High-speed force control clamping jaw

Abstract

The high-speed force control clamping jaw comprises a shell, a driving mechanism, a transition mechanism, a connecting rod mechanism and a force feedback structure, the driving mechanism comprises a driving motor and a crank connecting structure, and the driving motor drives a sliding block to linearly ascend and descend on an optical axis guide rod through the crank connecting structure; the transition mechanism comprises a sliding block, the first port makes contact with the driving motor when the sliding block moves to the lower limit position, and the sliding block makes contact with the shell when moving to the upper limit position. The connecting rod mechanism comprises a first clamping jaw connecting rod, a second clamping jaw connecting rod and a third clamping jaw connecting rod and is movably connected with the sliding block, and the sliding block drives the moving connecting rod mechanism to move. The force feedback structure is connected with the connecting rod structure, the force feedback structure comprises a fingertip module and a sensing module, and the sensing module is arranged on the fingertip module so as to feed back the clamping force of the clamping jaw to adjust the output torque of the motor. The technical effect of improving the clamping efficiency and stability is achieved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of embodied intelligent robots, in particular to a high-speed force control gripper. BACKGROUND

[0002] With the development of robot technology, the progress of artificial intelligence technology and the actual application requirements of industrial production, force control grippers in the field of embodied intelligent robots aim to make robots have more human-like operation capabilities to adapt to complex and variable task scenarios, such as precise assembly in industrial production, assisting in completing daily affairs at home, etc.

[0003] The internal transmission structure of the traditional gripper has the form of a screw nut, a worm gear, or a gear and rack, which is described as follows: The screw nut and connecting rod structure: the transmission efficiency is low, there is sliding friction between the screw thread contact surface of the screw and the nut, the friction coefficient is large, and the transmission efficiency is usually only 30%-50%; the response speed is slow, limited by the inertia of the mechanical structure and the thread transmission characteristics, the acceleration of the gripper opening and closing is difficult to improve. In the scene that requires high-frequency and fast grabbing (such as electronic component sorting), motion lag is easy to occur, which reduces the production rhythm; the precision retention is poor, after long-term use, the thread pair will generate a gap due to wear, which will cause an idle travel error when reverse transmission, directly affecting the clamping and positioning accuracy.

[0004] The worm gear structure: the transmission efficiency is extremely low, the tooth surface contact between the worm and the worm gear is sliding friction, which causes the transmission efficiency to be usually only 40%-60% (even less than 30% at low speed); the sliding friction between the tooth surfaces will aggravate the wear, especially when the opening and closing is high frequency or bears a large load, the worm tooth surface is easy to appear pitting, gluing and other failure phenomena. After long-term use, the tooth side gap gradually increases, which causes the positioning accuracy of the gripper to decrease sharply, and the service life is usually only 1 / 3-1 / 2 of that of the screw nut structure; the worm diameter is usually large, and the worm needs to be arranged spatially staggered with the worm shaft, which causes the structure of the driving part of the gripper to be bulky, and it is difficult to realize miniaturization design. In a small space, its installation and movement range will be severely limited.

[0005] The gear and rack structure: there is an inevitable tooth side gap between the gear and the rack, which is easy to cause reverse motion idle travel error. In the precise grabbing scene (such as semiconductor chip handling), this gap will cause the positioning accuracy of the gripper to decrease, and even the workpiece clamping to shift; the tooth surface contact is a composite form of rolling friction and sliding friction, when the gripper bears a large clamping force, the contact stress of the dedendum and the tooth top increases sharply, which is easy to cause plastic deformation of the tooth surface or breakage of the dedendum.

[0006] In view of the above problems, the related technology has not yet proposed an effective technical solution, which has not met people's requirements and needs to be improved. SUMMARY

[0007] The main purpose of the present application is to provide a high-speed force control gripper to solve the technical problems of low transmission efficiency, slow response speed and poor precision retention in the prior art, and to achieve the technical effects of improving the clamping efficiency and stability.

[0008] In order to achieve the above-mentioned purpose, the first aspect of the present application provides a high-speed force control gripper, comprising a shell, a driving mechanism, a transition mechanism, a connecting rod mechanism and a force feedback structure, wherein, The driving mechanism is arranged in the shell and comprises a driving motor and a crank connecting structure. The driving motor drives the sliding block to move up and down linearly on the optical axis guide rod through the crank connecting structure. The transition mechanism is arranged in the shell and comprises a sliding block. When the sliding block moves to the lower limit position, the first port is in contact with the driving mechanism. When the sliding block moves to the upper limit position, it is in contact with the shell. The connecting rod mechanism comprises a first gripper connecting rod, a second gripper connecting rod and a third gripper connecting rod. The connecting rod structure is movably connected with the sliding block, and the connecting rod mechanism is driven to move by the sliding block. The force feedback structure is connected with the connecting rod structure. The force feedback structure comprises a fingertip module and a sensing module. The sensing module is arranged on the fingertip module to feedback the clamping force of the gripper and adjust the output torque of the motor.

[0009] According to at least one specific embodiment of the present application, the first end of the first gripper connecting rod is movably connected with the sliding block, the first end of the second gripper connecting rod is movably connected with the shell, and the first end of the third gripper connecting rod is movably connected with the second end of the first gripper connecting rod, and the second end of the third gripper connecting rod is movably connected with the second end of the second gripper connecting rod.

[0010] According to at least one specific embodiment of the present application, the crank connecting structure comprises a crank and a connecting rod. The crank is fixedly connected with the rotor of the driving motor and rotates axially. A shaft is arranged on one side of the crank, and holes are arranged at both ends of the connecting rod. The crank is fixedly connected with one end of the connecting rod through the shaft hole. The other end of the connecting rod is fixedly connected with the sliding block through the shaft hole. The connecting rod connects the crank and the sliding block to realize the linear up and down movement of the sliding block on the optical axis guide rod.

[0011] According to at least one specific embodiment of the present application, a stepped shaft is arranged on one side of the crank. The stepped shaft is provided with a threaded hole. A shoulder bearing is arranged between the stepped shaft of the crank and the connecting rod. Step holes are arranged at both ends of the connecting rod. The shoulder bearing is fixedly connected with the stepped inner hole of one end of the connecting rod. The inner ring end face of the shoulder bearing is provided with a bearing stop washer and a bearing stop screw.

[0012] According to at least one of the embodiments of the present application, the slider is of A-shaped structure, a U-shaped through slot is arranged at the bottom of the two feet of the slider, a slot pin is arranged in the U-shaped through slot, the slot pin is connected with the first end of the first jaw connecting rod, the slider limits the left and right movement of the slot pin on the slider through the U-shaped through slot, so as to drive the movement of the first jaw connecting rod.

[0013] According to at least one of the embodiments of the present application, The first jaw connecting rod is of L-shaped structure and is of open U-shaped structure at both ends; a through hole is arranged at the L-shaped corner of the first jaw connecting rod, and the first jaw connecting rod is fixedly connected with the shell through the shaft hole, so as to realize the axial fixed connection of the first jaw connecting rod and the shell. The second jaw connecting rod is provided with a hole at both ends, and the first end of the second jaw connecting rod is fixedly connected with the shell through the shaft hole. The third jaw connecting rod is of "7"-shaped structure, and is provided with a hole structure at both ends; the third jaw connecting rod is connected with the first jaw connecting rod and the second jaw connecting rod through the pin hole at both ends, respectively.

[0014] According to at least one of the embodiments of the present application, the fingertip module is of fingertip aluminum plate structure, the bottom of the fingertip aluminum plate is fixedly connected with the third jaw connecting rod through the threaded hole; the sensing module is a force touch sensor, and the force touch sensor is fixedly arranged on the fingertip aluminum plate through the side of the bolt, so as to collect the clamping force of the jaw when the fingertip module is clamped.

[0015] According to at least one of the embodiments of the present application, the force sensor communication line and the pressure plate are further included, the force sensor communication line is wound from the back hole of the fingertip aluminum plate to the first jaw connecting rod through the line slot, the pressure plate presses the force sensor communication line into the line slot, the first jaw connecting rod is provided with a first jaw connecting rod through hole, the force sensor communication line passes through the through hole and enters the inside of the transition mechanism, the slider is provided with a slider through hole, the force sensor communication line passes through the slider through hole and enters the inside of the driving mechanism, the bottom of the shell is provided with a shell through hole, and the force sensor communication line passes through the shell through hole and is connected with the outside.

[0016] According to at least one of the embodiments of the present application, the connecting rod mechanism includes a first connecting rod mechanism and a second connecting rod mechanism, the first connecting rod mechanism and the second connecting rod mechanism are left-right symmetrical, and the first connecting rod mechanism and the second connecting rod mechanism each include the first jaw connecting rod, the second jaw connecting rod and the third jaw connecting rod.

[0017] According to at least one specific embodiment of the present application, the linear bearing is arranged in the inner hole of the slider, a T-shaped optical axis is arranged in the middle of the linear bearing, the lower end of the optical axis is a limit for the downward movement of the slider, a threaded hole is arranged at the end of the optical axis, a screw through hole is arranged in the middle of the optical axis mounting plate, the end of the optical axis is connected with the optical axis mounting plate through the threaded hole, threaded holes are arranged at the two ends of the optical axis mounting plate, and the optical axis mounting plate is fixedly connected with the shell through the threaded holes, and the optical axis mounting plate is a limit for the upward movement of the slider.

[0018] The technical scheme provided by the embodiment of the present application can include the following beneficial effects: The high-speed force control gripper in the present application comprises a shell, a driving mechanism, a transition mechanism, a connecting rod mechanism and a force feedback structure, wherein the driving mechanism is arranged in the shell and comprises a driving motor and a crank connecting structure, the driving motor drives the slider to move up and down linearly on the optical axis guide rod through the crank connecting structure; the transition mechanism is arranged in the shell and comprises a slider, the first port of the slider is in contact with the driving motor when the slider moves to the lower limit position, and the slider is in contact with the shell when the slider moves to the upper limit position; the connecting rod mechanism comprises a first gripper connecting rod, a second gripper connecting rod and a third gripper connecting rod, the connecting rod structure is movably connected with the slider, and the connecting rod mechanism is driven to move by the slider; the force feedback structure is connected with the connecting rod structure, the force feedback structure comprises a fingertip module and a sensing module, and the sensing module is arranged on the fingertip module to feedback the clamping force of the gripper and adjust the output torque of the motor. The technical problems of low transmission efficiency, slow response speed and poor precision retention in the prior art are solved, and the technical effects of improving clamping efficiency and stability are achieved. BRIEF DESCRIPTION OF DRAWINGS

[0019] The accompanying drawings, which form a part of the present application, are used to provide further understanding of the present application, so that other features, objectives and advantages of the present application become more apparent. The schematic embodiment drawings of the present application and their descriptions are used to explain the present application, and do not constitute an improper limitation on the present application. In the drawings: Figure 1 A structural diagram of a high-speed force control gripper provided by the present application; Figure 2 A structural diagram of a driving mechanism provided by the embodiment of the present application; Figure 3 A structural diagram of a transition mechanism provided by the embodiment of the present application; Figure 4 A structural diagram of a connecting rod mechanism provided by the embodiment of the present application; Figure 5 A structural diagram of a force feedback structure provided by the embodiment of the present application; 1. housing; 2. bearing a; 3. motor; 4. bearing stop washer; 5. bearing stop screw; 6. crank; 7. connecting rod; 8. connecting rod connecting shaft; 9. pin shaft; 10. bearing b; 11. second jaw connecting rod; 12. bearing c; 13. fingertip aluminum plate; 14. force touch sensor; 15. slot pin; 16. optical axis mounting plate; 17. slider; 18. force sensor communication line; 19. third jaw connecting rod; 20. bearing d; 21. first jaw connecting rod; 22. wire pressing plate; 23. linear bearing; 24. optical axis. DETAILED DESCRIPTION

[0020] In order to make the personnel in the technical field better understand the scheme of the present application, the technical scheme in the embodiments of the present application will be clearly and completely described below in combination with the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by the person of ordinary skill in the art without making creative labor should belong to the protection scope of the present application.

[0021] It should be noted that the terms "first", "second", and the like in the specification and claims of the present application and the above-described drawings are used to distinguish similar objects, and do not necessarily have to be used to describe a specific order or sequence. It should be understood that the data thus used can be interchanged under appropriate circumstances, so that the embodiments of the present application described herein can be implemented. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, system, product or device including a series of steps or units does not have to be limited to those steps or units clearly listed, but can include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0022] In the present application, the terms "upper", "lower", "left", "right", "front", "back", "top", "bottom", "inner", "outer", "middle", "vertical", "horizontal", "lateral", "longitudinal", and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings. These terms are mainly used to better describe the present application and its embodiments, and are not used to limit the indicated devices, elements or components to have a specific orientation, or to be constructed and operated in a specific orientation.

[0023] Also, in addition to being used to indicate the orientation or positional relationship, the above-mentioned part of the terms can also be used to indicate other meanings, for example, the term "upper" can also be used to indicate a certain attachment relationship or connection relationship in some cases. For the person of ordinary skill in the art, the specific meaning of these terms in the present application can be understood according to the specific circumstances.

[0024] In addition, the terms "mounting", "arrangement", "provided with", "connection", "connected", "sleeved" should be broadly interpreted. For example, "connection" can be fixed connection, detachable connection, or integral structure; can be mechanical connection, or electrical connection; can be direct connection, or indirect connection through intermediate medium, or internal communication between two devices, elements or components. The specific meaning of the above terms in the present application can be understood according to the specific circumstances by those skilled in the art.

[0025] In some optional embodiments of the present application, a high-speed force control gripper is provided, Figure 1 The structural diagram of the high-speed force control gripper provided by the present application is shown in Figure 1 As shown, it comprises a shell 1, a driving mechanism, a transition mechanism, a connecting rod mechanism, and a force feedback structure, wherein, The driving mechanism is arranged in the shell 1 and comprises a driving motor 3 and a crank connecting structure. The driving motor 3 drives the sliding block to move up and down linearly on the guide rod of the optical axis 24 through the crank connecting structure. In some optional embodiments of the present application, the crank connecting structure comprises a crank 6 and a connecting rod 7. The crank 6 is fixedly connected with the rotor of the driving motor 3 and rotates axially. A shaft is arranged on one side of the crank 6. Holes are arranged at both ends of the connecting rod 7. The crank 6 is fixedly connected with one end of the connecting rod 7 through the shaft hole. The other end of the connecting rod 7 is fixedly connected with the sliding block 6 through the shaft hole. The connecting rod 7 connects the crank 6 and the sliding block 17 to realize the linear up and down movement of the sliding block 17 on the guide rod of the optical axis 24.

[0026] A stepped shaft is arranged on one side of the crank 6. A threaded hole is arranged on the stepped shaft. A shoulder type bearing 2 is arranged between the crank stepped shaft and the connecting rod 6. Step holes are arranged at both ends of the connecting rod 7. The shoulder type bearing 2 is fixedly connected with the stepped inner hole of one end of the connecting rod 7. The inner ring end face of the shoulder type bearing 2 is padded with a bearing stop washer 4 and fastened with a bearing stop screw 5.

[0027] As shown in Figure 2 The structural diagram of the driving mechanism provided by the embodiment of the present application is shown in the figure. The specific structure of the driving mechanism is as follows. The motor 3 is placed horizontally and connected with the shell 1 through the bottom mounting hole. The crank 6 is installed on the rotor of the motor 3. A stepped shaft is arranged on one side of the crank 6. A threaded hole is designed on the stepped shaft. A shoulder type bearing 2 is arranged between the crank stepped shaft and the connecting rod 7. Step holes are designed at both ends of the connecting rod 7. The outer ring of the shoulder type bearing 2 is smeared with high-strength bearing glue and fixed with the stepped inner hole of one end of the connecting rod 7. The inner ring of the shoulder type bearing 2 is transitionally matched with the crank 6 shaft. The inner ring end face of the shoulder type bearing 2 is padded with a bearing stop washer 4 and fastened with a bearing stop screw 5.

[0028] The through hole in the middle of the slider 17 is transitionally matched with the linear bearing 23, the outer ring of the linear bearing 23 is smeared with high-strength bearing glue and fixed with the slider 17. The side of the slider 17 is provided with a threaded hole, one end of the connecting rod connecting shaft 8 is designed as an external threaded hole, the other end is designed as an internal threaded hole, the middle cylindrical surface is designed as a flat position, the external thread of the connecting rod connecting shaft 8 is fixed with the threaded hole in the side of the slider 17. The other end of the connecting rod 7 is placed in the stepped inner hole of the shoulder type 2 bearing a, the outer ring of the 2 bearing a is smeared with high-strength bearing glue and fixed with the connecting rod 7, the inner ring end face of the 2 bearing a is padded with a bearing stop washer 4 and fastened with a bearing stop screw 5. The connecting rod 7 connects and fixes the crank 6 and the slider 17.

[0029] The linear bearing 23 arranged in the inner hole of the slider 17 is provided with a T-shaped shaft light axis 24 in the middle, the lower end of the T-shaped shaft light axis 24 is a hard limit for the downward movement of the slider 17, the end of the T-shaped shaft light axis 24 is provided with a threaded hole, the middle of the light axis mounting plate 16 is designed as a countersunk screw through hole connected with the threaded hole at the end of the T-shaped shaft light axis 24, the two ends of the light axis mounting plate 16 are designed as threaded holes and fixed with the shell countersunk screw holes, and the light axis mounting plate 16 is a hard limit for the upward movement of the slider 17.

[0030] The motor 3 is a power output, the crank 6 is fixed with the rotor of the motor 3 and performs axial rotary motion, the connecting rod 7 connects and fixes the crank 6 and the slider 17, the slider 17 moves along the axial direction of the light axis 24, the connecting rod connecting shaft 8 is fixed with the slider 17 and can limit the radial torsion of the slider 17, and the slider 17 moves along the axial direction of the light axis 24.

[0031] In the optional embodiment of the present application, a joint motor is horizontally arranged, the motor is used as a mechanism output power source, the motor is horizontally arranged to reduce the longitudinal size of the clamping jaw, a crank is arranged on the rotor of the motor, the crank shaft is connected with a connecting rod, the crank and the connecting rod are transitionally matched by bearings, the connecting rod is connected with an eccentric shaft arranged on a slider, the connecting rod and the slider are transitionally matched by bearings, the slider moves up and down along a light axis guide rod, and linear ball bearings are arranged between the slider and the guide rod. Optionally, the length ratio of the connecting rod to the crank is 2.5-4 times, the included angle between the connecting rod and the crank is 50-120 degrees, and the transmission efficiency and response speed of the motor are improved.

[0032] The transition mechanism is arranged in the shell 1 and includes a slider 17, the first port of the slider 17 is in contact with the driving mechanism when the slider moves to the lower limit position, and the slider is in contact with the shell 1 when the slider moves to the upper limit position. In some optional embodiments of the present application, the linear bearing 23 arranged in the inner hole of the slider 17 is provided with a T-shaped shaft light axis 24 in the middle, the lower end of the T-shaped shaft light axis 24 is a limit for the downward movement of the slider 17; the end of the T-shaped shaft light axis 24 is provided with a threaded hole, the middle of the light axis mounting plate 16 is provided with a screw through hole, the end of the T-shaped shaft light axis 24 is connected with the light axis mounting plate 16 through the threaded hole; the two ends of the light axis mounting plate 16 are provided with threaded holes and fixedly connected with the shell 1 through the threaded holes, and the light axis mounting plate 16 is a limit for the upward movement of the slider 17.

[0033] The slider 17 has an A-shaped structure. The bottom of the two feet of the slider 17 is provided with a U-shaped through groove. A slotted pin 15 is provided in the U-shaped through groove. The slotted pin 15 is connected to the first end of the first gripper connecting rod 21. The slider restricts the slotted pin 15 to move left and right on the slider through the U-shaped through groove, so as to drive the first gripper connecting rod 21 to move.

[0034] like Figure 3 The diagram shows the structure of the transition mechanism provided in this embodiment. The slider 17 is designed as an A-type. When the slider 17 descends to its lower limit, the A-shaped opening is tangent to the cylindrical surface of the motor 3. Conversely, when it ascends to its upper limit, the pointed opening is tangent to the circular surface of the housing 1. This improves space utilization and reduces the linear travel of the slider 17. The A-type slider 17 has a wide head and narrow bottoms at both feet, allowing connection to the first gripper linkage. The bottoms of the two feet of the A-type slider 17 are designed with U-shaped through grooves 15a. A slotted pin 15 is installed within the through groove 15a. The clearance fit between the through groove 15a and the slotted pin 15 ensures the accuracy and smoothness of the pin's movement within the U-shaped groove 15a. The U-shaped through groove restricts the pin 15 to a certain travel space relative to the slider 17 in a left-right linear motion direction. The slider 17 moves linearly upwards and downwards relative to the optical axis 24, thus allowing the slotted pin 15 to move in a curved path within the xz plane.

[0035] In an optional embodiment of this application, the slider is designed in an "A" shape. The A-shape corresponds to the layout of the two sides of the cylindrical surface of the transverse motor, which can improve space utilization and reduce the linear motion stroke of the slider. Optionally, a 0-3mm "U" shaped through groove is designed at both ends of the bottom of the A-shape, and a slotted pin is set in the through groove. The through groove and the slotted pin are fitted with a clearance of 0.005-0.01mm, which can ensure the accuracy and smoothness of the slotted pin's movement in the "U" shaped groove. The "U" shaped through groove restricts the movement of the slotted pin within a stroke space of 0-3mm. The slider moves linearly up and down relative to the optical axis guide rod, and the slotted pin moves linearly left and right relative to the slider. Therefore, the slotted pin can move in a curved motion in the xz plane. Compared with the traditional gripper design with a connecting rod structure, which results in a larger overall space, the transition mechanism in this application reduces the overall structural size and makes the internal transmission structure more compact.

[0036] The linkage mechanism includes a first gripper link 21, a second gripper link 11 and a third gripper link 19. The linkage structure is movably connected to the slider 17 and drives the motion linkage mechanism to move through the slider 17. In some optional embodiments of this application, the first end of the first gripper link 21 is movably connected to the slider 17, the first end of the second gripper link 11 is movably connected to the housing, the first end of the third gripper link 19 is movably connected to the second end of the first gripper link 21, and the second end of the third gripper link 19 is movably connected to the second end of the second gripper link 11.

[0037] The connecting rod mechanism comprises a first connecting rod mechanism and a second connecting rod mechanism, the first connecting rod mechanism and the second connecting rod mechanism are left-right symmetrical, and the first connecting rod mechanism and the second connecting rod mechanism each comprise a first clamping jaw connecting rod 21, a second clamping jaw connecting rod 11 and a third clamping jaw connecting rod 1.

[0038] The first clamping jaw connecting rod 21 is of an L-shaped structure and is of a U-shaped opening at both ends; a through hole is arranged at an L-shaped corner of the first clamping jaw connecting rod, and the first clamping jaw connecting rod is fixedly connected with the shell 1 through the shaft hole, so as to realize the axial fixed connection of the first clamping jaw connecting rod 21 with the shell 1; the second clamping jaw connecting rod 11 is provided with holes at both ends, and the first end of the second clamping jaw connecting rod 11 is fixedly connected with the shell 1 through the shaft hole; the third clamping jaw connecting rod 19 is of a "7"-shaped structure, is provided with a hole structure at both ends, and is connected with the first clamping jaw connecting rod 21 and the second clamping jaw connecting rod 11 through the pin hole at both ends respectively.

[0039] As shown in Figure 4 , the structure diagram of the connecting rod mechanism provided in the embodiment of the application is shown in Figure 4 , the first clamping jaw connecting rod 21 is designed to be L-shaped, is designed to be U-shaped at both ends, is designed to be a bearing hole and a through hole at both ends, one end is connected with a 15-groove pin, and 12 bearings c are arranged in the four bearing holes; the outer ring of the 12 bearings c is smeared with high-strength bearing glue and fixed with the first clamping jaw connecting rod, and the 12 bearings c are transitionally matched with the 15-groove pin.

[0040] The first clamping jaw connecting rod 21 is designed to be a through hole at an L-shaped corner, a 9-pin shaft is installed, the 9-pin shaft is transitionally matched with the first clamping jaw connecting rod 21, the shell 1 is designed to be a bearing hole to place a 10-bearing b, the 9-pin shaft is installed in the 10-bearing b, the first clamping jaw connecting rod 21 is axially fixed with the 1 shell through the 9-pin shaft, the other end of the first clamping jaw connecting rod is provided with a 15-groove pin, the third clamping jaw connecting rod 19 is designed to be a "7"-shaped structure, is designed to be a pin hole at both ends, and the pin hole of the third clamping jaw connecting rod 19 is transitionally matched with the 15-groove pin and fixed.

[0041] The second clamping jaw connecting rod 11 is designed to be a bearing hole at both ends to place four 12 bearings c, one end is installed with a 9-pin shaft, the 9-pin shaft is fixed with the 1 shell bearing, the second clamping jaw connecting rod 11 rotates and moves axially along the 9-pin shaft, the other end is installed with a 15-groove pin, and the pin hole of the third clamping jaw connecting rod 19 is transitionally matched with the 15-groove pin and fixed.

[0042] The connecting rod mechanism is left-right symmetrical, the first clamping jaw connecting rod, the second clamping jaw connecting rod 11 and the third clamping jaw connecting rod 19 form a parallelogram connecting rod, the slider 17 drives the 15-groove pin to move up and down in a straight line, and the 15-groove pin moves left and right in a straight line in the "U"-shaped through groove of the 17 slider relative to the 17 slider, so that the first clamping jaw connecting rod rotates and moves around the fixed 9-pin shaft. The third clamping jaw connecting rod 19 can keep the horizontal angle unchanged due to the parallelogram connecting rod structure.

[0043] In an optional embodiment of this application, the first gripper connecting rod is connected to both ends of the slotted pin. The slotted pin and the gripper connecting rod 1 are transitionally fitted by bearings. A through hole is provided at the 1 / 4 position of the first gripper connecting rod, which is interference-fitted with the pin shaft. The pin shaft is fixed to the outer shell, and the outer shell and the pin shaft are transitionally fitted by bearings. The second gripper connecting rod is provided with a through hole, which is interference-fitted with the pin shaft. The first gripper connecting rod and the second gripper connecting rod are parallel, which can ensure that the gripper fingertips move parallel to each other. Optionally, when the gripper fingertips and the connecting rods grip an object, the connecting rods and the fingertips can also be in a 90-170° gripping state. The first gripper connecting rod and the second gripper are connected to a third gripper connecting rod, which is transitionally fitted to the first gripper connecting rod and the second gripper by bearings.

[0044] By adjusting the structural clearances of the aforementioned transition mechanism and linkage mechanism, the clamping accuracy at the end of the gripper is improved, resulting in a more compact internal transmission structure.

[0045] The force feedback structure is connected to the linkage structure. The feedback structure includes a fingertip module and a sensing module. The sensing module is set on the fingertip module to adjust the motor output torque by feeding back the gripping force of the gripper.

[0046] In some optional embodiments of this application, the fingertip module is a fingertip aluminum plate 13 structure, and the bottom of the fingertip aluminum plate 13 is fixedly connected to the third gripper connecting rod 19 through a threaded hole; the sensing module is a force sensor 14, which is fixedly mounted on the fingertip aluminum plate 13 by bolts to collect the gripper clamping force when the fingertip module is clamped.

[0047] like Figure 5 The diagram shown is a structural diagram of the force feedback structure provided in this application embodiment. The force feedback structure also includes a force sensor communication line 18 and a pressure plate 22. The force sensor communication line 18 passes through a hole on the back of the fingertip aluminum plate 13 and winds around to the wire groove of the first gripper connecting rod. The pressure plate 22 presses the force sensor communication line 18 into the wire groove. The first gripper connecting rod is provided with a first gripper connecting rod wire hole 22a. The force sensor communication line 18 passes through the wire hole 22a and enters the interior of the transition mechanism. The slider 17 is provided with a slider wire hole 17a. The force sensor communication line 18 passes through the slider 17 wire hole 17a and enters the interior of the drive mechanism. The bottom of the housing 1 is provided with a housing wire hole 1a. The force sensor communication line 18 passes through the housing wire hole 1a and connects to the outside.

[0048] In an optional embodiment of this application, a force feedback fingertip is provided on the third gripper connecting rod. Optionally, the force sensor is 10*10-30*30mm in size and is mounted on the aluminum plate of the fingertip. The force feedback range is 0-20N, which can provide real-time feedback on the gripper's clamping force to adjust the motor's output torque and avoid damage to the gripped object. The force sensor communication cable is hidden along a rectangular groove on the side of the gripper connecting rod to prevent the cable from being broken or tangled during use.

[0049] In summary, the high-speed force control gripper in the application comprises a shell, a driving mechanism, a transition mechanism, a connecting rod mechanism and a force feedback structure, wherein the driving mechanism is arranged in the shell and comprises a driving motor and a crank connecting structure, the driving motor drives a slider to move up and down linearly on an optical axis guide rod through the crank connecting structure; the transition mechanism is arranged in the shell and comprises a slider, the slider is in contact with the driving motor when moving to the lower limit position, and the slider is in contact with the shell when moving to the upper limit position; the connecting rod mechanism comprises a first gripper connecting rod, a second gripper connecting rod and a third gripper connecting rod, the connecting rod structure is movably connected with the slider, and the connecting rod mechanism is driven to move by the slider; the force feedback structure is connected with the connecting rod structure, the force feedback structure comprises a fingertip module and a sensing module, the sensing module is arranged on the fingertip module to feedback the clamping force of the gripper and realize the adjustment of the motor output torque. The technical problems of low transmission efficiency, slow response speed and poor precision retention in the prior art are solved, and the technical effects of improving the clamping efficiency and stability are achieved.

[0050] The above only describes the preferred embodiments of the application and is not intended to limit the application. Those skilled in the art can make various modifications and changes to the application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the application shall be included in the protection scope of the application.

Claims

1. A high speed force control gripper, characterized by, Including shell, drive mechanism, transition mechanism, connecting rod mechanism, force feedback structure, wherein, The drive mechanism is arranged in the shell, including a drive motor and a crank connecting structure, the drive motor drives the slider to make linear ascending and descending motion on the optical axis guide rod through the crank connecting structure; The transition mechanism is arranged in the shell, including a slider, the first port is in contact with the drive mechanism when the slider moves to the lower limit position, and the slider is in contact with the shell when the slider moves to the upper limit position; The connecting rod mechanism includes a first jaw connecting rod, a second jaw connecting rod and a third jaw connecting rod, the connecting rod structure is movably connected with the slider, and the connecting rod mechanism is driven to move by the slider; The force feedback structure is connected with the connecting rod structure, the force feedback structure includes a fingertip module and a sensing module, the sensing module is arranged on the fingertip module to feedback the clamping force of the jaw and realize the adjustment of the output torque of the motor.

2. The high-speed force control gripper of claim 1, wherein, The first end of the first jaw connecting rod is movably connected with the slider, the first end of the second jaw connecting rod is movably connected with the shell, and the first end of the third jaw connecting rod is movably connected with the second end of the first jaw connecting rod, and the second end of the third jaw connecting rod is movably connected with the second end of the second jaw connecting rod.

3. The high speed force control gripper of claim 1, wherein, The crank connecting structure includes a crank and a connecting rod, the crank is fixedly connected with the rotor of the drive motor and rotates axially, one side of the crank is provided with a shaft, both ends of the connecting rod are provided with holes, the crank is fixedly connected with one end of the connecting rod through the shaft hole, the other end of the connecting rod is fixedly connected with the slider through the shaft hole, and the connecting rod is connected in series with the crank and the slider to realize the linear ascending and descending motion of the slider on the optical axis guide rod.

4. The high-speed force control gripper of claim 3, wherein, A stepped shaft is arranged on one side of the crank, the stepped shaft is provided with a threaded hole, a shoulder bearing is arranged between the stepped shaft of the crank and the connecting rod, both ends of the connecting rod are provided with stepped holes, the shoulder bearing is fixedly connected with the stepped inner hole of one end of the connecting rod, and the inner ring end face of the shoulder bearing is provided with a bearing stop washer and a bearing stop screw.

5. The high speed force control gripper of claim 1, wherein, The slider is of A-shaped structure, U-shaped through grooves are arranged at the bottom of both feet of the slider, slot pins are arranged in the U-shaped through grooves, the slot pins are connected with the first end of the first jaw connecting rod, the slider limits the left and right motion of the slot pins on the slider through the U-shaped through grooves to drive the motion of the first jaw connecting rod.

6. The high-speed force control jaw according to claim 1, wherein The first jaw connecting rod is of L-shaped structure and is opened U-shaped at both ends; a through hole is arranged at the L-shaped corner of the first jaw connecting rod, and the first jaw connecting rod is fixedly connected with the shell through the shaft hole to realize the axial fixed connection of the first jaw connecting rod with the shell; Both ends of the second jaw connecting rod are provided with holes, and the first end of the second jaw connecting rod is fixedly connected with the shell through the shaft hole; The third jaw connecting rod is of "7" shaped structure, both ends of the third jaw connecting rod are provided with hole structures, and both ends of the third jaw connecting rod are connected with the first jaw connecting rod and the second jaw connecting rod through pin holes, respectively.

7. The high speed force control gripper of claim 1, wherein, The fingertip module is a fingertip aluminum plate structure, the bottom of the fingertip aluminum plate is fixedly connected with the third clamping jaw connecting rod through a threaded hole; the sensing module is a force touch sensor, the force touch sensor is fixedly arranged on the fingertip aluminum plate through the side of the bolt, so as to collect the clamping force of the clamping jaw when the fingertip module is clamped.

8. The high speed force control gripper of claim 7, wherein, Further comprising a force sensor communication line and a pressure line plate, the force sensor communication line is wound from the back hole of the fingertip aluminum plate to the first clamping jaw connecting rod through the wire slot, the pressure line plate presses the force sensor communication line into the wire slot, the first clamping jaw connecting rod is provided with a first clamping jaw connecting rod wire hole, the force sensor communication line passes through the wire hole and enters the inside of the transition mechanism, the sliding block is provided with a sliding block wire hole, the force sensor communication line passes through the sliding block wire hole and enters the inside of the driving mechanism, the bottom of the shell is provided with a shell wire hole, the force sensor communication line passes through the shell wire hole and is connected with the outside.

9. The high speed force control gripper of claim 1, wherein, The connecting rod mechanism comprises a first connecting rod mechanism and a second connecting rod mechanism, the first connecting rod mechanism and the second connecting rod mechanism are left-right symmetrical, the first connecting rod mechanism and the second connecting rod mechanism each comprise the first clamping jaw connecting rod, the second clamping jaw connecting rod and the third clamping jaw connecting rod.

10. The high speed force control gripper of claim 1, wherein, The linear bearing arranged in the sliding block inner hole is provided with a T-shaped shaft optical axis in the middle, the lower end of the optical axis is the limit of the downward movement of the sliding block; the end of the optical axis is provided with a threaded hole, the middle of the optical axis mounting plate is provided with a screw through hole, the end of the optical axis is connected with the optical axis mounting plate through the threaded hole; the both ends of the optical axis mounting plate are provided with threaded holes, and the shell is fixedly connected through the threaded holes, the optical axis mounting plate is the limit of the upward movement of the sliding block.

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