Three-motor dual-mode adaptive gripping mechanism for multi-scale irregular targets

Abstract

This invention relates to the field of mechatronics technology and discloses a three-motor dual-modal adaptive clamping mechanism for multi-scale irregular targets. The mechanism includes a base, a drive mechanism located on the front end face and one side of the base's outer wall, an integrated low-voltage servo motor fixedly mounted on one side of the bottom end face of the base's inner wall, a control box fixedly mounted on the rear end face of the base's outer wall, bearing seats fixedly mounted at the center of both sides of the front end face of the base's outer wall, ball bearings fixedly sleeved on the inner walls of both bearing seats, jaw connectors slidably sleeved on both sides of the base's outer wall, threaded seats fixedly embedded at the center of the rear end faces of both jaw connectors, and a fixing plate fixedly mounted at the center of the bottom end faces of both jaw connectors. Through the structural design of the multi-finger mechanism in conjunction with the drive mechanism, this invention effectively solves the technical problems of existing industrial grippers having a single configuration and poor adaptability.

Description

Technical Field

[0001] This invention relates to the field of mechatronics technology, specifically to a three-motor dual-mode adaptive clamping mechanism for multi-scale irregular targets. Background Technology

[0002] In the field of industrial production, special operation scenarios such as explosion debris collection, debris cleaning, and complex material grabbing place extremely high demands on the adaptability and functionality of automated grabbing equipment. The core pain point of such scenarios is that the target objects have a wide range of sizes, irregular shapes, and complex and harsh working environments. They include both decimeter-level irregular heavy targets and millimeter-level small particle targets. Therefore, a three-motor dual-modal adaptive clamping mechanism that can handle complex special operation scenarios is needed.

[0003] Industrial grippers have a simple configuration, making it difficult to balance the "stable envelope of large irregular objects" and the "interference-free gripping of small particles". When heavy parallel grippers grasp small particles, the large-scale grippers are prone to touching non-target objects, causing spatial interference, and can easily block the line of sight of the end camera, affecting judgment. On the other hand, miniature precision grippers cannot provide enough opening angle and envelope area to grasp large, irregular heavy objects.

[0004] To address this, we propose a three-motor dual-modal adaptive clamping mechanism for multi-scale irregular targets. Summary of the Invention

[0005] The purpose of this invention is to provide a three-motor dual-mode adaptive clamping mechanism for multi-scale irregular targets, so as to solve the problems mentioned in the background art.

[0006] To achieve the above objectives, the present invention provides the following technical solution: a three-motor dual-modal adaptive clamping mechanism for multi-scale irregular targets, comprising a base, a driving mechanism provided on the front end face and one side of the outer wall of the base, an integrated low-voltage servo motor fixedly provided on one side of the bottom end face of the inner wall of the base, a control box fixedly provided on the rear end face of the outer wall of the base, bearing seats fixedly provided at the center of both sides of the front end face of the outer wall of the base, ball bearings fixedly sleeved on the inner walls of both bearing seats, gripper connectors slidably sleeved on both sides of the outer wall of the base, threaded seats fixedly embedded at the center of the rear end face of both gripper connectors, fixing plates fixedly provided at the center of the bottom end face of the outer walls of both gripper connectors, small grippers fixedly embedded at the center of the opposite side of the two fixing plates, fixing covers fixedly provided on the opposite side of the two fixing plates, multi-finger mechanisms provided on the outer sides of both fixing covers, and servo motors fixedly provided at the center of one side of the front end face of the outer walls of both fixing covers.

[0007] Preferably, both of the multi-finger mechanisms include a rotating shaft and a connecting plate, and an output connecting rod is fixedly sleeved at the center of the outer wall of each of the two rotating shafts, and a connecting rod is hinged at one end of each of the two output connecting rods.

[0008] Preferably, one end of each of the two connecting rods is hinged to one of the two connecting plates, the two connecting plates are hinged to the lower ends of the two fixing plates, and a multi-finger gripper is fixedly provided at the end of each of the two connecting plates away from the base.

[0009] Preferably, the two ends of the two rotating shafts are rotatably connected to the front and rear end faces of the inner walls of the two fixed covers, and the front ends of the two rotating shafts are fixedly connected to the output ends of the two servo motors.

[0010] Preferably, the drive mechanism includes a bidirectional screw and two synchronous pulleys. The bidirectional screw is rotatably disposed at the center of the front end face of the outer wall of the base, and the two synchronous pulleys are respectively rotatably disposed at the front and rear ends of one side of the outer wall of the base. The outer walls of the two synchronous pulleys are movably sleeved with synchronous belts.

[0011] Preferably, the two ends of the bidirectional screw are threaded through two threaded seats, the rearmost synchronous wheel of the two synchronous pulleys is fixedly connected to the output end of the integrated low-voltage servo motor, and the two ends of the bidirectional screw are fixedly sleeved on the inner walls of two ball bearings.

[0012] Preferably, a control box is fixedly installed on the rear end face of the outer wall of the base, and a protective cover is fixedly installed on the outer side of one side of the outer wall of the base.

[0013] Preferably, sliding members are fixedly embedded at both ends of the rear end face of the two gripper connectors, and slide rails are fixedly installed at both ends of the front end face of the outer wall of the base. The four sliding members are respectively slidably engaged with the outer walls of the two slide rails.

[0014] Compared with the prior art, the beneficial effects of the present invention are: This invention employs a dual-gripping module consisting of a small gripper and a multi-finger mechanism. The small gripper is designed for interference-free gripping of millimeter-sized particles, effectively avoiding spatial interference issues when heavy grippers grasp tiny objects. It also does not obstruct the view of an external hand-eye camera, ensuring accurate operational judgment. The multi-finger mechanism provides a stable envelope for irregular, heavy targets at the decimeter level, compensating for the limitations of micro-precision grippers in terms of angle and envelope area, which prevent them from gripping large, irregular, heavy objects. This invention achieves the dual functions of "precise gripping of micro-objects" and "stable envelope of large objects." Furthermore, the invention allows for rapid gripper configuration changes via a servo motor in conjunction with the multi-finger mechanism and two small grippers, significantly reducing the time cost of frequent gripper changes and solving the problem of traditional grippers with single configurations being unable to handle targets of different sizes. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the first three-dimensional structure of the present invention; Figure 2 This is a schematic diagram of the second three-dimensional structure of the present invention; Figure 3 This is a schematic diagram of the front structure of the base of the present invention; Figure 4 This is a schematic diagram of the multi-finger mechanism assembly structure of the present invention; Figure 5 This is a schematic diagram of the third three-dimensional structure of the present invention; Figure 6 This is a schematic diagram of the fourth three-dimensional structure of the present invention.

[0016] In the diagram: 1. Base; 2. Control box; 3. Protective cover; 4. Fixing cover; 5. Multi-finger mechanism; 6. Small gripper; 7. Gripper connector; 8. Drive mechanism; 9. Integrated low-voltage servo motor; 10. Servo motor; 11. Fixing plate; 12. Bearing seat; 13. Ball bearing; 14. Slide rail; 15. Sliding component; 16. Threaded seat; 501. Rotating shaft; 502. Output connecting rod; 503. Connecting connecting rod; 504. Multi-finger gripper; 505. Connecting plate; 801. Bidirectional screw; 802. Synchronous belt; 803. Synchronous pulley. Detailed Implementation

[0017] 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.

[0018] Please see Figures 1-4As shown, the present invention provides a technical solution: a three-motor dual-mode adaptive clamping mechanism for multi-scale irregular targets, including a base 1, a drive mechanism 8 is provided on the front end face and one side of the outer wall of the base 1, an integrated low-voltage servo motor 9 is fixedly provided on one side of the bottom end face of the inner wall of the base 1, a control box 2 is fixedly provided on the rear end face of the outer wall of the base 1, bearing seats 12 are fixedly provided at the center of both sides of the front end face of the outer wall of the base 1, ball bearings 13 are fixedly sleeved on the inner walls of both bearing seats 12, gripper connectors 7 are slidably sleeved on both sides of the outer wall of the base 1, threaded seats 16 are fixedly embedded at the center of the rear end face of both gripper connectors 7, fixing plates 11 are fixedly provided at the center of the bottom end face of the outer wall of both gripper connectors 7, small grippers 6 are fixedly embedded at the center of the opposite side of the two fixing plates 11, fixing covers 4 are fixedly provided on the side of the two fixing plates 11 that are separated from each other, multi-finger mechanisms 5 are provided on the outer side of both fixing covers 4, and servo motors 10 are fixedly provided at the center of one side of the front end face of the outer wall of both fixing covers 4.

[0019] Furthermore, the integrated low-voltage servo motor 9, fixed on one side of the bottom surface of the inner wall of the base 1, outputs power to the drive mechanism 8. Through the transmission action of the drive mechanism 8, the two gripper connectors 7, which are slidably connected on both sides of the outer wall of the base 1, slide synchronously towards or away from each other along the base 1. The gripper connectors 7 then synchronously drive the small gripper 6, which is fixed at the center of the bottom surface of its outer wall, to complete the opening and closing action, thereby achieving precise gripping of micro-scale targets. The fixed cover 4 forms a protective limit for the internal transmission components. The servo motor 10, fixed at the center of one side of the front surface of the outer wall of the fixed cover 4, outputs power to drive the multi-finger mechanism 5 on the outside of the fixed cover 4 to complete adaptive actions such as flexion, extension, and envelopment, thereby achieving stable gripping of large-scale irregular targets. The control box 2 can control the start and stop of the integrated low-voltage servo motor 9 and the two servo motors 10 respectively, so that the small gripper 6 and the multi-finger mechanism 5 can work independently or in coordination to meet the gripping needs of targets of different sizes and shapes.

[0020] In the preferred embodiment of this technical solution, please refer to Figure 4 As shown, both multi-finger mechanisms 5 include a rotating shaft 501 and a connecting plate 505. Output connecting rods 502 are fixedly sleeved at the center of the outer wall of both rotating shafts 501, and connecting rods 503 are hinged at one end of both output connecting rods 502.

[0021] Furthermore, when the servo motor 10 drives the rotating shaft 501 to rotate, the rotating shaft 501 will drive the output connecting rod 502, which is fixedly sleeved at the center of its outer wall, to swing synchronously. During the swinging process, the output connecting rod 502 will pull the connecting connecting rod 503, which is hinged at one end, to perform a push-pull linkage motion. The connecting connecting rod 503 will further transmit the power to the connecting plate 505, which is hinged to it, and drive the connecting plate 505 to complete an adaptive bending and stretching swing around its hinge point with the fixed plate 11. Finally, the connecting plate 505 drives the multi-finger gripper 504 at its end to achieve opening, closing and enveloping actions, so as to conform to the shape of large-scale irregular targets and complete stable clamping.

[0022] In the preferred embodiment of this technical solution, please refer to Figure 4 , Figure 5 As shown, one end of each of the two connecting rods 503 is hinged to one of the two connecting plates 505, and the two connecting plates 505 are hinged to the lower ends of the two fixing plates 11. The ends of the two connecting plates 505 away from the base 1 are each fixedly provided with multi-finger grippers 504.

[0023] In the preferred embodiment of this technical solution, please refer to Figure 4 As shown, the two ends of the two rotating shafts 501 are rotatably connected to the front and rear end faces of the inner walls of the two fixed covers 4, respectively, and the front ends of the two rotating shafts 501 are fixedly connected to the output ends of the two servo motors 10, respectively.

[0024] In the preferred embodiment of this technical solution, please refer to Figures 2-3 As shown, the drive mechanism 8 includes a bidirectional screw 801 and two synchronous pulleys 803. The bidirectional screw 801 is rotatably disposed at the center of the front end face of the outer wall of the base 1. The two synchronous pulleys 803 are respectively rotatably disposed at the front and rear ends of one side of the outer wall of the base 1. The outer walls of the two synchronous pulleys 803 are movably sleeved with a synchronous belt 802.

[0025] Furthermore, the integrated low-voltage servo motor 9 drives the synchronous pulley 803 at the rear end to rotate. When the synchronous pulley 803 rotates, the power is synchronously transmitted to the synchronous pulley 803 at the front side of the outer wall of the base 1 through the synchronous belt 802 that is movably sleeved on its outer wall, realizing synchronous transmission of power in the same direction. The synchronous pulley 803 at the front drives the bidirectional screw 801, which is rotatably set at the center of the front end face of the outer wall of the base 1, to rotate synchronously. The rotation of the bidirectional screw 801 will drive the threaded seat 16 with threads through both ends to drive the two gripper connectors 7 to slide synchronously in opposite directions or in a straight line along the base 1, thereby driving the small gripper 6 at the lower end of the gripper connector 7 and the two sets of multi-finger mechanisms 5 to complete the opening and closing action, thereby realizing the precise grasping of small-scale targets and the stable envelopment of large targets.

[0026] In the preferred embodiment of this technical solution, please refer to Figure 2 ,Figure 3 , Figure 5 As shown, the two ends of the bidirectional screw 801 are threaded through the two threaded seats 16 respectively. The rearmost synchronous wheel 803 of the two synchronous pulleys 803 is fixedly connected to the output end of the integrated low-voltage servo motor 9. The two ends of the bidirectional screw 801 are fixedly sleeved on the inner walls of the two ball bearings 13 respectively.

[0027] The two ends of the bidirectional screw 801 are fixedly sleeved on the inner wall of the ball bearing 13. The ball bearing 13, together with the bearing seat 12, provides stable support and limit for the rotation of the bidirectional screw 801, reducing rotational frictional resistance while ensuring the coaxiality and smoothness of the rotation of the bidirectional screw 801.

[0028] In the preferred embodiment of this technical solution, please refer to Figure 1 As shown, a control box 2 is fixedly installed on the rear end face of the outer wall of the base 1, and a protective cover 3 is fixedly installed on the outer side of one side of the outer wall of the base 1.

[0029] In the preferred embodiment of this technical solution, please refer to Figures 5-6 As shown, sliding members 15 are fixedly embedded at both ends of the rear end face of the two gripper connectors 7, and slide rails 14 are fixedly installed at both ends of the front end face of the outer wall of the base 1. The four sliding members 15 are respectively slidably engaged with the outer walls of the two slide rails 14.

[0030] Furthermore, the friction between the gripper connector 7 and the base 1 can be reduced by the sliding member 15 cooperating with the two slide rails 14.

[0031] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0032] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A three-motor dual-mode adaptive clamping mechanism for multi-scale irregular targets, comprising a base (1), characterized in that: A drive mechanism (8) is provided on the front end face and one side of the outer wall of the base (1). An integrated low-voltage servo motor (9) is fixedly provided on one side of the bottom end face of the inner wall of the base (1). A control box (2) is fixedly provided on the rear end face of the outer wall of the base (1). Bearing seats (12) are fixedly provided at the center of both sides of the front end face of the outer wall of the base (1). Ball bearings (13) are fixedly sleeved on the inner walls of both bearing seats (12). Claw connectors (7) are slidably sleeved on both sides of the outer wall of the base (1). The two claw connectors are... A threaded seat (16) is fixedly embedded at the center of the rear end face of each connector (7). A fixing plate (11) is fixedly embedded at the center of the bottom end face of the outer wall of each of the two gripper connectors (7). A small gripper (6) is fixedly embedded at the center of the opposite side of each of the two fixing plates (11). A fixing cover (4) is fixedly embedded at the side of each of the two fixing plates (11) that is separated from each other. A multi-finger mechanism (5) is provided on the outside of each of the two fixing covers (4). A servo motor (10) is fixedly embedded at the center of one side of the front end face of each of the two fixing covers (4).

2. The three-motor dual-mode adaptive clamping mechanism for multi-scale irregular targets according to claim 1, characterized in that: Both of the multi-finger mechanisms (5) include a rotating shaft (501) and a connecting plate (505). An output connecting rod (502) is fixedly sleeved at the center of the outer wall of each of the two rotating shafts (501). A connecting rod (503) is hinged at one end of each of the two output connecting rods (502).

3. The three-motor dual-mode adaptive clamping mechanism for multi-scale irregular targets according to claim 2, characterized in that: One end of each of the two connecting rods (503) is hinged to one of the two connecting plates (505), and the two connecting plates (505) are hinged to the lower ends of the two fixing plates (11). The ends of the two connecting plates (505) away from the base (1) are fixedly provided with multi-finger grippers (504).

4. The three-motor dual-mode adaptive clamping mechanism for multi-scale irregular targets according to claim 2, characterized in that: The two ends of the two rotating shafts (501) are rotatably connected to the front and rear end faces of the inner walls of the two fixed covers (4), and the front ends of the two rotating shafts (501) are fixedly connected to the output ends of the two servo motors (10).

5. The three-motor dual-mode adaptive clamping mechanism for multi-scale irregular targets according to claim 1, characterized in that: The drive mechanism (8) includes a bidirectional screw (801) and two synchronous pulleys (803). The bidirectional screw (801) is rotatably disposed at the center of the front end face of the outer wall of the base (1). The two synchronous pulleys (803) are respectively rotatably disposed at the front and rear ends of one side of the outer wall of the base (1). The outer walls of the two synchronous pulleys (803) are movably sleeved with a synchronous belt (802).

6. The three-motor dual-mode adaptive clamping mechanism for multi-scale irregular targets according to claim 5, characterized in that: The two ends of the bidirectional screw (801) are threaded through two threaded seats (16). The rearmost synchronous wheel (803) of the two synchronous pulleys (803) is fixedly connected to the output end of the integrated low-voltage servo motor (9). The two ends of the bidirectional screw (801) are fixedly sleeved on the inner walls of two ball bearings (13).

7. The three-motor dual-mode adaptive clamping mechanism for multi-scale irregular targets according to claim 1, characterized in that: A control box (2) is fixedly installed on the rear end face of the outer wall of the base (1), and a protective cover (3) is fixedly installed on the outer side of one side of the outer wall of the base (1).

8. The three-motor dual-mode adaptive clamping mechanism for multi-scale irregular targets according to claim 1, characterized in that: Sliding elements (15) are fixedly embedded at both ends of the rear end face of the two gripper connectors (7), and slide rails (14) are fixedly installed at both ends of the front end face of the outer wall of the base (1). The four sliding elements (15) are respectively slidably engaged with the outer walls of the two slide rails (14).

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