Multi-directional adjusting mechanical clamping jaw

Abstract

The invention discloses a multi-direction adjusting mechanical clamping jaw which comprises a mechanical clamping jaw body and an adjusting base, and an adjusting mechanism used for adjusting the space posture of the mechanical clamping jaw body is arranged between the adjusting base and the mechanical clamping jaw body. The adjusting mechanism comprises a spherical hinge unit providing a universal rotation foundation and an adjusting unit used for accurately controlling the deflection angle, the spherical hinge unit comprises a ball seat fixedly installed in an adjusting base, the inner wall of the ball seat is connected with a hinge ball in a rolling mode, and a first connecting rod is fixedly installed on one side of the hinge ball; the mechanical clamping jaw belongs to the technical field of mechanical automation equipment, and achieves the technical effects that multi-degree-of-freedom angle adjustment of the mechanical clamping jaw in the space is achieved through the synergistic effect of the spherical hinge unit and the cross arc-shaped frame adjusting unit, and the adaptability of the clamping jaw to complex grabbing scenes is greatly improved.

Description

Technical Field

[0001] This invention relates to the field of mechanical automation equipment technology, specifically to a multi-directional adjustable mechanical gripper. Background Technology

[0002] In modern industrial automated production systems, mechanical grippers, as end-effectors, are widely used in machine tool loading and unloading, assembly operations, logistics sorting, and flexible manufacturing units to grasp, move, and place workpieces. Most existing mechanical grippers have relatively simple functions, usually only possessing basic opening and closing actions. Although they can meet general gripping needs, they lack flexible spatial posture adjustment capabilities. In practical applications, especially in complex assembly or confined space operation scenarios, grippers are often required not only to reliably hold workpieces but also to have multi-degree-of-freedom posture adjustment capabilities to adapt to gripping requirements at different angles and positions.

[0003] Currently, some existing equipment uses a series of multi-joint robotic arms to drive grippers for spatial positioning. This system is complex, costly, and difficult to control. Other equipment attempts to add a simple swing mechanism between the gripper and the actuator, but these generally suffer from limited adjustment freedom, low positioning accuracy, insufficient rigidity, and easy shaking, making it difficult to meet the technical requirements of high-precision assembly and alignment. In addition, common gripper angle adjustment and clamping actions are mostly achieved through discrete drive sources, resulting in low system integration, poor coordination, and difficulty in achieving precise control of complex actions.

[0004] Therefore, it does not meet the existing requirements, so we proposed a multi-directional adjustable mechanical gripper. Summary of the Invention

[0005] To address these issues, the present invention provides a multi-directional adjustable mechanical gripper to solve the aforementioned problems in the prior art.

[0006] To achieve the above objectives, the present invention provides the following technical solution:

[0007] According to a first aspect of the present invention, a multi-directional adjustable mechanical gripper includes a mechanical gripper body and an adjusting base. An adjusting mechanism for adjusting the spatial posture of the mechanical gripper body is provided between the adjusting base and the mechanical gripper body. The adjusting mechanism includes a ball joint unit providing a basis for universal rotation and an adjusting unit for precisely controlling the deflection angle. The ball joint unit includes a ball seat fixedly installed within the adjusting base. A hinge ball is rolledly connected to the inner wall of the ball seat. A connecting rod is fixedly installed on one side of the hinge ball, and the other end of the connecting rod is fixedly connected to the mechanical gripper body. The adjusting unit includes an arc-shaped frame rotatably disposed within the adjusting base and an arc-shaped frame 2 arranged in a cross shape with the arc-shaped frame 1. Both the arc-shaped frame 1 and the arc-shaped frame 2 have arc-shaped grooves. An arc-shaped block that slides with the arc-shaped groove is fixedly installed on the outer wall of the connecting rod 1. The adjusting mechanism further includes a driving unit for driving the arc-shaped frame 1 and the arc-shaped frame 2 to rotate, thereby causing the connecting rod 1 to generate a compound deflection motion through the cooperation of the arc-shaped groove and the arc-shaped block.

[0008] Furthermore, the drive unit includes a transmission mechanism for realizing dual-axis linkage and motion synchronization, which includes two sets of worm gears, the two sets of worm gears being fixedly installed at the ends of the first and second shafts of the arc-shaped frame and the arc-shaped frame, respectively.

[0009] Furthermore, a worm gear is engaged at the bottom of the worm wheel, and a rotating shaft is fixedly connected to one end of the worm gear. The rotating shaft is rotatably connected to the adjusting base. Both ends of the rotating shafts are fixedly connected to bevel gears, and the two bevel gears mesh with a bevel gear, which is connected to the output end of the servo motor.

[0010] Furthermore, the drive unit includes two independent servo motors for realizing independent control of the two arc-shaped frames, and the output ends of the two servo motors are respectively connected to the first rotating shaft of the first arc-shaped frame and the second rotating shaft of the second arc-shaped frame.

[0011] Furthermore, the mechanical gripper body includes a support base and a rotating bracket rotatably connected to the support base via a bearing. The support base is fixedly connected to one end of the connecting rod away from the hinge ball. A mounting base is fixedly installed on the side of the rotating bracket away from the support base, and gripper units for gripping workpieces are distributed in a circular array around the mounting base.

[0012] Furthermore, the gripper unit includes a gripper base, a hinge rod, a gripper block, and a second connecting rod. The gripper base is fixedly installed on the mounting base. One end of the hinge rod is rotatably connected to the gripper base, and the other end is rotatably connected to the gripper block. The middle part of the hinge rod is rotatably connected to one end of the second connecting rod, and the other end of the second connecting rod is rotatably connected to the outer wall of the moving block. A moving component is provided between the moving block and the gripper support frame to drive it to move and realize the synchronous opening and closing of the gripper.

[0013] Furthermore, the moving component includes a transmission mechanism for converting rotational motion into linear motion, comprising an adjusting sleeve sleeved outside the guide rod, one end of the adjusting sleeve being fixedly connected to a moving block, the outer wall of the adjusting sleeve being circumferentially arranged with teeth that mesh with a gear for transmission, the gear being connected to a driving component; the inner wall of the adjusting sleeve is provided with multiple vertical guide grooves, and the outer wall of the guide rod is correspondingly provided with a guide block that slides with the vertical guide grooves to limit the circumferential rotation of the adjusting sleeve.

[0014] Furthermore, the driving component includes a worm gear mechanism for transmitting torque and achieving transmission self-locking, which includes a coupling shaft fixedly connected to the gear, and a worm wheel three fixedly connected to the other end of the coupling shaft. The worm wheel three meshes with a worm three, and the worm three is connected to the output end of the servo motor two.

[0015] Furthermore, a drive motor is fixedly installed on the inner wall of the support base for driving the rotating bracket to rotate horizontally to adjust the position of the gripper. The output end of the drive motor is fixedly connected to the guide rod, and the guide rod is fixedly connected to the rotating bracket.

[0016] Furthermore, the outer wall of the guide rod is slidably connected to the middle of the moving block.

[0017] The present invention has the following advantages:

[0018] 1. This multi-directional adjustable mechanical gripper, through the synergistic effect of the ball joint unit and the cross-shaped arc frame adjustment unit, realizes multi-degree-of-freedom angle adjustment of the mechanical gripper in space, which greatly improves the adaptability of the gripper to complex grasping scenarios; its adjustment process is stable and highly accurate, making up for the shortcomings of traditional grippers that can only perform a single opening and closing action, and is particularly suitable for assembly operations that require tilting gripping or have strict requirements on posture.

[0019] 2. This multi-directional adjustable mechanical gripper integrates gripper orientation adjustment and opening / closing control by setting a horizontally rotatable gripper support frame and a linear movement component controlled by a worm gear mechanism. The opening and closing motion of the gripper is converted into precise linear motion by a servo motor through a worm gear and rack mechanism. It has a large transmission ratio and good self-locking performance, ensuring the stability and repeatability of the clamping force, and is suitable for reliable gripping of workpieces of different sizes and shapes. Attached Figure Description

[0020] Figure 1 This is a front view of the multi-directional adjustable mechanical gripper proposed in this invention;

[0021] Figure 2 for Figure 1 Side view;

[0022] Figure 3 for Figure 1 A cross-sectional view;

[0023] Figure 4 for Figure 3 The front view;

[0024] Figure 5 for Figure 1 A schematic diagram of its breakdown.

[0025] In the diagram: 1. Adjusting base; 111. Ball seat; 112. Hinge ball; 113. Connecting rod one; 121. Arc frame one; 122. Arc frame two; 123. Arc groove; 124. Arc block; 125. Rotating shaft one; 126. Rotating shaft two; 131. Turbine one; 132. Worm rod one; 133. Rotating shaft one; 134. Bevel gear one; 135. Drive bevel gear two; 2. Support seat; 21. Drive motor; 3. Rotating bracket; 4. Mounting seat; 51. Claw base; 52. Hinge rod; 53. Claw block; 54. Connecting rod two; 6. Moving block; 7. Adjusting sleeve; 8. Gear; 9. Gear; 10. Connecting shaft; 11. Turbine three; 12. Worm rod three; 13. Guide rod; 14. Guide groove; 15. Guide block; Detailed Implementation

[0026] The following specific embodiments illustrate the implementation of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. 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.

[0027] Example 1;

[0028] Reference Figure 1 - Figure 5 A multi-directional adjustable mechanical gripper includes a mechanical gripper body and an adjustment base 1; an adjustment mechanism for adjusting the angle of the mechanical gripper body is provided between the adjustment base 1 and the mechanical gripper body.

[0029] The adjustment mechanism includes a ball joint unit and an adjustment unit. The ball joint unit includes a ball seat 111, which is fixedly installed inside the adjustment base 1. A hinge ball 112 is rolledly connected to the inner wall of the ball seat 111. A connecting rod 113 is fixedly installed on one side of the hinge ball 112, and the other end of the connecting rod 113 is fixedly connected to the mechanical gripper body. This ball joint structure constitutes the universal rotation basis of the gripper, giving the mechanical gripper the ability to adjust multiple degrees of freedom such as pitch and yaw in space.

[0030] The adjustment unit includes: an arc-shaped frame 121 located inside the adjustment base 1; an arc-shaped frame 122 intersecting the arc-shaped frame 121 on its inner side; a rotating shaft 125 fixedly mounted on both sides of the arc-shaped frame 121; and a rotating shaft 126 fixedly connected to both sides of the arc-shaped frame 122. Both the rotating shaft 125 and the rotating shaft 126 are rotatably connected to the adjustment base 1, and a mechanism is provided between the rotating shaft 125 at one end of the arc-shaped frame 121 and the rotating shaft 126 at one end of the arc-shaped frame 122 to drive them. The rotating drive unit has arc-shaped grooves 123 on both the first arc-shaped frame 121 and the second arc-shaped frame 122. The inner wall of the arc-shaped groove 123 is slidably connected to the outer wall of the first connecting rod 113. An arc-shaped block 124 is fixedly installed on the outer wall of the first connecting rod 113, and the outer wall of the arc-shaped block 124 is slidably engaged with the inner wall of the arc-shaped groove 123. By controlling the rotation of the two arc-shaped frames through the drive unit, the attitude of the first connecting rod 113 in space can be changed, thereby achieving precise adjustment of the pitch and yaw angles of the mechanical gripper body.

[0031] The drive unit includes: a turbine 131, of which two sets are fixedly installed at the ends of a rotating shaft 125 and a rotating shaft 126, respectively. A worm gear 132 is engaged at the bottom of the turbine 131. A rotating shaft 133 is fixedly connected to one side of the worm gear 132. The outer wall of the rotating shaft 133 is rotatably connected to the adjusting base 1. A bevel gear 134 is fixedly connected to the ends of both rotating shafts 133 and is engaged with a drive bevel gear. The drive bevel gear includes a fixing plate, which is fixedly installed on the side wall of the adjusting base 1. A servo motor is fixedly installed on the fixing plate. The output end of the servo motor is fixedly connected to the bevel gear 134, and the bevel gear 134 is engaged with the bevel gear 134. This transmission device has a compact structure and can realize dual-axis linkage, ensuring coordinated movement of the two arc-shaped frames, thereby accurately controlling the deflection angle of the gripper.

[0032] Working principle: The servo motor is started, which drives the bevel gear 135 to rotate, thereby driving the two bevel gears 134 and the corresponding rotating shaft 133 and worm gear 132 to rotate; the worm gear 132 drives the worm wheel 131 to rotate, so that the rotating shaft 125 and the rotating shaft 126 drive the arc frame 121 and the arc frame 122 to rotate respectively; since the connecting rod 113 is slidably connected to the arc groove 123 through the arc block 124, the combined motion of the two arc frames will push the connecting rod 113 to deflect accordingly, thereby realizing the angle adjustment of the mechanical gripper body in multiple directions;

[0033] Example 2:

[0034] Basically the same as in Example 1, but further: referring to Figure 1 - Figure 5 A multi-directional adjustable mechanical gripper, the gripper body includes: a gripper support frame, the gripper support frame includes: a support base 2, and a rotating bracket 3 installed inside the support base 2 and connected thereto. One side of the support base 2 is fixedly connected to the end of the connecting rod 113 away from the hinge ball 112. A mounting base 4 is fixedly installed on the side of the rotating bracket 3 away from the support base 2. Gripper bases 51 are distributed in a circular array around the mounting base 4. A hinge rod 52 is rotatably connected to one end of the gripper base 51 away from the mounting base 4. A gripper block 53 is rotatably connected to the other end of the hinge rod 52. A connecting rod 2 54 is rotatably connected to the middle of the hinge rod 52. The inner side of the connecting rod 2 54 is rotatably connected to the outer wall of the moving block 6. A moving component is provided between the moving block 6 and the gripper support frame to drive its displacement.

[0035] The outer wall of the rotating bracket 3 is rotatably connected to the inner side of the support base 2 via bearings. A drive motor 21 is fixedly installed on the inner wall of the support base 2. A guide rod 13 is fixedly connected to the output end of the drive motor 21. The outer wall of the guide rod 13 is fixedly connected to the rotating bracket 3, thereby controlling the drive motor 21 to drive the rotating bracket 3 to rotate. The outer wall of the guide rod 13 is slidably connected to the middle of the moving block 6. By controlling the drive motor 21, the entire rotating bracket 3 and the gripper structure installed on it can be driven to rotate around the axis, further expanding the working range and flexibility of the gripper.

[0036] The moving component includes an adjusting sleeve 7, which is fitted onto the outer wall of the guide rod 13 and slidably connected to it. One end of the adjusting sleeve 7 is fixedly connected to the moving block 6. The outer wall of the adjusting sleeve 7 has an array of teeth 8, and a gear 9 that engages with it is provided on one side. The teeth 8 are annular, and a driving component is connected to one side of the gear 9. The inner wall of the adjusting sleeve 7 has multiple vertical guide grooves 14, and the outer wall of the guide rod 13 has corresponding guide blocks 15, which are slidably engaged with the guide grooves 14. This guiding structure effectively restricts the circumferential rotation of the adjusting sleeve 7, ensuring that it can only move smoothly along the axial direction of the guide rod 13, avoiding rotation, thereby improving the accuracy and stability of the gripper opening and closing control.

[0037] The driving component includes a coupling shaft 10, which is rotatably connected to the mounting base 4. One end is fixed to the gear 9, and the other end is fixedly connected to the turbine 11. A worm gear 12 is meshed on one side of the turbine 11. The worm gear 12 is driven by a servo motor 2, which is fixed to the rotating bracket 3 via a support plate. By driving the worm gear 12 and the turbine 11 through the servo motor 2, the gear 9 can be rotated. Since the gear 9 meshes with the teeth 8 on the adjusting sleeve 7, it pushes the adjusting sleeve 7 to move along the guide rod 13, thereby driving the moving block 6 and the gripper linkage mechanism hinged thereto, realizing the opening and closing of the gripper. Through the meshing transmission of the gear and the teeth, the rotational motion is converted into the linear motion of the adjusting sleeve. The structure is compact, the transmission ratio is large, and the self-locking is good, which is conducive to stable and precise control of the opening and closing of the gripper.

[0038] Working principle: When the servo motor 2 starts, the worm gear 3 12 drives the worm wheel 3 11 to rotate, which in turn causes the gear 9 to rotate through the coupling shaft 10. The gear 9 meshes with the teeth 8 on the outer wall of the adjusting sleeve 7, causing the adjusting sleeve 7 to move axially along the guide rod 13, thereby pushing the moving block 6 to move. The moving block 6 drives the hinge rod 52 through the connecting rod 2 54, so that multiple gripper blocks 53 can open or close synchronously to meet the gripping needs of workpieces of different shapes and sizes. At the same time, the drive motor 21 can drive the rotating bracket 3 to rotate as a whole, so that the gripper can adjust its position in the horizontal plane, further enhancing the adaptability and operational flexibility of the mechanical gripper.

[0039] Example 3:

[0040] The method is basically the same as in Embodiment 1, except that the multi-directional adjustable mechanical gripper's drive unit consists of two independent drive servo motors, which control the rotating shaft 125 and the rotating shaft 126 respectively. The two independent drive servo motors control the two arc-shaped frames to rotate around the shafts respectively. The sliding cooperation between the arc-shaped groove and the arc-shaped block can convert the rotation of the arc-shaped frame into the compound deflection motion of the connecting rod 113, thereby achieving precise and stable control of the spatial posture of the mechanical gripper body.

Claims

1. A multi-directional adjustable mechanical gripper, characterized in that, The system includes a mechanical gripper body and an adjustment base (1). An adjustment mechanism for adjusting the spatial posture of the mechanical gripper body is provided between the adjustment base (1) and the mechanical gripper body. The adjustment mechanism includes a ball joint unit providing a universal rotation base and an adjustment unit for precisely controlling the deflection angle. The ball joint unit includes a ball seat (111) fixedly installed within the adjustment base (1). A hinge ball (112) is rolledly connected to the inner wall of the ball seat (111). A connecting rod (113) is fixedly installed on one side of the hinge ball (112), and the other end of the connecting rod (113) is fixedly connected to the mechanical gripper body. The adjustment unit... The adjustment mechanism includes an arc-shaped frame one (121) rotatably disposed in the adjustment base (1) and an arc-shaped frame two (122) arranged in a cross shape with the arc-shaped frame one (121). Both the arc-shaped frame one (121) and the arc-shaped frame two (122) are provided with arc-shaped grooves (123). An arc-shaped block (124) that slides with the arc-shaped groove (123) is fixedly installed on the outer wall of the connecting rod one (113). The adjustment mechanism also includes a drive unit for driving the arc-shaped frame one (121) and the arc-shaped frame two (122) to rotate, thereby causing the connecting rod one (113) to generate a compound deflection motion through the cooperation of the arc-shaped groove and the arc-shaped block.

2. The multi-directional adjustable mechanical gripper according to claim 1, characterized in that, The drive unit includes a transmission mechanism for realizing dual-axis linkage and motion synchronization, which includes two sets of worm gears (131). The two sets of worm gears (131) are respectively fixedly installed at the end of the first shaft (125) of the first arc frame (121) and the end of the second shaft (126) of the second arc frame (122).

3. The multi-directional adjustable mechanical gripper according to claim 2, characterized in that, The bottom of the worm gear (131) is engaged with a worm (132). One end of the worm (132) is fixedly connected to a rotating shaft (133). The rotating shaft (133) is rotatably connected to the adjusting base (1). The ends of the two rotating shafts (133) are fixedly connected to bevel gears (134). The two bevel gears (134) are engaged with a bevel gear (135). The bevel gear (135) is connected to the output end of the servo motor.

4. The multi-directional adjustable mechanical gripper according to claim 1, characterized in that, The drive unit includes two independent servo motors for independent control of the two arc frames. The output ends of the two servo motors are respectively connected to the first rotating shaft (125) of the first arc frame (121) and the second rotating shaft (126) of the second arc frame (122).

5. The multi-directional adjustable mechanical gripper according to any one of claims 1 to 4, characterized in that, The mechanical gripper body includes a support base (2) and a rotating bracket (3) rotatably connected to the support base (2) via a bearing. The support base (2) is fixedly connected to the end of the connecting rod (113) away from the hinge ball (112). A mounting base (4) is fixedly installed on the side of the rotating bracket (3) away from the support base (2). Gripper units for gripping workpieces are distributed in a circular array around the mounting base (4).

6. The multi-directional adjustable mechanical gripper according to claim 5, characterized in that, The gripper unit includes a gripper base (51), a hinge rod (52), a gripper block (53), and a second connecting rod (54). The gripper base (51) is fixedly installed on the mounting base (4). One end of the hinge rod (52) is rotatably connected to the gripper base (51), and the other end is rotatably connected to the gripper block (53). The middle part of the hinge rod (52) is rotatably connected to one end of the second connecting rod (54), and the other end of the second connecting rod (54) is rotatably connected to the outer wall of the moving block (6). A moving component is provided between the moving block (6) and the gripper support frame to drive it to move so as to realize the synchronous opening and closing of the gripper.

7. The multi-directional adjustable mechanical gripper according to claim 6, characterized in that, The moving component includes a transmission mechanism for converting rotational motion into linear motion, which includes an adjusting sleeve (7) sleeved on the outside of the guide rod (13). One end of the adjusting sleeve (7) is fixedly connected to the moving block (6). The outer wall of the adjusting sleeve (7) is circumferentially covered with teeth (8), which mesh with a gear (9) for transmission. The gear (9) is connected to a driving member. The inner wall of the adjusting sleeve (7) is provided with a plurality of vertical guide grooves (14). The outer wall of the guide rod (13) is correspondingly provided with a guide block (15) that slides with the vertical guide grooves (14) and is used to limit the circumferential rotation of the adjusting sleeve.

8. The multi-directional adjustable mechanical gripper according to claim 7, characterized in that, The driving component includes a worm gear mechanism for transmitting torque and achieving transmission self-locking, which includes a connecting shaft (10) fixedly connected to the gear (9), and a worm wheel (11) fixedly connected to the other end of the connecting shaft (10). The worm wheel (11) meshes with a worm (12), and the worm (12) is connected to the output end of the servo motor.

9. The multi-directional adjustable mechanical gripper according to claim 8, characterized in that, The inner wall of the support base (2) is fixedly installed with a drive motor (21) for driving the rotating bracket to rotate horizontally to adjust the position of the gripper. The output end of the drive motor (21) is fixedly connected to the guide rod (13), and the guide rod (13) is fixedly connected to the rotating bracket (3).

10. The multi-directional adjustable mechanical gripper according to claim 9, characterized in that, The outer wall of the guide rod (13) is slidably connected to the middle part of the moving block (6).

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