Self-adaptive mechanical claw and picking method

Abstract

The invention discloses a self-adaptive mechanical gripper and a picking method, and belongs to the technical field of mechanical automation, the self-adaptive mechanical gripper comprises a first supporting plate, a driving mechanism and a clamping mechanism, the driving mechanism is mounted on the first supporting plate, and the clamping mechanism is mounted below the first supporting plate; the driving mechanism comprises a connecting rod assembly, a rotating shaft rotationally arranged on the first supporting plate and a one-way locking piece installed on the first supporting plate, and the one-way locking piece is matched with the first end of the rotating shaft. The first end of the connecting rod assembly is matched with the second end of the rotating shaft. The second end of the connecting rod assembly is matched with the clamping mechanism. Under the action of the rotating shaft, the connecting rod assembly has a first moving position and a second moving position, and the clamping mechanism is in a clamping state at the first moving position; and at the second moving position, the clamping mechanism is in a released state. The one-way locking piece prevents the rotating shaft from rotating reversely, so that the clamping mechanism forms relatively balanced holding force, the clamping mechanism can be adjusted according to the size and the self weight of the workpiece, and the stability of the clamping mechanism is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of mechanical automation, and in particular to an adaptive mechanical claw and a picking method. Background Art

[0002] As the world's manufacturing industry gradually shifts towards automation and intelligence, machines replacing manual operations has become a major development trend. The extensive use of industrial robots has led to the emergence of a variety of robotic arms or mechanical claws.

[0003] However, if the electric mechanical gripper in the existing technology needs to clamp heavier objects, its own weight and volume will be very large, making it difficult to use in a small space; and although the pneumatic manipulator is smaller in size, its application is subject to certain restrictions due to the limitation of its power source.

[0004] However, when clamping workpieces of varying weights, both pneumatic and electric grippers require a power control unit (PU). This PU adjusts the gripping force based on the workpiece's weight, improving gripping stability. However, using a PU increases production line hardware costs and energy consumption, as well as the complexity of measurement, control, and programming. Summary of the Invention

[0005] The purpose of the present invention is to improve the problem that the existing mechanical claw needs to be equipped with a power control unit to adjust the size of the clamping force, and to provide an adaptive mechanical claw and picking method.

[0006] The technical solutions to achieve the above objectives include the following:

[0007] An adaptive mechanical claw comprises: a first support plate, a driving mechanism, and a clamping mechanism, wherein the driving mechanism is mounted on the first support plate, and the clamping mechanism is mounted under the first support plate;

[0008] The driving mechanism includes a connecting rod assembly, a rotating shaft rotatably disposed on the first support plate, and a one-way locking member mounted on the first support plate, wherein the one-way locking member is engaged with a first end of the rotating shaft; the first end of the connecting rod assembly is engaged with a second end of the rotating shaft, and the second end of the connecting rod assembly is engaged with a clamping mechanism;

[0009] Under the action of the rotating shaft, the connecting rod assembly has a first moving position and a second moving position. In the first moving position, the clamping mechanism is in a clamping state; in the second moving position, the clamping mechanism is in a releasing state.

[0010] In one embodiment, the driving mechanism further includes a gear and a rack, and the adaptive mechanical claw further includes a second support plate, the second support plate being movably disposed on the first support plate, the gear being sleeved outside the rotating shaft, the rack being mounted on the second support plate, and the gear being meshed with the rack;

[0011] The rack has a third moving position and a fourth moving position. When the rack is in the third moving position, the connecting rod assembly is in the second moving position. When the rack is in the fourth moving position, the connecting rod assembly is in the first moving position. There are first avoidance grooves on both sides of the gear, and each of the first avoidance grooves is for the rack to move from the fourth moving position to the third moving position.

[0012] In one embodiment, the gear has a first convex tooth portion and a second convex tooth portion, the first convex tooth portion and the second convex tooth portion are distributed along the circumference of the gear and are symmetrically arranged, and the first convex tooth portion or the second convex tooth portion is engaged with the rack;

[0013] Two oppositely arranged first avoidance grooves are formed between the two end portions of the first protruding tooth and the two end portions of the second protruding tooth.

[0014] In one embodiment, the rack has a third protruding tooth portion and a first paddle, and a second avoidance groove is formed between the first paddle and the third protruding tooth portion;

[0015] The first paddle has a mounting portion and an abutting portion, the mounting portion and the abutting portion being an integral structure, the abutting portion being arc-shaped, the mounting portion of the first paddle being disposed near an end portion of the rack, and the abutting portion of the first paddle facing the third protruding tooth portion;

[0016] On the rack, the abutting portion has a height higher than that of the third protruding tooth portion, and the abutting portion abuts against an end portion of the first protruding tooth portion or the second protruding tooth portion.

[0017] In one embodiment, the driving mechanism further includes a second paddle mounted on the second support plate;

[0018] When the rack is at the third moving position, the second paddle abuts against the one-way locking member.

[0019] In one embodiment, the connecting rod assembly includes a crank, a rocker, a first connecting shaft, a second connecting shaft, and a driving rod, wherein the first end of the crank is fixedly connected to the rotating shaft, the second end of the crank is sleeved on the first end of the first connecting shaft, the first end of the rocker is sleeved on the second end of the first connecting shaft, and the crank is rotatably connected to the rocker via the first connecting shaft;

[0020] The second end of the rocker is rotatably connected to the first end of the driving rod through a second connecting shaft, and the second end of the driving rod is matched with the clamping mechanism.

[0021] In one embodiment, the one-way locking member includes a ratchet and a spring plate, the ratchet is sleeved on the first end of the rotating shaft, the spring plate is installed on the first support plate, and the spring plate is at least partially bent. In the first direction, the end of the spring plate cooperates with the ratchet; in the second direction, the end of the spring plate is against the ratchet.

[0022] In one embodiment, the clamping mechanism includes a support frame and at least three transmission members, the support frame includes a support rod, a connecting rod, and an abutment plate, the number of the support rods and the number of the connecting rods respectively corresponding to the number of the transmission members, the three connecting rods are connected end to end, and the connection between two connecting rods is fixedly connected to the first end of the support rod, and the second end of the support rod is fixedly connected to the lower end of the first support plate;

[0023] The transmission member is arranged between two adjacent support rods, the first end of each transmission member is rotatably connected to the connecting rod assembly, and the second end of each transmission member is rotatably connected to the corresponding connecting rod; the three transmission members are equidistantly distributed around the circumference of the connecting rod assembly, and the end of each transmission member has a hook claw, and a picking position is formed between the three hook claws;

[0024] The abutment plate is installed on the inner side of the support rod and is located in the enclosed space of the three connecting rods. The abutment plate is located above the picking position.

[0025] In one embodiment, the transmission member includes a first transmission rod, a second transmission rod, and a third connecting shaft, wherein the first end of the first transmission rod is rotatably connected to the connecting rod assembly, the second end of the first transmission rod is rotatably connected to the second transmission rod via the third connecting shaft, the second transmission rod is sleeved outside the connecting rod and rotatably connected to the connecting rod, and the hook is mounted on the end of the second transmission rod;

[0026] The hooks are in a bent structure, and the bending direction of each hook is toward the picking position.

[0027] The present invention also proposes a picking method of an adaptive mechanical claw, comprising the following steps:

[0028] Step 1: The clamping mechanism is in an initial state, and the first support plate is moved to move the clamping mechanism to the upper end of the workpiece;

[0029] Step 2: driving the rotating shaft to rotate clockwise, the connecting rod assembly moves from the second moving position to the first moving position, and the clamping mechanism clamps the outer edge of the workpiece;

[0030] Step 3: Move the first support plate to suspend the workpiece in the air. The weight of the workpiece acts on the connecting rod assembly, and the one-way locking member locks the rotating shaft.

[0031] The technical solution provided by the present invention has the following advantages and effects:

[0032] On the one hand, under the action of the rotating shaft, the connecting rod assembly moves from the second moving position to the first moving position, the clamping mechanism is in a clamping state, the clamping force of the clamping mechanism increases, and the clamping mechanism picks up the workpiece. When the first support plate is moved to make the workpiece suspended, the gravity of the workpiece itself will act on the connecting rod assembly, and a rotational torque will be generated between the clamping mechanism and the connecting rod assembly. Due to the cooperation of the one-way locking member at the first end of the rotating shaft, the one-way locking member has a non-returning effect, which prevents the rotating shaft from rotating in the opposite direction, so that a relatively balanced holding force is formed between the connecting rod assembly and the clamping mechanism, preventing the connecting rod assembly from moving toward the second moving position. The clamping mechanism can be adjusted according to the size and deadweight of the workpiece, thereby improving the stability of the clamping mechanism and improving the problem that the existing mechanical claw needs to be equipped with a power control unit to adjust the size of the clamping force.

[0033] On the other hand, the one-way locking member locks the rotating shaft, preventing it from rotating counterclockwise and preventing the connecting rod assembly from moving to the second movable position, thus ensuring a stable clamping force for the clamping mechanism. Furthermore, with each rotation of the rotating shaft, the connecting rod assembly completes a cycle of movement from the second movable position to the first movable position and then to the second movable position again. With each half-turn of the rotating shaft, the connecting rod assembly moves from the second movable position to the first movable position, allowing the clamping mechanism to clamp the workpiece. As the rotating shaft continues to rotate, the connecting rod assembly moves from the first movable position to the second movable position, reducing the clamping force of the clamping mechanism until the workpiece is released, thus completing the automated operation of grasping and releasing the workpiece. The rotating shaft only needs to rotate continuously clockwise to repeatedly complete the grasping and releasing operations of the adaptive mechanical claw. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] The accompanying drawings herein illustrate specific examples of the technical solutions described in the present invention, and together with the specific implementation methods constitute a part of the specification, and are used to explain the technical solutions, principles and effects of the present invention.

[0035] Unless otherwise specified or defined, the same reference numerals in different drawings represent the same or similar technical features, and the same or similar technical features may also be represented by different reference numerals.

[0036] Figure 1 This is a schematic diagram of the structure of an adaptive mechanical claw in one embodiment of the present invention. Figure 1 ;

[0037] Figure 2 This is a schematic diagram of the structure of an adaptive mechanical claw in one embodiment of the present invention. Figure 2 ;

[0038] Figure 3 This is a schematic diagram of the structure of an adaptive mechanical claw in one embodiment of the present invention. Figure 3 ;

[0039] Figure 4 In one embodiment of the present invention Figure 3 A magnified view of point A;

[0040] Figure 5 is a schematic structural diagram of a driving mechanism in one embodiment of the present invention;

[0041] Figure 6 is a schematic structural diagram of a one-way locking member in one embodiment of the present invention;

[0042] Figure 7 is a structural schematic diagram of a clamping mechanism in one embodiment of the present invention;

[0043] Figure 8 is a schematic structural diagram of a gear in one embodiment of the present invention;

[0044] Description of reference numerals:

[0045] 100. Adaptive mechanical claw;

[0046] 1. Housing; 11. First support plate; 12. Second support plate; 13. First sliding guide; 131. Inner rod; 132. Outer rod;

[0047] 2. Driving mechanism; 20. Rotating shaft; 21. Rack; 211. Third convex tooth portion; 22. Gear; 221. First convex tooth portion; 222. First avoidance groove; 223. Second convex tooth portion; 23. Connecting rod assembly; 231. Crank; 232. Rocker; 233. First connecting shaft; 234. Second connecting shaft; 24. Driving rod; 25. One-way locking element; 251. Ratchet; 252. Spring clip; 26. First support; 27. Second support; 28. First paddle; 281. Second avoidance groove; 282. Abutment portion; 283. Mounting portion; 29. ​​Second paddle;

[0048] 3. Clamping mechanism; 31. First transmission member; 311. Hook; 312. First transmission rod; 313. Second transmission rod; 314. Third connecting shaft; 32. Second transmission member; 33. Third transmission member; 34. Second sliding guide; 35. Picking position; 36. Support frame; 361. Support rod; 362. Connecting rod; 363. Abutment plate. DETAILED DESCRIPTION

[0049] To facilitate understanding of the present invention, specific embodiments of the present invention will be described in more detail below with reference to the accompanying drawings.

[0050] Unless otherwise specified or defined, the "first, second..." used in this article is only used to distinguish names and does not represent a specific quantity or order.

[0051] Unless stated otherwise or defined otherwise, the term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0052] It should be noted that when an element is considered to be "fixed to" another element, it can be directly fixed to the other element or there can be an intermediate element; when an element is considered to be "connected to" another element, it can be directly connected to the other element or there can be an intermediate element; when an element is considered to be "mounted on" another element, it can be directly mounted on the other element or there can be an intermediate element. When an element is considered to be "located on" another element, it can be directly located on the other element or there can be an intermediate element.

[0053] The present invention proposes an adaptive mechanical claw 100, such as Figures 1 to 8 As shown, it includes a first support plate 11, a driving mechanism 2, and a clamping mechanism 3. The driving mechanism 2 is installed on the first support plate 11, and the clamping mechanism 3 is installed under the first support plate 11; the driving mechanism 2 includes a connecting rod assembly 23, a rotating shaft 20 rotatably arranged on the first support plate 11, and a one-way locking member 25 installed on the first support plate 11, and the one-way locking member 25 is matched with the first end of the rotating shaft 20; the first end of the connecting rod assembly 23 is matched with the second end of the rotating shaft 20, and the second end of the connecting rod assembly 23 is matched with the clamping mechanism 3; under the action of the rotating shaft 20, the connecting rod assembly 23 has a moving path from top to bottom and from bottom to top; when the connecting rod assembly 23 moves from bottom to top, the clamping force of the clamping mechanism 3 becomes smaller; when the connecting rod assembly 23 moves from top to bottom, the clamping force of the clamping mechanism 3 increases.

[0054] Specifically, the upper end of the first support plate 11 is used to support the drive mechanism 2, and the lower end of the first support plate 11 is used to fix the clamping mechanism 3. The drive mechanism 2 and the clamping mechanism 3 are arranged vertically. The rotating shaft 20 is used to drive the connecting rod assembly 23, so that the connecting rod assembly 23 drives the clamping mechanism 3 to clamp the workpiece. The one-way locking member 25 is used to cooperate with the rotating shaft 20 to lock the rotating shaft 20 in one direction, so that the rotating shaft 20 can only rotate clockwise. When the rotating shaft 20 rotates, when the connecting rod assembly 23 moves from the second movable position to the first movable position, the clamping mechanism 3 enters a clamping state, thereby clamping the workpiece; when the connecting rod assembly 23 moves from the first movable position to the second movable position, the clamping mechanism 3 enters a released state, thereby releasing the workpiece.

[0055] Furthermore, under the action of the rotating shaft 20, the connecting rod assembly 23 moves from the second movable position to the first movable position, the clamping mechanism 3 enters a clamping state, the clamping force of the clamping mechanism 3 increases, and the clamping mechanism 3 picks up the workpiece. When the first support plate 11 is moved, the workpiece is suspended in the air, and the gravity of the workpiece acts on the connecting rod assembly 23, generating a rotational torque between the clamping mechanism 3 and the connecting rod assembly 23. Due to the engagement of the one-way locking member 25 at the first end of the rotating shaft 20, the one-way locking member 25 has a check function, preventing the rotating shaft 20 from rotating in the opposite direction, thereby forming a relatively balanced holding force between the connecting rod assembly 23 and the clamping mechanism 3, preventing the connecting rod assembly 23 from moving toward the second movable position.

[0056] Furthermore, the one-way locking member 25 locks the rotating shaft 20, preventing it from rotating counterclockwise and preventing the connecting rod assembly 23 from moving to the second position, thus ensuring that the clamping mechanism 3 maintains a stable clamping force. Furthermore, with one rotation of the rotating shaft 20, the connecting rod assembly 23 completes a cycle of movement from the second position to the first position and then back to the second position. With a half-turn of the rotating shaft 20, the connecting rod assembly 23 moves from the second position to the first position, allowing the clamping mechanism 3 to clamp the workpiece. With continued rotation of the rotating shaft 20, the connecting rod assembly 23 moves from the first position to the second position, reducing the clamping force of the clamping mechanism 3 until the workpiece is released, thus completing the automated workpiece grasping and releasing operation. The rotating shaft 20 only needs to rotate continuously clockwise to repeatedly complete the grasping and releasing operations of the adaptive mechanical gripper 100.

[0057] In other embodiments, the drive mechanism 2 further includes a gear 22 and a rack 21. The adaptive mechanical claw 100 further includes a second support plate 12, which is movably mounted on the first support plate 11. The gear 22 is sleeved around the rotating shaft 20, and the rack 21 is mounted on the second support plate 12, with the gear 22 meshing with the rack 21. The rack 21 has a third and fourth movable positions. When the rack 21 is in the third movable position, the connecting rod assembly 23 is in the second movable position. When the rack 21 is in the fourth movable position, the connecting rod assembly 23 is in the first movable position. First avoidance grooves 222 are formed on both sides of the gear 22, each of which allows the rack 21 to move from the fourth movable position to the third movable position. The rack 21 is used to drive the gear 22 to rotate, which in turn drives the rotating shaft 20 to rotate, causing the connecting rod assembly 23 to have the first and second movable positions.

[0058] Specifically, by sleevedly arranging the gear 22 outside the rotating shaft 20 and movably arranging the second support plate 12 on the first support plate 11, the rack 21 on the second support plate 12 is engaged with the gear 22. When the second support plate 12 moves downward, the rack 21 moves from the third moving position to the fourth moving position, and the rack 21 drives the gear 22 to rotate clockwise, thereby driving the rotating shaft 20 to rotate clockwise, causing the connecting rod assembly 23 to move back and forth between the second moving position and the first moving position, and driving the clamping mechanism 3 to complete the action of clamping or releasing the workpiece.

[0059] Since there are first avoidance grooves 222 on both sides of the gear 22, when the first avoidance grooves 222 cooperate with the rack 21, the gear 22 stops rotating. At this time, the gear 22 just rotates half a circle, and the first avoidance grooves 222 avoid the rack 21, so that the rack 21 follows the second support plate 12 from the fourth moving position to the third moving position, and then pushes the second support plate 12 downward again, and the rack 21 moves from the third moving position to the fourth moving position again, so that the gear 22 completes the remaining half circle. At this time, the connecting rod assembly 23 moves from the first moving position to the second moving position, and the clamping force of the clamping mechanism 3 becomes smaller until the clamping mechanism 3 releases the workpiece, further completing the grasping and releasing action of the adaptive mechanical claw 100.

[0060] Furthermore, by providing first avoidance grooves 222 on both sides of the gear 22, the rack 21 can smoothly move from the fourth moving position to the third moving position. Even if there is slight interference between the rack 21 and the protruding teeth on the gear 22, the force applied to the shaft 20 by the one-way locking member 25 prevents the rack 21 from driving the gear 22 to rotate counterclockwise during movement, thereby further improving the stability of the connecting rod assembly 23. In this embodiment, the adaptive mechanical claw 100 also includes a housing 1, a first support 26, and a second support 27. The ends of the shaft 20 are used to be mounted on the first support 26 and the second support 27. The first support 26 and the second support 27 have bearing seats that support the shaft 20 and reduce friction on the shaft 20. The housing 1 is mounted outside the first support plate 11 and the second support plate 12, and the drive mechanism 2 is located within the housing 1 to prevent the external environment from affecting the normal operation of the drive mechanism 2.

[0061] Furthermore, by providing first avoidance grooves 222 on either side of the gear 22, the rack 21 is easily reset when the gear 22 rotates unidirectionally. Furthermore, the rack 21 only needs to be driven to move back and forth between the third and fourth positions. The downward movement of the rack 21 drives the gear 22, the shaft 20, and the connecting rod assembly 23, allowing the clamping mechanism 3 to clamp the workpiece. The reciprocating movement of the rack 21 between the two fixed positions is extremely simple and easy to operate. When the workpiece is suspended and moving, the one-way locking member 25 can lock the rotation direction of the shaft 20, ensuring the stability of the connecting rod assembly 23.

[0062] Preferably, Figure 8 As shown, the gear 22 has a first convex tooth portion 221 and a second convex tooth portion 223. The first convex tooth portion 221 and the second convex tooth portion 223 are distributed along the circumference of the gear 22 and are symmetrically arranged. The first convex tooth portion 221 or the second convex tooth portion 223 is engaged with the rack 21; two oppositely arranged first avoidance grooves 222 are formed between the two end portions of the first convex tooth portion 221 and the two end portions of the second convex tooth portion 223.

[0063] Specifically, when the rack 21 moves from the third moving position to the fourth moving position, the first convex tooth portion 221 cooperates with the rack 21 to realize the gear 22 to rotate half a circle; then one of the first avoidance grooves 222 allows the rack 21 to move from the fourth moving position to the third moving position, and when the rack 21 moves from the third moving position to the fourth moving position again, the second convex tooth portion 223 cooperates with the rack 21 to realize the rack 21 to continue to rotate half a circle; through the first convex tooth portion 221 and the second convex tooth portion 223 respectively cooperating with the rack 21, the gear 22 rotates one circle, so that the connecting rod assembly 23 drives the clamping mechanism 3 to complete the grasping and releasing functions.

[0064] In some embodiments, the rack 21 has a third convex tooth portion 211 and a first paddle 28, and a second avoidance groove 281 is provided between the first paddle 28 and the third convex tooth portion 211; the first paddle 38 has a mounting portion 283 and an abutting portion 282, the mounting portion 283 and the abutting portion 282 are an integral structure, and the abutting portion 282 is arc-shaped. The mounting portion 283 of the first paddle 28 is arranged close to the end of the rack 21, and the abutting portion 282 of the first paddle 28 faces the third convex tooth portion 211; on the rack 21, the height of the abutting portion 282 is higher than the height of the third convex tooth portion 211, and the abutting portion 282 abuts against the end of the first convex tooth portion 221 or the second convex tooth portion 223.

[0065] Specifically, the third convex tooth portion 211 is used to engage with the first convex tooth portion 221 or the second convex tooth portion 223, thereby driving the gear 22 to rotate. When the third convex tooth portion 211 is separated from the first convex tooth portion 221 or the second convex tooth portion 223, the rack 21 continues to move downward, and the abutting portion 282 of the first paddle 28 is slightly higher than the third convex tooth portion 211. Its abutting portion 282 abuts against the first convex tooth portion 221 or the second convex tooth portion 223 when moving, and the abutting portion 282 of the first paddle 28 is arc-shaped and has a certain elasticity. The abutting portion 282 pushes the gear 22 to rotate to a certain position, so that the rack 21 is located in the first avoidance groove 222, which facilitates the rack 21 to move from the fourth moving position to the third moving position. The second avoiding groove 281 is used to avoid the protruding teeth at the end of the first protruding tooth portion 221 or the second protruding tooth portion 223 , so as to facilitate the abutment of the first paddle 28 with the protruding teeth at the end of the first protruding tooth portion 221 or the second protruding tooth portion 223 .

[0066] In some embodiments, the drive mechanism 2 further includes a second paddle 29 mounted on the second support plate 12. When the rack 21 moves from the fourth position to the third position, the second paddle 29 abuts against the one-way locking member 25. Specifically, when the rack 21 moves from the third position to the fourth position, the second paddle 29 separates from the one-way locking member 25. When the rack 21 moves from the fourth position to the third position, the second paddle 29 drives the one-way locking member 25 to move slightly. The one-way locking member 25 adjusts the movement of the rotating shaft 20 and the gear 22, causing the first protruding tooth portion 221 or the second protruding tooth portion 223 of the gear 22 to engage with the rack 21, thereby facilitating the rack 21 to drive the gear 22 to rotate.

[0067] Preferably, the adaptive mechanical claw 100 further includes a first sliding guide 13, which includes an inner rod 131 and an outer rod 132. The first end of the inner rod 131 is mounted on the second support plate 12, and the first end of the outer rod 132 is mounted on the first support plate 11. The outer rod 132 is sleeved outside the inner rod 131, and the second end of the inner rod 131 and the second end of the outer rod 132 are slidably engaged. By providing the first sliding guide 13, the inner rod 131 supports the second support plate 12, the outer rod 132 is fixed to the first support plate 11, and the inner rod 131 and the outer rod 132 are slidably connected, which facilitates the up and down movement of the second support plate 12 and the first support plate 11, thereby causing the first support plate 11 to drive the rack 21 to move synchronously, achieving reciprocating movement of the rack 21 between the third and fourth movable positions.

[0068] In other embodiments, the connecting rod assembly 23 includes a crank 231, a rocker 232, a first connecting shaft 233, a second connecting shaft 234, and a driving rod 24. The first end of the crank 231 is fixedly connected to the rotating shaft 20, the second end of the crank 231 is sleeved on the first end of the first connecting shaft 233, the first end of the rocker 232 is sleeved on the second end of the first connecting shaft 233, the crank 231 is rotatably connected to the rocker 232 through the first connecting shaft 233; the second end of the rocker 232 is rotatably connected to the first end of the driving rod 24 through the second connecting shaft 234, and the second end of the driving rod 24 cooperates with the clamping mechanism 3.

[0069] Specifically, when the rotating shaft 20 rotates clockwise, the first end of the crank 231 rotates synchronously with the rotating shaft 20, while the second end of the crank 231 rotates around its first end. Since the two ends of the rocker 232 are rotatably connected to the crank 231 and the drive rod 24 via the first connecting shaft 233 and the second connecting shaft 234, respectively, when the second end of the crank 231 rotates, the first connecting shaft 233 drives the rocker 232 to move, and the rocker 232 drives the drive rod 24 downward. One end of the drive rod 24 passes through the first support plate 11 to engage with the clamping mechanism 3. The rocker 232 has a relatively flexible movement mode, and the first support plate 11 restricts the movement direction of the drive rod 24, so that the drive rod 24 can only move up and down. When the crank 231 rotates half a circle with the rotating shaft 20, the second end of the crank 231 is at the lowest point, that is, it moves to the first moving position, and the connecting rod assembly 23 extends the maximum distance. When the second end of the crank 231 moves upward from the lowest point to the highest point, that is, it moves to the second moving position. Therefore, the connecting rod assembly 23 is driven by the rotating shaft 20 to achieve the up and down movement of the connecting rod assembly 23.

[0070] Preferably, the one-way locking member 25 includes a ratchet 251 and a spring 252. The ratchet 251 is sleeved on the first end of the rotating shaft 20. The spring 252 is mounted on the first support plate 11. The spring 252 is at least partially bent.

[0071] In the first direction, the end of the spring piece 252 engages with the ratchet 251; in the second direction, the end of the spring piece 252 abuts against the ratchet 251. Specifically, the ratchet 251 is fixed to the rotating shaft 20 and rotates synchronously with the rotating shaft 20. When the ratchet 251 rotates in the first direction, the spring piece 252 engages with the ratchet 251. Due to the specific structure of the ratchet 251, the ratchet 251 applies a force that causes the spring piece 252 to slightly deform in the bending direction. When the ratchet 251 rotates in the second direction, the spring piece 252 abuts against the ratchet 251. Due to the specific structure of the ratchet 251, the rotation of the ratchet 251 in the second direction drives the spring piece 252 to produce a large displacement. Due to the elastic force of the spring piece 252 itself, the spring piece 252 hinders the rotation of the ratchet 251, thereby achieving unidirectional rotation of the ratchet 251.

[0072] Preferably, the spring piece 252 can also be replaced by a pawl, which is not particularly limited here.

[0073] Preferably, the first direction is clockwise and the second direction is counterclockwise.

[0074] In other embodiments, the clamping mechanism 3 includes a support frame 36, a first transmission member 31, a second transmission member 32, and a third transmission member 33. The support frame 36 includes a support rod 361, a connecting rod 362, and an abutment plate 363. The number of support rods 361 and the number of connecting rods 362 correspond to the number of transmission members. The three connecting rods 362 are connected end to end, and the connection between the two connecting rods 362 is fixedly connected to the first end of the support rod 361. The second end of the support rod 361 is fixedly connected to the lower end of the first support plate 11.

[0075] The first transmission member 31, the second transmission member 32, and the third transmission member 33 are each disposed between two adjacent connecting rods 362. The first ends of the first transmission member 31, the second transmission member 32, and the third transmission member 33 are all rotatably connected to the connecting rod assembly 23, and the second ends of the first transmission member 31, the second transmission member 32, and the third transmission member 33 are respectively rotatably connected to the corresponding connecting rod 362. The first transmission member 31, the second transmission member 32, and the third transmission member 33 are equidistantly distributed around the circumference of the connecting rod assembly 23. The ends of the first transmission member 31, the second transmission member 32, and the third transmission member 33 each have a hook 311, and a picking position 35 is formed between the three hooks 311.

[0076] The abutting plate 363 is installed on the inner side of the supporting rod 361 and is located in the enclosed space of the three connecting rods 362 . The abutting plate 363 is located above the picking position 35 .

[0077] Specifically, the three connecting rods 362 are surrounded, and the connection points of adjacent connecting rods 362 are fixed to the first support plate 11 through support rods 361. The three support rods 361 are used to support the three connecting rods 362. The connecting rods 362 are also used to support the lower ends of the first transmission member 31, the second transmission member 32, and the third transmission member 33, so that the lower ends of the first transmission member 31, the second transmission member 32, and the third transmission member 33 can rotate around the connecting rod 362, and the first ends of the first transmission member 31, the second transmission member 32, and the third transmission member 33 are rotatably connected to the second end of the driving rod 24.

[0078] Preferably, the hook 311 is made of elastic material. When the hook 311 picks up the workpiece, the hook 311 squeezes the workpiece, and the reaction force generated by the hook 311 acts on the workpiece, thereby improving the stability of the hook 311 when picking up.

[0079] Moreover, the abutment plate 363 is installed on the inner side of the support rod 361 and is located in the enclosed space of the three connecting rods 362. When the first support plate 11 moves to the upper end of the workpiece, in this embodiment, the upper end of the workpiece is disc-shaped, the abutment plate 363 abuts against the upper end surface of the workpiece, and the first support plate 11 cannot move downward, indicating that the clamping mechanism 3 is ready to clamp the workpiece. The upper end of the workpiece is located in the picking position 35, the driving shaft 20 rotates clockwise, and the lower ends of the first transmission member 31, the second transmission member 32, and the third transmission member 33 all rotate around the axis of the connecting rod 362. The three hooks 311 hook the outer edge of the workpiece and pick up the workpiece. The greater the distance the driving rod 24 descends, the greater the force applied by the three hooks 311 to the outer edge of the workpiece, and the tighter the clamping mechanism 3 clamps.

[0080] Preferably, the transmission member includes a first transmission rod 312, a second transmission rod 313, and a third connecting shaft 314. The first end of the first transmission rod 312 is rotatably connected to the connecting rod assembly 23, and the second end of the first transmission rod 312 is rotatably connected to the second transmission rod 313 through the third connecting shaft 314. The second transmission rod 313 is sleeved outside the connecting rod 362 and rotatably connected to the connecting rod 362. The hook 311 is installed at the end of the second transmission rod 313; the hook 311 has a bent structure, and the bending direction of each hook 311 is toward the picking position 35.

[0081] Specifically, because the first transmission rod 312 is rotationally connected to the second transmission rod 313 via the third connecting shaft 314, and the second transmission rod 313 is rotationally connected to the connecting rod 362, when the drive rod 24 moves downward, it drives the first transmission rod 312 to move, and the first transmission rod 312 drives the second transmission rod 313 to move via the third connecting shaft 314. The second transmission rod 313 rotates counterclockwise about the axis of the connecting rod 362, driving the hook 311 to close toward the picking position 35, further clamping the workpiece. When the drive rod 24 moves upward, it drives the first transmission rod 312 to drive the second transmission rod 313 to rotate clockwise about the axis of the connecting rod 362, causing the hook 311 to move away from the picking position 35, further releasing the workpiece.

[0082] The hook claw 311 is bent, and the hook claw 311 rotates counterclockwise to fit the outer edge of the workpiece, and rotates clockwise to separate from the outer edge of the workpiece, thereby further grasping or releasing the workpiece.

[0083] Preferably, the transmission member also includes a second sliding guide member 34, the first end of the second sliding guide member 34 is fixedly connected to the lower end of the first support plate 11, and the second end of the second sliding guide member 34 is fixedly connected to the third connecting shaft 314; this second sliding guide member 34 has a similar structure to the first sliding guide member 13. When the transmission member moves downward, the third connecting shaft 314 drives the second sliding guide member 34 to move downward. The second sliding guide member 34 is used to limit the moving direction of the third connecting shaft 314, thereby improving the stability of the transmission member in the up and down movement.

[0084] The present invention also provides a picking method of the adaptive mechanical gripper 100, comprising the following steps:

[0085] Step 1: The clamping mechanism 3 is in the initial state, and the first support plate 11 is moved to move the clamping mechanism 3 to the upper end of the workpiece;

[0086] Step 2: Drive the rotating shaft 20 to rotate clockwise, and the connecting rod assembly 23 moves from the second moving position to the first moving position, and the clamping mechanism 3 clamps the outer edge of the workpiece;

[0087] Step 3: Move the first support plate 11 to suspend the workpiece in the air. The weight of the workpiece acts on the connecting rod assembly 23 ; the one-way locking member 25 locks the rotating shaft 20 .

[0088] Specifically, to pick up a workpiece, the adaptive gripper 100 moves the first support plate 11, allowing the clamping mechanism 3 to move to the upper end of the workpiece and engage it. The rotating shaft 20 is then driven, driving the connecting rod assembly 23 to clamp the workpiece. The first support plate 11 is then moved again, allowing the adaptive gripper 100 to pick up the workpiece and move it to the preset position. The adaptive gripper 100 is simple to operate; simply rotating the rotating shaft 20 clockwise completes the gripping and releasing actions of the clamping mechanism 3.

[0089] When quoting drawing descriptions, new features that appear are described; in order to avoid repeated quoting of drawings which would result in a less concise description, features that have been described clearly will not be quoted from the drawings one by one.

[0090] The purpose of the above embodiments is to exemplify and deduce the technical solution of the present invention, and to fully describe the technical solution, purpose and effect of the present invention. Its purpose is to enable the public to have a more thorough and comprehensive understanding of the disclosed content of the present invention, and it does not limit the scope of protection of the present invention.

[0091] The above embodiments are not exhaustive and may include many other embodiments not listed above. Any replacements and improvements made without violating the concept of the present invention are within the scope of protection of the present invention.

Claims

1. Adaptive mechanical claw, characterized by: include: A first support plate, a driving mechanism, and a clamping mechanism, wherein the driving mechanism is mounted on the first support plate, and the clamping mechanism is mounted under the first support plate; The driving mechanism includes a connecting rod assembly, a rotating shaft rotatably disposed on the first support plate, and a one-way locking member mounted on the first support plate, wherein the one-way locking member is engaged with a first end of the rotating shaft; the first end of the connecting rod assembly is engaged with a second end of the rotating shaft, and the second end of the connecting rod assembly is engaged with a clamping mechanism; Under the action of the rotating shaft, the connecting rod assembly has a first moving position and a second moving position. In the first moving position, the clamping mechanism is in a clamping state; in the second moving position, the clamping mechanism is in a releasing state.

2. The adaptive mechanical gripper according to claim 1, wherein: The driving mechanism further includes a gear and a rack. The adaptive mechanical claw further includes a second support plate, which is movably disposed on the first support plate. The gear is sleeved outside the rotating shaft, and the rack is mounted on the second support plate, and the gear is meshed with the rack. The rack has a third moving position and a fourth moving position. When the rack is in the third moving position, the connecting rod assembly is in the second moving position. When the rack is in the fourth moving position, the connecting rod assembly is in the first moving position. There are first avoidance grooves on both sides of the gear, and each of the first avoidance grooves is for the rack to move from the fourth moving position to the third moving position.

3. The adaptive mechanical gripper according to claim 2, wherein: The gear has a first convex tooth portion and a second convex tooth portion, the first convex tooth portion and the second convex tooth portion are distributed along the circumference of the gear and are symmetrically arranged, and the first convex tooth portion or the second convex tooth portion is meshed with the rack; Two oppositely arranged first avoidance grooves are formed between the two end portions of the first protruding tooth and the two end portions of the second protruding tooth.

4. The adaptive mechanical gripper according to claim 3, wherein: The rack has a third convex tooth portion and a first paddle, and a second avoidance groove is formed between the first paddle and the third convex tooth portion; The first paddle has a mounting portion and an abutting portion, the mounting portion and the abutting portion being an integral structure, the abutting portion being arc-shaped, the mounting portion of the first paddle being disposed near an end portion of the rack, and the abutting portion of the first paddle facing the third protruding tooth portion; On the rack, the abutting portion has a height higher than that of the third protruding tooth portion, and the abutting portion abuts against an end portion of the first protruding tooth portion or the second protruding tooth portion.

5. The adaptive mechanical gripper according to claim 3, wherein: The driving mechanism further includes a second paddle mounted on the second support plate; When the rack is at the third moving position, the second paddle abuts against the one-way locking member.

6. The adaptive mechanical gripper according to any one of claims 1 to 5, characterized in that: The connecting rod assembly includes a crank, a rocker, a first connecting shaft, a second connecting shaft, and a driving rod, wherein the first end of the crank is fixedly connected to the rotating shaft, the second end of the crank is sleeved on the first end of the first connecting shaft, the first end of the rocker is sleeved on the second end of the first connecting shaft, and the crank is rotatably connected to the rocker via the first connecting shaft; The second end of the rocker is rotatably connected to the first end of the driving rod through a second connecting shaft, and the second end of the driving rod is matched with the clamping mechanism.

7. The adaptive mechanical gripper according to any one of claims 1 to 5, characterized in that: The one-way locking member includes a ratchet and a spring. The ratchet is sleeved on the first end of the rotating shaft, and the spring is installed on the first support plate. The spring is at least partially bent. In the first direction, the end of the spring cooperates with the ratchet; in the second direction, the end of the spring is against the ratchet.

8. The adaptive mechanical gripper according to any one of claims 1 to 5, characterized in that: The clamping mechanism includes a support frame and at least three transmission members, the support frame includes a support rod, a connecting rod, and an abutment plate, the number of the support rods and the number of the connecting rods respectively corresponding to the number of the transmission members, the three connecting rods are connected end to end, and the connection between two connecting rods is fixedly connected to the first end of the support rod, and the second end of the support rod is fixedly connected to the lower end of the first support plate; The transmission member is arranged between two adjacent support rods, the first end of each transmission member is rotatably connected to the connecting rod assembly, and the second end of each transmission member is rotatably connected to the corresponding connecting rod; the three transmission members are equidistantly distributed around the circumference of the connecting rod assembly, and the end of each transmission member has a hook claw, and a picking position is formed between the three hook claws; The abutment plate is installed on the inner side of the support rod and is located in the enclosed space of the three connecting rods. The abutment plate is located above the picking position.

9. The adaptive mechanical gripper according to claim 8, wherein: The transmission member includes a first transmission rod, a second transmission rod, and a third connecting shaft. The first end of the first transmission rod is rotatably connected to the connecting rod assembly. The second end of the first transmission rod is rotatably connected to the second transmission rod via the third connecting shaft. The second transmission rod is sleeved outside the connecting rod and rotatably connected to the connecting rod. The hook is mounted on the end of the second transmission rod. The hooks are in a bent structure, and the bending direction of each hook is toward the picking position.

10. The picking method of the adaptive mechanical claw is characterized in that: The following steps are involved: The clamping mechanism is in an initial state, and the first support plate is moved to move the clamping mechanism to the upper end of the workpiece; The driving shaft rotates clockwise, the connecting rod assembly moves from the second moving position to the first moving position, and the clamping mechanism clamps the outer edge of the workpiece; The first supporting plate is moved to suspend the workpiece in the air, and the deadweight of the workpiece acts on the connecting rod assembly, so that the one-way locking member locks the rotating shaft.

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