the present invention provides the following technical solution: a low-profile, rotatable, multifunctional gripper comprising a connecting portion fixedly provided with a slewing support. The slewing support is rotatably connected to a central housing. The central housing is provided with a motor. The slewing support is provided with teeth that extend cyclically to form a ring. The output shaft of the motor is connected to a gear that meshes with the teeth, and the gear rotates in a circular motion along the direction of the teeth's circular extension.

[0004] The middle shell is symmetrically connected to two mechanical claws in rotation, and the driving ends of the two mechanical claws are connected by a telescopic rod.

[0005] Preferably, the driving ends of the two mechanical claws are provided with a control shaft, and the two mechanical claws include a first mechanical claw and a second mechanical claw, and the two ends of the telescopic rod are respectively hinged to the control shaft of the first mechanical claw and the control shaft of the second mechanical claw. The driving end of the first mechanical claw is provided with a connecting rod shaft and also includes a connecting rod, one end of the connecting rod is hinged to the connecting rod shaft of the first mechanical claw, and the other end of the connecting rod is hinged to the control shaft of the second mechanical claw.

[0006] Preferably, a base plate is provided in the middle shell in a direction away from the connecting part. At the rotation axis angle of the middle shell, the axial distance corresponding to the maximum spacing between the connecting rod shaft and the connecting part is greater than the axial distance corresponding to the spacing between the hinge point of the first mechanical claw and the middle shell and the connecting part, and the axial distance corresponding to the spacing between the base plate and the connecting part is greater than the axial distance corresponding to the maximum spacing between the connecting rod shaft and the connecting part.

[0007] Preferably, the driving ends of the two mechanical claws are provided with limit blocks, and when the two mechanical claws are opened, the two limit blocks are in contact with the middle shell.

[0008] Preferably, the ends of the clamping parts of the two mechanical claws are provided with pressure plates. When the two mechanical claws clamp, the two pressure plates are spliced together and the plate surfaces of the two pressure plates are coplanar.

[0009] Preferably, both mechanical claws are toothed claw type, and a middle limit block is provided on the side of the clamping portion of one of the mechanical claws. When the two mechanical claws clamp, the middle limit block presses against the other mechanical claw.

[0010] Preferably, the telescopic rod is a hydraulic telescopic rod.

[0011] Compared with the prior art, the present invention has the following beneficial effects:

[0012] 1. By installing a toothed slewing support at the connection, placing the motor upside down in the middle housing, and installing a gear on the motor's output shaft that meshes with the toothed slewing support, the motor's length is no longer a limitation on the gripper's overall length, significantly reducing the gripper's overall length.

[0013] 2. The position of the connecting rod shaft is restricted by the hinge point between the intermediate housing and the first mechanical claw, and the bottom plate, so that the connecting rod shaft is always protected by the bottom plate, preventing the connecting rod shaft and the connecting rod from being damaged by the grabbed goods, significantly improving the service life of the equipment;

[0014] 3. The improvement does not involve the specific shape of the mechanical claw. By replacing the mechanical claws of various shapes to achieve multiple grasping functions, it still has the effect of significantly shortening the length of the entire gripper.

[0015] Other advantages, objects and features of the present invention will be described in part in the following description and, in part, will be apparent to those skilled in the art based on an examination of the following or may be learned from the practice of the invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 A three-dimensional view of an embodiment of the present invention;

[0017] Figure 2 is a cross-sectional view of a stereoscopic view of an embodiment of the present invention;

[0018] Figure 3 It is a front view of an embodiment of the present invention.

[0019] Description of reference numerals:

[0020] 1. Connecting part; 2. Slewing support; 3. Middle housing; 4. Motor; 401. Gear; 5. First mechanical claw; 6. Second mechanical claw; 7. Connecting rod; 8. Limit block; 9. Pressure plate. DETAILED DESCRIPTION

[0021] The following will provide a clear and complete description of the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0022] See also Figure 1-Figure 3 The present invention provides a low-profile rotatable multifunctional gripper. It comprises a connecting portion 1, on which a slewing support 2 is fixedly provided, and the slewing support 2 is rotatably connected to a middle shell 3, so that the middle shell 3 can rotate relative to the slewing support 2 and the connecting portion 1. The slewing support 2 and the middle shell 3 are connected in a rotatable manner using conventional existing technology. For example, a connecting column is coaxially provided on the slewing support 2, and a bearing is provided at a position corresponding to the connecting column on the middle shell 3. The slewing support 2 and the middle shell 3 can be connected in a rotatable manner by connecting the connecting column to the bearing. At the same time, the slewing support 2 can be as follows. Figure 2 In the embodiment shown, the connection to the connecting portion 1 is fixed by bolts, and other conventional existing technologies can also be used to connect to the connecting portion 1. The slewing support 2 and the connecting portion 1 can also be made into an integral part.

[0023] The central housing 3 houses a motor 4, and the slewing support 2 is equipped with teeth that extend in a circular pattern. The output shaft of the motor 4 is connected to a gear 401 that meshes with the teeth of the slewing support 2, allowing the gear 401 to move in a circular motion along the direction of the teeth. The motor 4 drives the gear 401 to rotate, causing it to move along the direction of the teeth, thereby causing the central housing 3 to rotate, driven by the gear 401, about the pivot point where the central housing 3 and the slewing support 2 are connected. Furthermore, the provision of the slewing support 2 with an annular tooth pattern frees the motor 4 from positional constraints, allowing it to be positioned anywhere that meshes with the teeth of the slewing support 2. This means that the axis of the motor 4's output shaft no longer coincides with the rotational axis of the entire gripper, as in the prior art. Without changing the connecting portion 1, the gripper's length, previously determined by the length of the motor 4, is now determined by the thickness of the slewing support 2. By simply providing a slewing support 2 of appropriate thickness, the distance between the connecting portion 1 and the central housing 3, and thus the overall gripper length, can be significantly shortened. Even a groove for accommodating the slewing support 2 and the gear 401 can be provided in the connecting portion 1 to further shorten the length of the entire gripper. In this embodiment, the motor 4 is provided in the middle housing 3 so that the middle housing 3 can protect the motor 4.

[0024] Two mechanical claws are symmetrically hinged to the central housing 3. Their driving ends are connected by a telescopic rod, allowing each claw to rotate about its respective hinge point with the central housing 3. When the telescopic rod is retracted, the gripping parts of the two claws open; when the rod is extended, the gripping parts of the two claws clamp. The symmetrical hinged connection of the two claws to the central housing 3 is a conventional design.

[0025] Furthermore, in this embodiment, the connection method between the two mechanical claws adopts a conventional existing technology with a connecting rod 7. Specifically, the driving ends of the two mechanical claws are each provided with a control shaft. The two mechanical claws include a first mechanical claw 5 and a second mechanical claw 6. The ends of the telescopic rod are respectively hinged to the control shaft of the first mechanical claw 5 and the control shaft of the second mechanical claw 6. The clamping portion of the first mechanical claw 5 is provided with a connecting rod 7 shaft, which is arranged parallel to the control shaft. The connecting rod 7 is also included, one end of the connecting rod 7 is hinged to the connecting rod 7 shaft of the first mechanical claw 5, and the other end of the connecting rod 7 is hinged to the control shaft of the second mechanical claw 6. The connecting rod 7 improves the integrity of the synchronous movement of the two mechanical claws.

[0026] Unlike the prior art, a base plate is provided on the middle housing 3, away from the connecting portion 1. At the rotation axis angle of the middle housing 3, the axial distance corresponding to the maximum spacing between the connecting rod 7 shaft and the connecting portion 1 is greater than the axial distance corresponding to the spacing between the hinge point of the first mechanical claw 5 and the middle housing 3 and the connecting portion 1. This is used to determine the position of the connecting rod 7 shaft within the clamping portion of the first mechanical claw 5, allowing it to rotate around the hinge point of the first mechanical claw 5 and the middle housing 3 in response to the rotation of the first mechanical claw 5. The axial distance corresponding to the spacing between the base plate and the connecting portion 1 is greater than the axial distance corresponding to the maximum spacing between the connecting rod 7 shaft and the connecting portion 1, ensuring that the connecting rod 7 shaft is always closer to the connecting portion 1 than the base plate. The setting position of the connecting rod 7 axis in the first mechanical claw 5 is limited by the position of the hinge point between the first mechanical claw 5 and the middle shell 3 and the position of the bottom plate. No matter how the connecting rod 7 axis is set on the first mechanical claw 5, the bottom plate is always located farther away from the connecting part 1 than the connecting rod 7 axis, that is, the bottom plate is always closer to the clamped goods, so that the clamped goods can always be blocked by the bottom plate. No matter how the first mechanical claw 5 rotates, the clamped goods cannot cause damage to the connecting rod 7 axis and the connecting rod 7, thereby significantly improving the service life of the related structures of the connecting rod 7.

[0027] Specifically, the control shaft and the connecting rod 7 are both rotatably connected to the pin shafts of the corresponding mechanical claws.

[0028] Furthermore, to precisely control the position of the gripping parts of the two mechanical claws when they are open, for example, to enable the tips of the two mechanical claws to penetrate the ground or cargo below the gripper at a perpendicular angle to the ground, both mechanical claws are equipped with limit blocks 8 at their driving ends. When the two mechanical claws are open, both limit blocks 8 contact the middle housing 3. The positioning blocks abut the middle housing 3 to limit the opening range of the two mechanical claws, so that when the limit blocks 8 of the two mechanical claws abut the middle housing 3, the tips of the two mechanical claws are precisely perpendicular to the ground.

[0029] Furthermore, to achieve a compacting effect, the ends of the gripping parts of the two mechanical claws are provided with a pressure plate 9. When the two mechanical claws are clamped, the two pressure plates 9 are joined together and the outer surface of the two pressure plates 9 are coplanar to form a single plate surface. The two pressure plates 9 after joining can compact the ground or the cargo.

[0030] Furthermore, the shapes of the two mechanical claws can include any shape known in the art, including both claws having the same shape or each having a different shape. When both claws are toothed, a central stopper is provided on the side of the clamping portion of one claw. When the two claws are clamped, the stopper 8 abuts against the other claw. In a claw-type claw having any number of teeth, such as a three-claw or four-claw model, a central stopper can be provided on the side of any one of the claws. By properly positioning the central stopper, the degree of clamping of the two claws can be controlled.

[0031] Furthermore, the telescopic drive mode of the telescopic rod adopts conventional existing technology. In this embodiment, the telescopic rod is a hydraulic telescopic rod driven by hydraulic pressure.

[0032] Working principle: Connect the gripper to the robotic arm through the connection part 1, connect the motor 4 and the telescopic rod to the external control device, control the opening and closing of the two mechanical claws by controlling the telescopic rod, and change the direction of the entire gripper by controlling the motor 4.

[0033] On the basis of the above implementation scheme, the processors, modules, corresponding control programs, algorithm programs and other supporting technologies mentioned in the present invention can be implemented in combination with existing electrical technology, information technology, software technology and general protocols. They are not within the scope of protection required by the present invention and will not be described in detail in this application.

[0034] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above and that the present invention can be implemented in other specific forms without departing from the spirit or essential characteristics of the present invention. Therefore, the embodiments should be considered in all respects as exemplary and non-restrictive.

Claims

1. A low-profile rotatable multifunctional gripper, comprising a connecting portion (1), characterized in that: The connecting portion (1) is fixedly provided with a rotary support (2), the rotary support (2) is rotatably connected to a middle housing (3), the middle housing (3) is provided with a motor (4), the rotary support (2) is provided with teeth, the teeth extend cyclically to form a ring, the output shaft of the motor (4) is connected to a gear (401) meshing with the teeth, and the gear (401) moves in a ring along the ring extension direction of the teeth; The middle shell (3) is symmetrically hinged with two mechanical claws, and the driving ends of the two mechanical claws are connected by a telescopic rod.

2. The low-profile rotatable multifunctional gripper according to claim 1, characterized in that: The driving ends of the two mechanical claws are both provided with a control shaft, and the two mechanical claws include a first mechanical claw (5) and a second mechanical claw (6), the two ends of the telescopic rod are respectively hinged to the control shaft of the first mechanical claw (5) and the control shaft of the second mechanical claw (6), the driving end of the first mechanical claw (5) is provided with a connecting rod (7) shaft, and also includes a connecting rod (7), one end of the connecting rod (7) is hinged to the connecting rod (7) shaft of the first mechanical claw (5), and the other end of the connecting rod (7) is hinged to the control shaft of the second mechanical claw (6).

3. The low-profile rotatable multifunctional gripper according to claim 2, characterized in that: The middle shell (3) is provided with a bottom plate in a direction away from the connecting portion (1); at the rotation axis angle of the middle shell (3), the axial distance corresponding to the maximum spacing between the connecting rod (7) axis and the connecting portion (1) is greater than the axial distance corresponding to the spacing between the hinge point of the first mechanical claw (5) and the middle shell (3) and the connecting portion (1); and the axial distance corresponding to the spacing between the bottom plate and the connecting portion (1) is greater than the axial distance corresponding to the maximum spacing between the connecting rod (7) axis and the connecting portion (1).

4. The low-profile rotatable multifunctional gripper according to claim 1, characterized in that: The driving ends of the two mechanical claws are both provided with a limit block (8); when the two mechanical claws are opened, the two limit blocks (8) are in contact with the middle shell (3).

5. The low-profile rotatable multifunctional gripper according to claim 1, characterized in that: The ends of the clamping parts of the two mechanical claws are both provided with a pressure plate (9). When the two mechanical claws clamp, the two pressure plates (9) are spliced together and the plate surfaces of the two pressure plates (9) are coplanar.

6. The low-profile rotatable multifunctional gripper according to claim 1, characterized in that: Both of the two mechanical claws are toothed claw type, and a middle limit block is provided on the side of the clamping part of one of the mechanical claws. When the two mechanical claws clamp, the middle limit block presses against the other mechanical claw.

7. The low-profile rotatable multifunctional gripper according to claim 1, characterized in that: The telescopic rod is a hydraulic telescopic rod.

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