Mechanical gripper for the manufacture of mechanical devices

Abstract

The application relates to the technical field of mechanical manufacturing equipment, and discloses a mechanical gripper for mechanical equipment manufacturing, which comprises a driving gear fixedly connected to the outer wall of a driving motor, a driven gear meshingly connected to the outer wall of the driving gear, a rotating ring fixedly connected to the outer wall of the driven gear, an outer ratchet fixedly connected to the outer wall of a gripper support, and a cam placed in the inner cavity between the rotating ring and the outer ratchet. The cam in the inner cavity of the rotating ring and the outer ratchet moves under the driving of the rotating ring. Since the rotating force of the driven gear is relatively large at this time, the cam moves under the driving of the rotating ring. Since the center of mass of the cam is not located at the center of the circle, the cam rotates and moves towards the outer ratchet. When the cam moves rapidly, the teeth arranged on the outer wall of the cam are meshed with the teeth on the inner wall of the outer ratchet, thereby limiting the movement of the driven gear and the driven gripper, so that the possibility of the device losing control of the clamped object is reduced.

Description

Technical Field

[0001] This invention relates to the field of mechanical manufacturing equipment technology, specifically to a mechanical gripper for manufacturing mechanical equipment. Background Technology

[0002] In industrial production, to improve work efficiency and save labor, highly automated production lines are often used for batch processing of parts. Highly automated production lines frequently use mechanical grippers for part transfer, improving transfer efficiency and thus increasing processing efficiency. Mechanical grippers can mimic certain movements of the human arm, clamping and releasing parts to complete the picking and placing operations.

[0003] In actual production, sudden power outages or damage to the transmission gears within the equipment can cause the device to suddenly lose control of the object being held, resulting in the object sliding or falling and potentially injuring nearby operators. If the object is still moving when the gripper is out of control, it may push or collide with people around them, squeezing them against fixed objects such as equipment railings or walls, causing crush injuries or fractures. In densely populated areas of an assembly line, an out-of-control gripper can also trigger a chain reaction of collisions involving multiple people. Summary of the Invention

[0004] To solve the above-mentioned technical problems, the present invention provides a mechanical gripper for manufacturing mechanical equipment, including a robotic arm base, a robotic arm rotatably connected to the inner wall of the robotic arm base, a gripper bracket fixedly connected to the outer wall of the robotic arm, and a drive motor fixedly connected to the outer wall of the gripper bracket, and further including:

[0005] The gripper mechanism is fixedly connected to the outer wall of the drive motor at its inner wall. The gripper mechanism is used to maintain the gripping state of the gripper.

[0006] The anti-slip mechanism is fixedly connected to the outer wall of the gripper bracket, and the anti-slip mechanism is used to interact with the gripper.

[0007] The auxiliary mechanism is fixedly connected to the outer wall of the drive assembly at its inner wall, and is used to assist in clamping.

[0008] A drive gear is fixedly connected to the outer wall of the drive shaft of the drive motor, a driven gear is meshed with the outer wall of the drive gear, and a main gripper is rotatably connected to the outer wall of the drive gear.

[0009] When in use, first place the device in the desired position. When it is necessary to grip an object, the motor built into the robotic arm drives the robotic arm to move the gripper device at the front end to the position of gripping the object. At this time, start the drive motor, and the drive gear will start to rotate under the drive of the drive motor, so that the drive gear and the driven gear rotate in the direction of gripping the object.

[0010] Preferably, the gripper mechanism includes:

[0011] The drive assembly is fixedly connected to the outer wall of the drive motor at its inner wall.

[0012] The gripper assembly is fixedly connected to the outer wall of the drive assembly.

[0013] Preferably, the anti-slip mechanism includes:

[0014] A rotating assembly, the outer wall of which is fixedly connected to the outer wall of the gripper bracket;

[0015] The anti-slip component has an inner wall that meshes with the outer wall of the rotating component.

[0016] Preferably, the auxiliary mechanism includes:

[0017] An auxiliary component is fixedly connected to the outer wall of the drive component at its inner wall.

[0018] An adaptive component is fixedly connected to the inner wall of the drive gear at the outer wall of the adaptive component.

[0019] Preferably, the drive assembly includes a driven gripper rotatably connected to the outer wall of the driven gear, a plurality of connecting rods rotatably connected to the inner wall of the central shaft of the main gripper, a plurality of connecting rods rotatably connected to the inner wall of the central shaft of the driven gripper, and a connecting shaft fixedly connected to the inner wall of the driven gear.

[0020] The rotation of the drive gear and driven gear toward the object to be clamped will cause the main gripper and driven gripper to move synchronously. Under the constraint of the connecting rod, the main gripper and driven gripper will move toward the object to be clamped. When they move to a certain position, the main gripper and driven gripper will clamp the object.

[0021] Preferably, the gripper assembly includes a rotating ring fixedly connected to the outer wall of the driven gear, an external ratchet fixedly connected to the outer wall of the gripper bracket, and a cam placed in the inner cavity between the rotating ring and the external ratchet.

[0022] When the driven gear and drive gear experience problems such as power failure or tooth damage, the meshing between them can become loose. At this time, the drive gear, due to the presence of the drive motor, will continuously receive rotational force from the motor. Meanwhile, the driven gear, due to the loose meshing, will experience a rotational force in the opposite direction of clamping. The cam, placed in the cavity between the rotating ring and the external ratchet, will move under the influence of the rotating ring. Because the rotational force of the driven gear is relatively large at this point, the rotational force of the rotating ring will also be relatively large. Under the influence of the rotating ring, the cam, whose center of mass is not at the center of the circle... The cam rotates while moving towards the outer ratchet. As the cam moves rapidly, the teeth on the outer wall of the cam mesh with the teeth on the inner wall of the outer ratchet. The protrusion on the inner wall of the cam restricts the rotation of the rotating ring. Thus, when the driven gear loosens, the cam restricts the rotation of the rotating ring, thereby restricting the rotation of the driven gear. This prevents the driven gear from completely losing its restraint on the clamped object after the meshing loosens, reducing the probability of the clamped object slipping due to loosening, and thus reducing the probability of accidents causing injury to employees, effectively improving the safety of the device.

[0023] Preferably, the rotating assembly includes a fixing plate fixedly connected to the outer wall of the gripper bracket, a fixing block fixedly connected to the outer wall of the fixing plate, a threaded rod fixedly connected to the inner wall of the fixing block, a rotating rod rotatably connected to the outer wall of the threaded rod, and an anti-slip contact block rotatably connected to the outer wall of the rotating rod.

[0024] Preferably, the anti-slip component includes two five-star plates meshing with the outer wall of the threaded rod, and a number of washers are sleeved on the outer wall of the threaded rod, with the washers arranged in pairs, and a spring fixedly connected to the central axis of the two washers;

[0025] The spring is sleeved on the outer wall of the threaded rod; the outer wall of the rotating rod is slidably connected to the inner wall of the five-star plate.

[0026] As the main and driven grippers gradually clamp the object, the outer wall of the object comes into contact with the anti-slip contact block. This causes the connection between the anti-slip contact block and the rotating rod to move away from the object. Consequently, the rotating rod moves around its connection with the threaded rod in the same direction, further away from the object. Driven by the rotating rod, the five-star plate rotates along its engagement point with the threaded rod towards the fixed block. At this point, under the action of the spring, several washers transfer the potential energy stored in the spring to the five-star plate, causing it to move closer to the fixed block. The greater the force required, the more difficult it becomes to rotate the five-star plate. This increases the difficulty of rotating the rotating rod, and as the main gripper and driven gripper clamp the object, the pressure of the anti-slip contact block on the object gradually increases. This causes interaction between the main gripper, driven gripper, anti-slip contact block, and object, increasing the device's restriction on the object and making the clamping more stable. This reduces the probability of the object slipping, thereby increasing the stability of the object's movement under the robot arm's drive, reducing the probability of slipping, and enhancing the device's safety.

[0027] Preferably, the auxiliary component includes a rotating gear fixedly connected to the outer wall of several connecting rods, a small gear meshing with the outer wall of the rotating gear, and several auxiliary grippers fixedly connected to the outer wall of the small gear.

[0028] The inner wall of the pinion is rotatably connected to the outer wall of the main gripper.

[0029] When the main gripper and driven gripper interact to clamp an object, the structure of the contact surfaces between the main gripper and driven gripper and the object causes the object to move towards the gripper support as the gripper gradually tightens. Due to the shape of the object and the different positions of the object each time it is clamped, the object moves a different distance towards the gripper support, resulting in different states and positions of the object each time. The auxiliary components located on the inner walls of the main gripper and driven gripper drive the rotating gear to rotate when the connecting rod rotates. The rotation of the rotating gear causes the pinion to rotate in the opposite direction, which in turn causes the auxiliary gripper to move towards the object. Thus, the main gripper, driven gripper, and auxiliary gripper interact to confine the object to a certain position within the device, ensuring that the position of the object does not change significantly each time. This reduces the possibility of the object colliding with other objects due to changes in the position and state of the object, thereby improving the safety of the device.

[0030] Preferably, the adaptive component includes two inner cavities formed on the inner walls of the main gripper and the driven gripper, a plurality of piston rods are fixedly connected to the inner walls of the two inner cavities, a sliding sleeve is slidably connected to the plurality of piston rods, and a through hole is formed on the outer wall of the sliding sleeve.

[0031] The outer wall of the sliding sleeve is slidably connected to the outer wall of the driven gripper.

[0032] Before clamping an irregularly shaped object, the inner cavity is filled with hydraulic oil. When the device clamps the object, a portion of the sliding sleeve first contacts the surface of the irregular object, causing the hydraulic oil inside the piston rod and sliding sleeve to be squeezed into the inner cavity through the through hole. At this time, the squeezed hydraulic oil enters the other portion of the sliding sleeve, causing this portion of the sliding sleeve to move towards the clamping point. When both portions of the sliding sleeve are in contact with the object, both portions of the sliding sleeve stop moving. This allows the multiple sliding sleeves to change according to the shape of the object's surface, resulting in more even force distribution and less slippage when clamping irregular objects, increasing clamping stability and improving the device's safety.

[0033] The present invention has the following beneficial effects:

[0034] (1) In order to solve the problem that when the device is clamping an object, the clamped object may slip due to power failure, gear damage or other problems, which may cause the clamped object to slip or fall and cause safety accidents, the present invention is equipped with a gripper mechanism. When the drive gear and the driven gear are loosely engaged, the driven gear has a large rotational force, which will cause the rotating ring to have a large rotational force. Under the drive of the rotating ring, the cam, whose center of mass is not in the center position, moves towards the external ratchet while rotating. This causes the cam to restrict the rotation of the rotating ring when the driven gear is loosely engaged, thereby restricting the rotation of the driven gear. This ensures that the driven gear will not completely lose its restraint on the clamped object after the engagement is loose, thereby reducing the probability of the clamped object slipping due to the loose engagement, and thus reducing the probability of the accident causing injury to the employees, effectively improving the safety of the device.

[0035] (2) To address the issue that when the device clamps an object, the object's position within the clamping jaws varies with the size of the object and the clamping position, increasing the likelihood of collisions and accidents, the present invention provides an auxiliary component. When the main and driven jaws interact to clamp an object, the structure of the contact surfaces between the main and driven jaws and the object causes the object to move towards the jaw support as it gradually clamps. The shape of the object and its varying position during each clamping action contribute to this problem. The object being gripped moves a distance toward the gripper bracket to varying degrees, resulting in different states and positions for each gripping action. Auxiliary components located on the inner walls of the main and driven grippers drive a rotating gear when the connecting rod rotates. This rotation of the gear causes a small gear to rotate in the opposite direction, causing the auxiliary gripper to move toward the object being gripped. This interaction between the main, driven, and auxiliary grippers confines the object to a specific position within the device, minimizing changes in its position and reducing the likelihood of collisions with other objects due to changes in its position or state, thus improving the device's safety.

[0036] (3) To address the issue that the clamping force on an object is too uniform when the gripper is holding it, leading to the possibility of slippage and increasing the risk of accidents, this invention includes an anti-slip mechanism. As the main and driven grippers gradually clamp the object, the outer wall of the object comes into contact with the anti-slip contact block. This causes the connection between the anti-slip contact block and the rotating rod to move away from the object. Consequently, the rotating rod moves away from the object around its connection with the threaded rod. Under the influence of the rotating rod, the five-star plate rotates along its meshing point with the threaded rod towards the fixed block. At this point, under the action of the spring, if... The shim transfers the potential energy stored in the spring to the five-star plate, making the force required to move the five-star plate closer to the fixed block greater. This makes it increasingly difficult for the five-star plate to rotate, which in turn increases the difficulty of rotating the rotating rod. As the main gripper and driven gripper clamp the object, the pressure of the anti-slip contact block on the object gradually increases. This interaction between the main gripper, driven gripper, anti-slip contact block, and object increases the restriction of the clamped object, making the clamping more stable and reducing the probability of the object slipping. This, in turn, increases the stability of the object's movement under the action of the robotic arm, further reduces the probability of slipping, and enhances the safety of the device.

[0037] (4) To address the problem that traditional rigid grippers may slip when gripping irregular objects such as curved surfaces due to insufficient contact points or uneven force, this invention provides an adaptive component. Before gripping an irregular object, the inner cavity is first filled with hydraulic oil. When the device grips the object, a portion of the sliding sleeve will first contact the surface of the irregular object, causing the hydraulic oil inside the piston rod and sliding sleeve to be squeezed into the inner cavity through the through hole. At this time, the squeezed hydraulic oil will enter the other portion of the sliding sleeve, causing this portion of the sliding sleeve to move towards the gripper. When both portions of the sliding sleeve are in contact with the object, both portions of the sliding sleeve will stop moving. This allows the multiple sliding sleeves to change with the shape of the object's surface, resulting in more uniform force and less slippage when gripping irregular objects, increasing gripping stability and improving the safety of the device. Attached Figure Description

[0038] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0039] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0040] Figure 2 This is a cross-sectional view of the overall structure of the present invention;

[0041] Figure 3 This is a schematic diagram of the gripper mechanism of the present invention;

[0042] Figure 4 This is a cross-sectional schematic diagram of the driving component of the present invention;

[0043] Figure 5 This is a schematic diagram of the gripper assembly of the present invention;

[0044] Figure 6 This is a cross-sectional schematic diagram of the rotating component of the present invention;

[0045] Figure 7 This is a cross-sectional schematic diagram of the anti-slip component of the present invention;

[0046] Figure 8 This is a cross-sectional schematic diagram of the auxiliary mechanism of the present invention;

[0047] Figure 9 This is a cross-sectional schematic diagram of the auxiliary component of the present invention;

[0048] Figure 10 This is a cross-sectional schematic diagram of the adaptive component of the present invention.

[0049] The attached diagram lists the components represented by each number as follows:

[0050] In the diagram: 1. Gripper mechanism; 11. Drive assembly; 12. Gripper assembly; 13. Robotic arm base; 14. Robotic arm; 15. Gripper bracket; 16. Drive motor; 111. Drive gear; 112. Driven gear; 113. Main gripper; 114. Driven gripper; 115. Connecting rod; 116. Connecting shaft; 121. Rotating ring; 122. External ratchet; 123. Cam; 2. Anti-slip mechanism; 21. Rotating assembly; 22. Anti-slip component; 211, fixing plate; 212, fixing block; 213, threaded rod; 214, rotating rod; 215, anti-slip contact block; 221, five-star plate; 222, gasket; 223, spring; 3, auxiliary mechanism; 31, auxiliary component; 32, adaptive component; 311, rotating gear; 312, pinion; 313, auxiliary gripper; 321, inner cavity; 322, piston rod; 323, sliding sleeve; 324, through hole. Detailed Implementation

[0051] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0052] Example 1, please refer to Figures 1-6 This invention relates to a mechanical gripper manufactured for mechanical equipment, comprising a robotic arm base 13, a robotic arm 14 rotatably connected to the inner wall of the robotic arm base 13, a gripper bracket 15 fixedly connected to the outer wall of the robotic arm 14, and a drive motor 16 fixedly connected to the outer wall of the gripper bracket 15, and further comprising:

[0053] The gripper mechanism 1 is fixedly connected to the outer wall of the drive motor 16 at its inner wall. The gripper mechanism 1 is used to maintain the gripping state of the gripper.

[0054] Anti-slip mechanism 2, the outer wall of anti-slip mechanism 2 is fixedly connected to the outer wall of gripper bracket 15, and anti-slip mechanism 2 is used to interact with gripper;

[0055] The auxiliary mechanism 3 is fixedly connected to the outer wall of the drive assembly 11 at its inner wall and is used to assist in clamping.

[0056] A drive gear 111 is fixedly connected to the outer wall of the drive shaft of the drive motor 16, a driven gear 112 is meshed with the outer wall of the drive gear 111, and a main gripper 113 is rotatably connected to the outer wall of the drive gear 111.

[0057] When in use, first place the device in the desired position. When it is necessary to grip an object, the motor built into the robotic arm 14 drives the robotic arm 14 to move the gripper device at the front end to the position of gripping the object. At this time, start the drive motor 16, and the drive gear 111 will start to rotate under the drive of the drive motor 16, so that the drive gear 111 and the driven gear 112 rotate in the direction of gripping the object.

[0058] The gripper mechanism 1 includes:

[0059] The inner wall of the drive assembly 11 is fixedly connected to the outer wall of the drive motor 16.

[0060] The gripper assembly 12 is fixedly connected to the outer wall of the drive assembly 11.

[0061] Anti-slip mechanism 2 includes:

[0062] Rotating component 21, the outer wall of rotating component 21 is fixedly connected to the outer wall of gripper bracket 15;

[0063] Anti-slip component 22, the inner wall of anti-slip component 22 is engaged with the outer wall of rotating component 21.

[0064] Auxiliary mechanism 3 includes:

[0065] Auxiliary component 31, the inner wall of auxiliary component 31 is fixedly connected to the outer wall of drive component 11;

[0066] The adaptive component 32 is fixedly connected to the inner wall of the drive gear 111 at the outer wall of the adaptive component 32.

[0067] The drive assembly 11 includes a driven gripper 114 rotatably connected to the outer wall of the driven gear 112, a plurality of connecting rods 115 rotatably connected to the inner wall of the central shaft of the main gripper 113, a plurality of connecting rods 115 rotatably connected to the inner wall of the central shaft of the driven gripper 114, and a connecting shaft 116 fixedly connected to the inner wall of the driven gear 112.

[0068] The rotation of the drive gear 111 and driven gear 112 toward the object being clamped will cause the main gripper 113 and driven gripper 114 to move synchronously. Under the constraint of the connecting rod 115, the main gripper 113 and driven gripper 114 will move toward the object being clamped. When they move to a certain position, the main gripper 113 and driven gripper 114 will clamp the object.

[0069] The gripper assembly 12 includes a rotating ring 121 fixedly connected to the outer wall of the driven gear 112, an external ratchet 122 fixedly connected to the outer wall of the gripper bracket 15, and a cam 123 placed in the inner cavity between the rotating ring 121 and the external ratchet 122.

[0070] When the driven gear 112 and the drive gear 111 experience problems such as power failure or tooth damage, the meshing between them may become loose. At this time, due to the presence of the drive motor 16, the drive gear 111 will continuously receive rotational force from the drive motor 16. Meanwhile, the driven gear 112, due to the loose meshing, will experience a rotational force in the opposite direction of clamping. At this point, the cam 123, placed in the cavity between the rotating ring 121 and the external ratchet 122, will move under the influence of the rotating ring 121. Because the rotational force of the driven gear 112 is relatively large at this time, the rotational force of the rotating ring 121 will also be relatively large. Under the influence of the rotating ring 121, the cam 123, due to its center of gravity... The cam 123 is not located at the center, so that it rotates while moving towards the outer ratchet 122. When the cam 123 moves rapidly, the teeth on the outer wall of the cam 123 mesh with the teeth on the inner wall of the outer ratchet 122. The protrusion on the inner wall of the cam 123 restricts the rotation of the rotating ring 121. Thus, when the driven gear 112 is loosened, the cam 123 restricts the rotation of the rotating ring 121, thereby restricting the rotation of the driven gear 112. This ensures that the driven gear 112 does not completely lose its restraint on the clamped object after the engagement is loosened, thereby reducing the probability of the clamped object slipping due to the loose engagement, and thus reducing the probability of accidents causing injury to employees, effectively improving the safety of the device.

[0071] Example 2, please refer to Figures 2-10 The present invention relates to a mechanical gripper manufactured by a mechanical device. Based on Example 1, the rotating assembly 21 includes a fixing plate 211 fixedly connected to the outer wall of the gripper bracket 15, a fixing block 212 fixedly connected to the outer wall of the fixing plate 211, a threaded rod 213 fixedly connected to the inner wall of the fixing block 212, a rotating rod 214 rotatably connected to the outer wall of the threaded rod 213, and an anti-slip contact block 215 rotatably connected to the outer wall of the rotating rod 214.

[0072] The anti-slip component 22 includes two five-star plates 221 that are engaged with the outer wall of the threaded rod 213. Several washers 222 are sleeved on the outer wall of the threaded rod 213. The several washers 222 are in pairs. A spring 223 is fixedly connected to the central axis of the two washers 222.

[0073] Spring 223 is sleeved on the outer wall of threaded rod 213; the outer wall of rotating rod 214 is slidably connected to the inner wall of five-star plate 221.

[0074] As the main gripper 113 and driven gripper 114 gradually clamp the object, the outer wall of the object comes into contact with the anti-slip contact block 215. This causes the connection between the anti-slip contact block 215 and the rotating rod 214 to move away from the object. Consequently, the rotating rod 214 moves around its connection with the threaded rod 213 away from the object. Driven by the rotating rod 214, the five-star plate 221 rotates along its engagement point with the threaded rod 213 towards the fixed block 212. At this time, under the action of the spring 223, several washers 222 transfer the potential energy stored in the spring 223 to the five-star plate 221, thereby causing the five-star plate 221 to rotate. The closer 21 is to the fixed block 212, the greater the force required, which makes it increasingly difficult for the five-star plate 221 to rotate. This makes it more difficult to rotate the rotating rod 214. As the main gripper 113 and the driven gripper 114 clamp the object, the pressure of the anti-slip contact block 215 on the object gradually increases. This causes the main gripper 113, the driven gripper 114, the anti-slip contact block 215, and the object to interact with each other. This increases the restriction of the device on the object, making the clamping more stable and reducing the probability of the object sliding. This increases the stability of the object moving under the action of the robotic arm 14, reduces the probability of the object sliding, and enhances the safety of the device.

[0075] The auxiliary component 31 includes a rotating gear 311 fixedly connected to the outer wall of several connecting rods 115, a small gear 312 meshing with the outer wall of the rotating gear 311, and several auxiliary grippers 313 fixedly connected to the outer wall of the small gear 312.

[0076] The inner wall of the pinion 312 is rotatably connected to the outer wall of the main gripper 113.

[0077] When the main gripper 113 and the driven gripper 114 interact to clamp an object, due to the structure of the contact surfaces between the main gripper 113 and the driven gripper 114 and the object, the object will move towards the gripper support 15 as the main gripper 113 and the driven gripper 114 gradually clamp the object. However, due to the shape of the object and the different positions of the object each time it is clamped, the object will move to the gripper support 15 by different distances, resulting in different states and positions of the object each time. The auxiliary grippers located on the inner walls of the main gripper 113 and the driven gripper 114... When the connecting rod 115 rotates, component 31 drives the rotating gear 311 to rotate. The rotation of the rotating gear 311 causes the pinion 312 to rotate in the opposite direction, which in turn causes the auxiliary gripper 313 to move towards the object being gripped. This allows the main gripper 113, the driven gripper 114, and the auxiliary gripper 313 to interact, thereby confining the object to a certain position within the device. This prevents the position of the object from changing too much each time, reducing the possibility of the object colliding with other objects due to changes in its position or state, and improving the safety of the device.

[0078] The adaptive component 32 includes two inner cavities 321 opened on the inner walls of the main gripper 113 and the driven gripper 114. A plurality of piston rods 322 are fixedly connected to the inner walls of the two inner cavities 321. A sliding sleeve 323 is slidably connected to the plurality of piston rods 322. A through hole 324 is opened on the outer wall of the sliding sleeve 323.

[0079] The outer wall of the sliding sleeve 323 is slidably connected to the outer wall of the driven jaw 114.

[0080] Before clamping an irregular object, the inner cavity 321 is filled with hydraulic oil. When the device clamps the object, a portion of the sliding sleeve 323 will first contact the surface of the irregular object, causing the hydraulic oil inside the piston rod 322 and the sliding sleeve 323 to be squeezed into the inner cavity 321 through the through hole 324. At this time, the squeezed hydraulic oil will enter the other portion of the sliding sleeve 323, causing this portion of the sliding sleeve 323 to move towards clamping. When both portions of the sliding sleeve 323 are in contact with the object, both portions of the sliding sleeve 323 will stop moving. This allows the multiple sliding sleeves 323 to change with the shape of the object's surface, making the force more even and less prone to slippage when clamping irregular objects, increasing clamping stability and improving the safety of the device.

[0081] A specific application of this embodiment is as follows: When in use, the device is first placed in the desired position. When it is necessary to grip an object, the motor built into the robotic arm 14 drives the robotic arm 14 to move the gripper device at its front end to the position of gripping the object. At this time, the drive motor 16 is started, and the drive gear 111 will start to rotate under the drive of the drive motor 16, so that the drive gear 111 and the driven gear 112 rotate in the direction of gripping the object, thereby driving the main gripper 113 and the driven gripper 114 to move synchronously. Under the restriction of the connecting rod 115, the main gripper 113 and the driven gripper 114 will move towards the object to be gripped. When they move to a certain position, the main gripper 113 and the driven gripper 114 will grip the object.

[0082] When the driven gear 112 and the drive gear 111 experience problems such as power failure or tooth damage, the meshing between them may become loose. At this time, due to the presence of the drive motor 16, the drive gear 111 will continuously receive rotational force from the drive motor 16. Meanwhile, the driven gear 112, due to the loose meshing, will experience a rotational force in the opposite direction of clamping. At this point, the cam 123, placed in the cavity between the rotating ring 121 and the external ratchet 122, will move under the influence of the rotating ring 121. Because the rotational force of the driven gear 112 is relatively large at this time, the rotational force of the rotating ring 121 will also be relatively large. Under the influence of the rotating ring 121, the cam 123, due to its center of gravity... The cam 123 is not located at the center, so that it rotates while moving towards the outer ratchet 122. When the cam 123 moves rapidly, the teeth on the outer wall of the cam 123 mesh with the teeth on the inner wall of the outer ratchet 122. The protrusion on the inner wall of the cam 123 restricts the rotation of the rotating ring 121. Thus, when the driven gear 112 is loosened, the cam 123 restricts the rotation of the rotating ring 121, thereby restricting the rotation of the driven gear 112. This ensures that the driven gear 112 does not completely lose its restraint on the clamped object after the engagement is loosened, thereby reducing the probability of the clamped object slipping due to the loose engagement, and thus reducing the probability of accidents causing injury to employees, effectively improving the safety of the device.

[0083] As the main gripper 113 and driven gripper 114 gradually clamp the object, the outer wall of the object comes into contact with the anti-slip contact block 215. This causes the connection between the anti-slip contact block 215 and the rotating rod 214 to move away from the object. Consequently, the rotating rod 214 moves around its connection with the threaded rod 213 away from the object. Driven by the rotating rod 214, the five-star plate 221 rotates along its engagement point with the threaded rod 213 towards the fixed block 212. At this time, under the action of the spring 223, several washers 222 transfer the potential energy stored in the spring 223 to the five-star plate 221, thereby causing the five-star plate 221 to rotate. The closer 21 is to the fixed block 212, the greater the force required, which makes it increasingly difficult for the five-star plate 221 to rotate. This makes it more difficult to rotate the rotating rod 214. As the main gripper 113 and the driven gripper 114 clamp the object, the pressure of the anti-slip contact block 215 on the object gradually increases. This causes the main gripper 113, the driven gripper 114, the anti-slip contact block 215, and the object to interact with each other. This increases the restriction of the device on the object, making the clamping more stable and reducing the probability of the object sliding. This increases the stability of the object moving under the action of the robotic arm 14, reduces the probability of the object sliding, and enhances the safety of the device.

[0084] When the main gripper 113 and the driven gripper 114 interact to clamp an object, due to the structure of the contact surfaces between the main gripper 113 and the driven gripper 114 and the object, the object will move towards the gripper support 15 as the main gripper 113 and the driven gripper 114 gradually clamp the object. However, due to the shape of the object and the different positions of the object each time it is clamped, the object will move to the gripper support 15 by different distances, resulting in different states and positions of the object each time. The auxiliary grippers located on the inner walls of the main gripper 113 and the driven gripper 114... When the connecting rod 115 rotates, component 31 drives the rotating gear 311 to rotate. The rotation of the rotating gear 311 causes the pinion 312 to rotate in the opposite direction, which in turn causes the auxiliary gripper 313 to move towards the object being gripped. This allows the main gripper 113, the driven gripper 114, and the auxiliary gripper 313 to interact, thereby confining the object to a certain position within the device. This prevents the position of the object from changing too much each time, reducing the possibility of the object colliding with other objects due to changes in its position or state, and improving the safety of the device.

[0085] Before clamping an irregular object, the inner cavity 321 is filled with hydraulic oil. When the device clamps the object, a portion of the sliding sleeve 323 will first contact the surface of the irregular object, causing the hydraulic oil inside the piston rod 322 and the sliding sleeve 323 to be squeezed into the inner cavity 321 through the through hole 324. At this time, the squeezed hydraulic oil will enter the other portion of the sliding sleeve 323, causing this portion of the sliding sleeve 323 to move towards clamping. When both portions of the sliding sleeve 323 are in contact with the object, both portions of the sliding sleeve 323 will stop moving. This allows the multiple sliding sleeves 323 to change with the shape of the object's surface, making the force more even and less prone to slippage when clamping irregular objects, increasing clamping stability and improving the safety of the device.

[0086] The preferred embodiments of the present invention disclosed above are merely illustrative of the invention. These preferred embodiments do not exhaustively describe all details, nor do they limit the invention to the specific implementations described. Clearly, many modifications and variations can be made based on the content of this specification. This specification selects and specifically describes these embodiments to better explain the principles and practical applications of the invention, thereby enabling those skilled in the art to better understand and utilize the invention. The invention is limited only by the claims and their full scope and equivalents.

Claims

1. A mechanical gripper manufactured by a mechanical device, comprising a robotic arm base (13), a robotic arm (14) rotatably connected to the inner wall of the robotic arm base (13), a gripper bracket (15) fixedly connected to the outer wall of the robotic arm (14), and a drive motor (16) fixedly connected to the outer wall of the gripper bracket (15), characterized in that, Also includes: Clamping jaw mechanism (1), the inner wall of the clamping jaw mechanism (1) is fixedly connected with the outer wall of the driving motor (16), and the clamping jaw mechanism (1) is used for keeping the clamping state of the clamping jaw; Anti-skid mechanism (2), the outer wall of the anti-skid mechanism (2) is fixedly connected with the outer wall of the clamping jaw support (15), and the anti-skid mechanism (2) is used for interacting with the clamping jaw; Auxiliary mechanism (3), the inner wall of the auxiliary mechanism (3) is fixedly connected with the outer wall of the driving assembly (11), and the auxiliary mechanism (3) is used for assisting clamping; The driving shaft outer wall of the driving motor (16) is fixedly connected with the driving gear (111), the outer wall of the driving gear (111) is engagedly connected with the driven gear (112), and the outer wall of the driving gear (111) is rotatably connected with the main clamping jaw (113). The clamping jaw mechanism (1) comprises: Driving assembly (11), the inner wall of the driving assembly (11) is fixedly connected with the outer wall of the driving motor (16); Clamping jaw assembly (12), the outer wall of the clamping jaw assembly (12) is fixedly connected with the outer wall of the driving assembly (11); The anti-skid mechanism (2) comprises: Rotating assembly (21), the outer wall of the rotating assembly (21) is fixedly connected with the outer wall of the clamping jaw support (15); Anti-skid assembly (22), the inner wall of the anti-skid assembly (22) is engagedly connected with the outer wall of the rotating assembly (21); The auxiliary mechanism (3) comprises: Auxiliary assembly (31), the inner wall of the auxiliary assembly (31) is fixedly connected with the outer wall of the driving assembly (11); Self-adapting assembly (32), the outer wall of the self-adapting assembly (32) is fixedly connected with the inner wall of the driving gear (111); The driving assembly (11) comprises a driven clamping jaw (114) rotatably connected to the outer wall of the driven gear (112), a plurality of connecting rods (115) rotatably connected to the inner wall of the central shaft of the main clamping jaw (113), a plurality of connecting rods (115) rotatably connected to the inner wall of the central shaft of the driven clamping jaw (114), and a connecting shaft (116) fixedly connected to the inner wall of the driven gear (112).

2. A mechanical gripper for use in the manufacture of mechanical devices according to claim 1, wherein: The clamping jaw assembly (12) comprises a rotating ring (121) fixedly connected to the outer wall of the driven gear (112), an outer ratchet (122) fixedly connected to the outer wall of the clamping jaw support (15), and a cam (123) placed in the inner cavity between the rotating ring (121) and the outer ratchet (122).

3. A mechanical gripper for use in the manufacture of mechanical devices according to claim 2, wherein: The rotating assembly (21) comprises a fixed plate (211) fixedly connected to the outer wall of the clamping jaw support (15), a fixed block (212) fixedly connected to the outer wall of the fixed plate (211), a threaded rod (213) fixedly connected to the inner wall of the fixed block (212), a rotating rod (214) rotatably connected to the outer wall of the threaded rod (213), and an anti-skid contact block (215) rotatably connected to the outer wall of the rotating rod (214).

4. A mechanical gripper for use in the manufacture of mechanical devices according to claim 3, wherein: The anti-skid assembly (22) comprises two five-star plates (221) engagedly connected at the outer wall of a threaded rod (213), a plurality of spacers (222) are sleeved at the outer wall of the threaded rod (213), two of the spacers (222) are a group, and springs (223) are fixedly connected at the central axes of the two spacers (222); The spring (223) is sleeved at the outer wall of the threaded rod (213); and the outer wall of the rotating rod (214) is slidably connected with the inner wall of the five-star plate (221).

5. A mechanical gripper for use in the manufacture of mechanical devices according to claim 4, wherein: The auxiliary assembly (31) comprises rotating gears (311) fixedly connected at the outer walls of a plurality of connecting rods (115), small gears (312) engagedly connected at the outer walls of the rotating gears (311), and a plurality of auxiliary clamping jaws (313) fixedly connected at the outer walls of the small gears (312); The inner wall of the small gear (312) is rotatably connected with the outer wall of the main clamping jaw (113).

6. A mechanical gripper for use in the manufacture of mechanical devices according to claim 5, wherein: The self-adapting assembly (32) comprises two inner cavities (321) formed in the inner walls of the main clamping jaw (113) and the driven clamping jaw (114), a plurality of piston rods (322) fixedly connected at the inner walls of the two inner cavities (321), and a sliding sleeve (323) slidably connected with the plurality of piston rods (322), wherein a through hole (324) is formed in the outer wall of the sliding sleeve (323); The outer wall of the sliding sleeve (323) is slidably connected with the outer wall of the driven clamping jaw (114).

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