An offset mechanical gripper

Abstract

This application provides an offset mechanical gripper, comprising: a gripping mechanism having a first gripping finger and a second gripping finger arranged opposite to each other; and a drive mechanism connected to the gripping mechanism via a movable component. The drive mechanism is located on one side of the gripping mechanism and is used to drive the first and second gripping fingers to open and close for picking up and placing objects. The offset mechanical gripper provided by this application, by placing the drive mechanism on one side of the gripping mechanism, reserves space at the rear end of the mechanical gripper, thereby allowing the mechanical gripper to move laterally to specific areas. This avoids the rear end of the mechanical gripper affecting the planned stroke, facilitating the layout of automated production lines in specific production environments.

Description

Technical Field

[0001] This application relates to the field of material handling equipment technology, and more particularly to an offset mechanical gripper. Background Technology

[0002] A mechanical gripper is an actuator used at the end of industrial machinery to grasp and place objects by controlling its opening and closing movements. Mechanical grippers are suitable for various industrial scenarios such as assembly, handling, and packaging, and can achieve fast and accurate grasping and placement of parts. Therefore, offset mechanical grippers are widely used in automated factories to improve production efficiency.

[0003] In certain automated production line environments, the space on the production line is pre-planned and utilized. If the original production environment is not altered, subsequent modifications to the production line, such as adding robotic arms, can present significant challenges in route planning for certain areas. Traditional robotic arms may be unable to plan their routes, and interference with surrounding equipment during operation can prevent automated grasping. For instance, the drive motors of some conventional robotic grippers are located in the middle to rear end of the gripper, which can interfere with the gripper's grasping stroke. Summary of the Invention

[0004] The technical problem to be solved by this application is to provide an offset mechanical gripper for planning gripping routes in a specific production environment.

[0005] To address the aforementioned technical problems, in a first aspect, this application provides an offset mechanical gripper, comprising:

[0006] The clamping mechanism has a first clamping finger and a second clamping finger that are arranged opposite to each other;

[0007] A drive mechanism is connected to the clamping mechanism via a movable component. The drive mechanism is located on one side of the clamping mechanism and is used to drive the first and second clamping fingers to open and close for picking up and placing objects.

[0008] In some embodiments of this application, the active component includes a first active member and a second active member that are slidably disposed relative to each other, the first active member being connected to the first gripper finger and the second active member being connected to the second gripper finger;

[0009] The driving mechanism includes a driver and a transmission assembly. The transmission assembly is connected to the first movable member and the second movable member. The driver is located on one side of the transmission assembly so that the driver is offset relative to the center of the clamping mechanism. The driver is used to drive the transmission assembly to move, and the transmission assembly is used to drive the first movable member and the second movable member to move.

[0010] In some embodiments of this application, the transmission assembly includes a driving wheel, a driven wheel, and a conveyor belt. The driving wheel is disposed opposite to the first gripper finger, the driven wheel is disposed opposite to the second gripper finger, and the conveyor belt connects the driving wheel and the driven wheel.

[0011] The driver is connected to the drive wheel;

[0012] The first movable component is connected to the conveyor belt via a first connecting block, and the second movable component is connected to the conveyor belt via a second connecting block, with the first connecting block and the second connecting block located on opposite sides of the conveyor belt.

[0013] In some embodiments of this application, the transmission assembly includes a mounting base, a lead screw, a first nut, and a second nut;

[0014] The lead screw is mounted on the mounting base, and the lead screw has a first extension and a second extension with opposite threads;

[0015] The first nut is threadedly connected to the first extension section, and the first nut has a first connecting end, which is fixedly connected to the first movable part.

[0016] The second nut is threadedly connected to the second extension section, and the second nut has a second connecting end, which is fixedly connected to the second movable part;

[0017] The driver is connected to the lead screw.

[0018] In some embodiments of this application, the active component includes a slide rail, a first slider, and a second slider;

[0019] The slide rail has a first slide rail and a second slide rail that are disposed opposite to each other, and the slide rail is located between the first movable member and the second movable member;

[0020] The first slider is slidably disposed on the first slide rail and is fixedly connected to the first movable component;

[0021] The second slider is slidably disposed on the second slide rail and is fixedly connected to the second movable part.

[0022] In some embodiments of this application, the end of the first movable member near the first gripper finger has a first mounting area;

[0023] The second movable member has a second mounting area at the end near the second clamping finger;

[0024] The first clamping component is disposed in the first mounting area and is used to connect the first clamping finger and the first movable part.

[0025] The second clamping assembly is located in the second mounting area and is used to connect the second clamping finger and the second movable member.

[0026] In some embodiments of this application, the first clamping component is rotatably disposed in the first mounting area, and the second clamping component is rotatably disposed in the second mounting area;

[0027] The first clamping component further includes a first abutting portion, with the first abutting portion and the first clamping finger located at both ends of the first clamping component; the second clamping component further includes a second abutting portion, with the second abutting portion and the second clamping finger located at both ends of the second clamping component.

[0028] In operation, when the drive mechanism drives the first movable member and the second movable member to move closer to each other until the first abutting part and the second abutting part come into contact with each other, the first clamping assembly and the second clamping assembly both rotate and move closer to each other so that the first clamping finger and the second clamping finger cooperate to clamp the object.

[0029] In some embodiments of this application, the first movable member has a first limiting portion, and the second movable member has a second limiting portion;

[0030] When the driving mechanism drives the first movable member and the second movable member to move closer to each other so that the first gripping finger and the second gripping finger cooperate to grip an object, one side wall of the first gripping component abuts against the first limiting part, and one side wall of the second gripping component abuts against the second limiting part.

[0031] In some embodiments of this application, a first elastic member and a second elastic member are also included;

[0032] The first elastic member is connected to the first clamping assembly and is used to apply a force toward the first limiting portion to the first clamping assembly so that a portion of the structure of the first clamping assembly abuts against the first limiting portion.

[0033] The second elastic member is connected to the second clamping assembly and is used to apply a force toward the second limiting portion to the second clamping assembly so that a portion of the structure of the second clamping assembly abuts against the second limiting portion.

[0034] In some embodiments of this application, the first clamping assembly includes a first link; the second clamping assembly includes a second link; wherein,

[0035] The first connecting rod includes a first inner rod portion and a first outer rod portion arranged side by side and spaced apart. One end of the first inner rod portion and the first outer rod portion are rotatably disposed in the first mounting area via a rotating shaft. The other end of the first inner rod portion and the first outer rod portion are rotatably connected to the first clamping finger via a rotating shaft.

[0036] The second connecting rod includes a second inner rod portion and a second outer rod portion arranged side by side at intervals. One end of the second inner rod portion and the second outer rod portion are rotatably disposed in the second mounting area via a rotating shaft. The other end of the second inner rod portion and the second outer rod portion are rotatably connected to the second clamping finger via a rotating shaft.

[0037] The beneficial effects of the offset mechanical gripper provided in this application are as follows:

[0038] 1. By setting the drive mechanism on one side of the clamping mechanism, space is reserved at the rear end of the mechanical gripper, allowing the mechanical gripper to move laterally to certain areas. This avoids the rear end of the mechanical gripper affecting the planned stroke and facilitates the layout of automated production lines in specific production environments.

[0039] 2. In this application, the first clamping component is rotatably disposed on the first movable member, and the second clamping component is rotatably disposed on the second movable member. Since the first clamping component also has a first abutting part and the second clamping component also has a second abutting part, when the first movable member and the second movable member are driven to move closer to each other until the first abutting part and the second abutting part contact each other, both the first clamping component and the second clamping component rotate and move closer to each other, so that the first gripper finger and the second gripper finger cooperate to clamp smaller objects, thereby increasing the adaptability of the offset mechanical gripper. Attached Figure Description

[0040] Figure 1 A schematic diagram of the structure of the offset mechanical gripper of the first embodiment provided in this application;

[0041] Figure 2 A schematic diagram of the offset mechanical gripper of the first embodiment provided in this application used in a specific production environment;

[0042] Figure 3 A schematic diagram of the structure of the offset mechanical gripper after disassembly of the drive mechanism, as provided in the embodiments of this application;

[0043] Figure 4 A schematic diagram of the structure of the offset mechanical gripper according to the second embodiment provided in this application;

[0044] Figure 5 A partial structural schematic diagram of the active component provided in the embodiments of this application;

[0045] Figure 6 This is a schematic diagram of the clamping mechanism provided in the embodiments of this application.

[0046] Figure label:

[0047] Drive mechanism 1, driver 11, transmission assembly 12, drive wheel 121, driven wheel 122, conveyor belt 123, first connecting block 124, second connecting block 125, mounting base 126, lead screw 127, first extension section 1271, second extension section 1272, first nut 128, first connecting end 1281, second nut 129, second connecting end 1291; movable assembly 2, first movable member 21, first extension 211, first top plate 212, first limiting part 213, second movable member 22, second extension 221, second top plate 222, second limiting part 223.

[0048] First slider 23, second slider 24, slide rail 25, clamping mechanism 3, first clamping assembly 31, first clamping finger 311, first contact part 312, first connecting rod 313, first inner rod part 3131, first outer rod part 3132, first receiving groove 3133, second clamping assembly 32, second clamping finger 321, second contact part 322, second connecting rod 323, second inner rod part 3231, second outer rod part 3232, second receiving groove 3233, rotating shaft 4, bearing platform 5, object 6, obstacle 7. Detailed Implementation

[0049] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions in the embodiments of this application will be clearly and completely described below. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application. Unless otherwise defined, the technical or scientific terms used herein should have the ordinary meaning understood by those skilled in the art to which this application pertains. The terms "comprising" and similar expressions used herein mean that the element or object preceding the word covers the element or object listed following the word and its equivalents, but does not exclude other elements or objects.

[0050] refer to Figure 1 As shown in the figure, this application embodiment provides an offset mechanical gripper, including a drive mechanism 1, a movable component 2, and a clamping mechanism 3. The clamping mechanism 3 has a first clamping finger 311 and a second clamping finger 321 disposed opposite to each other. The drive mechanism 1 is connected to the clamping mechanism 3 via the movable component 2, and the drive mechanism 1 is located on one side of the clamping mechanism 3, used to drive the first clamping finger 311 and the second clamping finger 321 to open and close for picking up and placing objects.

[0051] In this embodiment, by setting the drive mechanism 1 on one side of the clamping mechanism 3, space can be reserved at the rear end of the mechanical gripper, allowing the mechanical gripper to move laterally to some specific areas, such as an "L"-shaped space, avoiding the rear end of the mechanical gripper from affecting the planned stroke, and facilitating the layout of automated production lines in specific production environments.

[0052] For example, such as Figure 2 As shown, the obstacle 7 causes interference when a conventional mechanical gripper moves laterally to grasp the object 6 located on the support platform 5. However, when the offset mechanical gripper provided in this embodiment is used in a specific production environment, the clamping mechanism 3 can be moved laterally between the obstacle 7 and the support platform 5 to complete the grasping of the object 6.

[0053] refer to Figure 1 and Figure 3 As shown, in some embodiments, the movable component 2 includes a first movable member 21 and a second movable member 22 that are slidably disposed relative to each other. The first movable member 21 is connected to the first gripper finger 311, and the second movable member 22 is connected to the second gripper finger 321. The driving mechanism 1 includes a driver 11 and a transmission assembly 12. The transmission assembly 12 is connected to the first movable member 21 and the second movable member 22. The driver 11 is disposed on one side of the transmission assembly 12 so that the driver 11 is offset relative to the center of the clamping mechanism 3. The driver 11 is used to drive the transmission assembly 12 to move, and the transmission assembly 12 is used to drive the first movable member 21 and the second movable member 22 to move.

[0054] In this embodiment, the first movable member 21 and the second movable member 22 are slidably connected relative to each other via a slide rail 25, a first slider 23, and a second slider 24. Specifically, the slide rail 25 has a first slide rail and a second slide rail disposed opposite to each other, the first slide rail being located on the upper surface of the slide rail 25, and the second slide rail being located on the lower surface of the slide rail 25. The slide rail 25 is placed between the first movable member 21 and the second movable member 22, with the first slide rail closer to the first movable member 21 and the second slide rail closer to the second movable member 22. The first slider 23 is slidably disposed on the first slide rail and fixedly connected to the first movable member 21, and the second slider 24 is slidably disposed on the second slide rail and fixedly connected to the second movable member 22.

[0055] When the driver 11 drives the transmission assembly 12 to move, it can cause the first movable part 21 and the second movable part 22 to move towards or away from each other, thereby controlling the first gripper finger 311 and the second gripper finger 321 to grasp or place objects.

[0056] refer to Figure 1 and Figure 3 As shown, in some embodiments, the transmission assembly 12 includes a drive wheel 121, a driven wheel 122, and a conveyor belt 123. The drive wheel 121 and the driven wheel 122 are spaced apart. The drive wheel 121 is positioned opposite the first gripper finger 311, and the driven wheel 122 is positioned opposite the second gripper finger 321. The conveyor belt 123 connects the drive wheel 121 and the driven wheel 122. The driver 11 is connected to the drive wheel 121. The first movable member 21 is connected to the conveyor belt 123 via a first connecting block 124, and the second movable member 22 is connected to the conveyor belt 123 via a second connecting block 125. The first connecting block 124 and the second connecting block 125 are located on the upper and lower sides of the conveyor belt 123, respectively.

[0057] In this embodiment, the first connecting block 124 is located on the upper part of the conveyor belt 123 and is fixedly connected to the conveyor belt 123, while the second connecting block 125 is located on the lower part of the conveyor belt 123 and is connected to the conveyor belt 123. When the driver 11 drives the drive wheel 121 to rotate clockwise, the driven wheel 122 rotates synchronously through the conveyor belt 123. At this time, the first connecting block 124 drives the first movable member 21 to move to the right, and the second connecting block 125 drives the second movable member 22 to move to the left, thereby completing the clamping action. When the driver 11 drives the drive wheel 121 to rotate counterclockwise, the first connecting block 124 drives the first movable member 21 to move to the left, and the second connecting block 125 drives the second movable member 22 to move to the right, thereby completing the chuck opening action.

[0058] refer to Figure 4As shown, in some embodiments, to position the drive mechanism 1 on one side of the clamping mechanism 3, the transmission assembly 12 can be configured in other forms. For example, the transmission assembly 12 includes a mounting base 126, a lead screw 127, a first nut 128, and a second nut 129. The mounting base 126 is disposed close to the first movable member 21 and the second movable member 22. The lead screw 127 is rotatably mounted on the mounting base 126 and has a first extension 1271 and a second extension 1272 with opposite thread structures. The first nut 128 is threadedly connected to the first extension 1271 and has a first connecting end 1281 extending toward the first movable member 21, which is fixedly connected to the first movable member 21. The second nut 129 is threadedly connected to the second extension 1272. The second nut 129 has a second connecting end 1291 extending toward the second movable member 22. The second connecting end 1291 is fixedly connected to the second movable member 22. The driver 11 is connected to the lead screw 127.

[0059] In this embodiment, the driver 11 is a motor. When the driver 11 rotates, it drives the lead screw 127 to rotate. Since the first nut 128 is installed on the first extension section 1271 and the second nut 129 is installed on the second extension section 1272, the first nut 128 will move to the right and the second nut 129 will move to the left. This will cause the first movable member 21 and the second movable member 22 to move towards each other, ultimately causing the first gripper finger 311 and the second gripper finger 321 to cooperate in gripping the object. When the driver 11 rotates in the opposite direction, the first nut 128 will move to the left and the second nut 129 will move to the right. This will cause the first movable member 21 and the second movable member 22 to move in opposite directions, ultimately causing the first gripper finger 311 and the second gripper finger 321 to release the object.

[0060] refer to Figure 1 and Figure 5 As shown, in some embodiments, the first movable member 21 has a first extension 211 and a first top plate 212 at its end away from the drive mechanism 1, the first extension 211 and the first top plate 212 being spaced apart to form the first mounting area. The second movable member 22 has a second extension 221 and a second top plate 222 at its end away from the drive mechanism 1, the second extension 221 and the second top plate 222 being spaced apart to form the second mounting area. The first clamping assembly 31 is disposed in the first mounting area, and the second clamping assembly 32 is disposed in the second mounting area, such that the first clamping finger 311 and the second clamping finger 321 are disposed opposite to each other.

[0061] In this embodiment, the first top plate 212 is detachably connected to the first extension 211 by bolts, and the second top plate 222 is detachably connected to the second extension 221 by bolts. Furthermore, to ensure the first clamping assembly 31 and the second clamping assembly 32 are symmetrically arranged to guarantee clamping reliability, in this embodiment, the height of the first top plate 212 is set to be the same as the height of the second extension 221, and the height of the second top plate 222 is set to be the same as the height of the first extension 211, thereby making the positions of the formed first mounting area and the second mounting area correspond.

[0062] refer to Figure 1 , Figure 5 and Figure 6 As shown, in some embodiments, the first clamping component 31 is rotatably disposed on the first movable member 21, and the second clamping component 32 is rotatably disposed on the second movable member 22. The first clamping component 31 further includes a first abutment portion 312, with the first abutment portion 312 and the first clamping finger 311 respectively located at both ends of the first clamping component 31. The second clamping component 32 further includes a second abutment portion 322, with the second abutment portion 322 and the second clamping finger 321 respectively located at both ends of the second clamping component 32.

[0063] In the working state, when the driving mechanism 1 drives the first movable part 21 and the second movable part 22 to move closer to each other until the first contact part 312 and the second contact part 322 come into contact with each other, the first clamping component 31 and the second clamping component 32 both rotate and move closer to each other, so that the first clamping finger 311 and the second clamping finger 321 cooperate to clamp the object.

[0064] In this embodiment, by rotating the first clamping component 31 to the first movable member 21 and rotating the second clamping component 32 to the second movable member 22, and since the first clamping component 31 also has a first abutment portion 312 and the second clamping component 32 also has a second abutment portion 322, the driving mechanism 1 drives the first movable member 21 and the second movable member 22 to move closer to each other until the first abutment portion 312 and the second abutment portion 322 come into contact with each other. At this point, both the first clamping component 31 and the second clamping component 32 are rotated and move closer to each other, so that the first gripper finger 311 and the second gripper finger 321 cooperate to clamp smaller objects, thereby increasing the adaptability of the offset mechanical gripper.

[0065] Furthermore, since the first clamping assembly 31 and the second clamping assembly 32 are rotatably disposed, to avoid the problem that the first clamping assembly 31 and the second clamping assembly 32 cannot be clamped and fixed when clamping a large object, in this embodiment, the first extension 211 and the first top plate 212 on the first movable member 21 are each provided with a first limiting part 213 opposite to each other, and the second extension 221 and the second top plate 222 on the second movable member 22 are each provided with a second limiting part 223 opposite to each other. The first clamping assembly 31 is rotatably disposed in the first mounting area formed between the first extension 211 and the first top plate 212, and part of its structure abuts against the first limiting part 213. The second clamping assembly 32 is rotatably disposed in the second mounting area formed between the second extension 221 and the second top plate 222, and part of its structure abuts against the second limiting part 223.

[0066] In this embodiment, both the first limiting part 213 and the second limiting part 223 are limiting groove structures. Parts of the structure on the first clamping component 31 and the structure on the second clamping component 32 are limiting protrusion structures corresponding to the limiting groove structure. When the offset mechanical gripper grips a large object, the cooperation between the limiting protrusion structure and the limiting groove structure prevents the first clamping component 31 and the second clamping component 32 from rotating outward, thus ensuring the stability of the offset mechanical gripper when gripping a large object.

[0067] refer to Figures 1 to 6 As shown, in some embodiments, the offset mechanical gripper further includes a first elastic member and a second elastic member. The first elastic member is connected to the first clamping assembly 31 and is used to apply a force toward the first limiting portion 213 to the first clamping assembly 31 so that a portion of the structure of the first clamping assembly 31 abuts against the first limiting portion 213. The second elastic member is connected to the second clamping assembly 32 and is used to apply a force toward the second limiting portion 223 to the second clamping assembly 32 so that a portion of the structure of the second clamping assembly 32 abuts against the second limiting portion 223.

[0068] In this embodiment, due to the action of the first elastic member and the second elastic member, the first clamping component 31 and the second clamping component 32 will not rotate when they abut against the first limiting part 213 and the second limiting part 223 when no object is clamped, thereby ensuring the stability of the relative state of the first clamping component 31 and the second clamping component 32 when no object is clamped. When the driving mechanism 1 drives the first movable part 21 and the second movable part 22 to move closer to each other until the first abutting part 312 and the second abutting part 322 come into contact with each other, it will overcome the elastic force provided by the first elastic member and the second elastic member, thereby causing the first clamping component 31 and the second clamping component 32 to rotate. At this time, the first elastic member and the second elastic member also play a certain damping role, thereby ensuring the stability when clamping small objects.

[0069] refer to Figures 1 to 6 As shown, in some embodiments, the first clamping assembly 31 includes a first link 313, one end of which is rotatably disposed in the first mounting area, and the other end of which is connected to the first clamping finger 311. The second clamping assembly 32 includes a second link 323, one end of which is rotatably disposed in the second mounting area, and the other end of which is connected to the first clamping finger 311.

[0070] In this embodiment, the first link 313 and the second link 323 are a four-bar linkage to ensure that the angles of the first gripper finger 311 and the second gripper finger 321 do not change during the gripping process, thereby improving the stability of the object gripping.

[0071] Specifically, the first connecting rod 313 includes a first inner rod portion 3131 and a first outer rod portion 3132 arranged side-by-side and spaced apart. One end of each of the first inner rod portion 3131 and the first outer rod portion 3132 is rotatably disposed within the first mounting area via a pivot 4, and the other end of each of the first inner rod portion 3131 and the first outer rod portion 3132 is rotatably connected to the first gripper finger 311 via a pivot 4. The second connecting rod 323 includes a second inner rod portion 3231 and a second outer rod portion 3232 arranged side-by-side and spaced apart. One end of each of the second inner rod portion 3231 and the second outer rod portion 3232 is rotatably disposed within the second mounting area via a pivot 4, and the other end of each of the second inner rod portion 3231 and the second outer rod portion 3232 is rotatably connected to the second gripper finger 321 via a pivot 4.

[0072] In this embodiment, a first receiving groove 3133 is provided on the first outer rod portion 3132, and a first connecting portion is provided within the first receiving groove 3133. The first connecting portion can be a fixing bolt. The first elastic element is a torque spring, which is sleeved on the rotating shaft 4 passing through the first outer rod portion 3132, with one end located in the first receiving groove 3133 and connected to the first connecting portion, and the other end connected to the first movable member 21. A second receiving groove 3233 is provided on the second outer rod portion 3232, and a second connecting portion is provided within the second receiving groove 3233. The second connecting portion can also be a fixing bolt. The second elastic element is a torque spring, which is sleeved on the rotating shaft 4 passing through the second outer rod portion 3232, with one end located in the second receiving groove 3233 and connected to the second connecting portion, and the other end connected to the second movable member 22.

[0073] In some embodiments, the first abutment portion 312 is disposed at one end of the first inner rod portion 3131, and the second abutment portion 322 is disposed at one end of the second inner rod portion 3231. The first abutment portion 312 and the second abutment portion 322 are provided with a locking structure that cooperates with each other. When the first abutment portion 312 and the second abutment portion 322 come into contact, the first abutment portion 312 and the second abutment portion 322 cooperate to lock, so as to ensure the reliability of applying force to the first connecting rod 313 and the second connecting rod 323, and avoid the first connecting rod 313 and the second connecting rod 323 from shaking during movement, thereby further improving the stability of clamping the object.

[0074] In this embodiment, the first abutment 312 is a gear fixedly disposed on the first inner rod 3131, and the second abutment 322 is a gear fixedly disposed on the second inner rod 3231. The locking of the first abutment 312 and the second abutment 322 is achieved by the meshing action of the two gears.

[0075] In some embodiments, a locking groove may be directly formed on the first contact portion 312, and a locking protrusion matching the locking groove may be formed on the second contact portion 322. The locking structure is thus formed by their mutual cooperation during contact.

[0076] In some embodiments, the clamping surface of the first clamping finger 311 is provided with a flexible first pad, and the clamping surface of the second clamping finger 321 is provided with a flexible second pad.

[0077] In this embodiment, a sheet of rubber material can be prepared and then cut into block structures to form the first gasket and the second gasket.

[0078] While the embodiments of this application have been described in detail above, it will be apparent to those skilled in the art that various modifications and variations can be made to these embodiments. However, it should be understood that such modifications and variations fall within the scope and spirit of this application. Furthermore, the application described herein may have other embodiments and can be implemented or carried out in various ways.

Claims

1. An offset mechanical gripper, characterized in that, include: The clamping mechanism has a first clamping finger and a second clamping finger that are arranged opposite to each other; A drive mechanism is connected to the clamping mechanism via a movable component. The drive mechanism is located on one side of the clamping mechanism and is used to drive the first and second clamping fingers to open and close for picking up and putting down objects. The active component includes a first active member and a second active member that are slidably disposed relative to each other, the first active member being connected to the first gripper finger and the second active member being connected to the second gripper finger; The driving mechanism includes a driver and a transmission assembly. The transmission assembly is connected to the first movable member and the second movable member. The driver is located on one side of the transmission assembly so that the driver is offset relative to the center of the clamping mechanism. The driver is used to drive the transmission assembly to move, and the transmission assembly is used to drive the first movable member and the second movable member to move. The first movable component has a first mounting area at the end near the first clamping finger; The second movable member has a second mounting area at the end near the second clamping finger; The first clamping component is disposed in the first mounting area and is used to connect the first clamping finger and the first movable part. The second clamping assembly is located in the second mounting area and is used to connect the second clamping finger and the second movable part. The first clamping component is rotatably disposed in the first mounting area, and the second clamping component is rotatably disposed in the second mounting area; The first clamping component further includes a first abutting portion, with the first abutting portion and the first clamping finger located at both ends of the first clamping component; the second clamping component further includes a second abutting portion, with the second abutting portion and the second clamping finger located at both ends of the second clamping component. In operation, when the drive mechanism drives the first movable member and the second movable member to move closer to each other until the first abutting part and the second abutting part come into contact with each other, the first clamping assembly and the second clamping assembly both rotate and move closer to each other so that the first clamping finger and the second clamping finger cooperate to clamp the object.

2. The offset mechanical gripper according to claim 1, characterized in that, The transmission assembly includes a drive wheel, a driven wheel, and a conveyor belt. The drive wheel is positioned relative to the first gripper finger, the driven wheel is positioned relative to the second gripper finger, and the conveyor belt connects the drive wheel and the driven wheel. The driver is connected to the drive wheel; The first movable component is connected to the conveyor belt via a first connecting block, and the second movable component is connected to the conveyor belt via a second connecting block, with the first connecting block and the second connecting block located on opposite sides of the conveyor belt.

3. The offset mechanical gripper according to claim 1, characterized in that, The transmission assembly includes a mounting base, a lead screw, a first nut, and a second nut; The lead screw is mounted on the mounting base, and the lead screw has a first extension and a second extension with opposite threads; The first nut is threadedly connected to the first extension section, and the first nut has a first connecting end, which is fixedly connected to the first movable part. The second nut is threadedly connected to the second extension section, and the second nut has a second connecting end, which is fixedly connected to the second movable part; The driver is connected to the lead screw.

4. The offset mechanical gripper according to claim 1, characterized in that, The movable components include a slide rail, a first slider, and a second slider; The slide rail has a first slide rail and a second slide rail that are disposed opposite to each other, and the slide rail is located between the first movable member and the second movable member; The first slider is slidably disposed on the first slide rail and is fixedly connected to the first movable component; The second slider is slidably disposed on the second slide rail and is fixedly connected to the second movable part.

5. The offset mechanical gripper according to claim 1, characterized in that, The first movable part has a first limiting part, and the second movable part has a second limiting part; When the driving mechanism drives the first movable member and the second movable member to move closer to each other so that the first gripping finger and the second gripping finger cooperate to grip an object, one side wall of the first gripping component abuts against the first limiting part, and one side wall of the second gripping component abuts against the second limiting part.

6. The offset mechanical gripper according to claim 5, characterized in that, It also includes a first elastic element and a second elastic element; The first elastic member is connected to the first clamping assembly and is used to apply a force toward the first limiting portion to the first clamping assembly so that a portion of the structure of the first clamping assembly abuts against the first limiting portion. The second elastic member is connected to the second clamping assembly and is used to apply a force toward the second limiting portion to the second clamping assembly so that a portion of the structure of the second clamping assembly abuts against the second limiting portion.

7. The offset mechanical gripper according to claim 1, characterized in that, The first clamping assembly includes a first link; the second clamping assembly includes a second link; wherein, The first connecting rod includes a first inner rod portion and a first outer rod portion arranged side by side and spaced apart. One end of the first inner rod portion and the first outer rod portion are rotatably disposed in the first mounting area via a rotating shaft. The other end of the first inner rod portion and the first outer rod portion are rotatably connected to the first clamping finger via a rotating shaft. The second connecting rod includes a second inner rod portion and a second outer rod portion arranged side by side at intervals. One end of the second inner rod portion and the second outer rod portion are rotatably disposed in the second mounting area via a rotating shaft. The other end of the second inner rod portion and the second outer rod portion are rotatably connected to the second clamping finger via a rotating shaft.

Images