A center-driven, four-claw linked adaptive mechanical gripper device and method thereof

Abstract

The application provides a center-driven four-claw linkage adaptive mechanical gripper device and a method thereof, relates to the technical field of mechanical grippers, and solves the technical problems of complex structure, high control difficulty, insufficient buffering and adaptive capacity, and poor clamping stability of the existing mechanical gripper device. The mechanical gripper device comprises a linear driving assembly, a transmission connecting assembly, an adaptive buffering assembly, and a mechanical gripper assembly. The linear driving assembly drives the center adaptive buffering assembly and the two-side mechanical gripper assemblies to move synchronously through the M-shaped transmission connecting assembly, so as to realize vertical buffering support and four-claw envelope clamping of the target object. The application realizes the cooperative movement of adaptive buffering support and four-claw linkage clamping in a single driving mode, simplifies the overall structure, reduces the control complexity, reduces the contact impact in the grabbing process, and enhances the stable grabbing capacity of the device under the conditions of the posture deviation, position error or external disturbance of the target object.

Description

Technical Field

[0001] This invention relates to the field of mechanical gripper technology, and in particular to an adaptive mechanical gripper device with center drive and four-claw linkage. Background Technology

[0002] Mechanical grippers, as key actuators in automated operating equipment, are widely used in industrial material handling and specialized grasping applications. In drone aerial recovery operations, the target drone is susceptible to factors such as fuselage load swaying, environmental wind disturbances, and relative posture deviations, leading to uneven loading and tilting during the grasping process. This results in decreased gripping stability and even grasping failure. Furthermore, traditional rigid mechanical gripping methods often lack necessary buffering and adaptive capabilities, easily generating significant impact loads upon contact with the target drone, thus damaging the fuselage surface. In addition, existing mechanical grippers often employ multi-drive source control, resulting in high control difficulty and a complex overall structure.

[0003] To solve the above technical problems, it is necessary to design a mechanical gripper device that is compact, has stable clamping capabilities, and possesses buffering and adaptive capabilities. Summary of the Invention

[0004] The purpose of this invention is to provide a center-driven, four-claw-linked adaptive mechanical gripper device and method, to solve the problems of complex device structure, large impact, and insufficient gripping stability in existing technologies. The various technical effects of the preferred technical solutions provided by this invention are detailed below.

[0005] To achieve the above objectives, the present invention provides the following technical solution: This invention provides a center-driven, four-jaw linkage adaptive mechanical gripper device, comprising a linear drive assembly, a transmission connection assembly, an adaptive buffer assembly, and two mechanical gripper units. The transmission connection assembly is located below the linear drive assembly and connected to its output end.

[0006] Preferably, the transmission connection assembly has an M-shaped structure, that is, it includes a middle connecting arm for installing the adaptive buffer assembly, and two outer connecting arms located on the left and right sides of the middle connecting arm for installing the mechanical gripper unit (4) respectively.

[0007] Preferably, the adaptive buffer assembly includes a top plate, a contact plate, and a bottom plate from top to bottom; the top plate is fixedly connected to the intermediate connecting arm of the transmission connection assembly, the contact plate is fixedly disposed below the top plate by a mounting block, and the bottom plate is disposed below the contact plate by a spring; Preferably, the mechanical gripper unit includes a horizontal top rod, with a sliding groove on each of the front and rear sides of the horizontal top rod. Each sliding groove houses a finger unit, and the two finger units work in tandem. Each finger unit is a parallelogram mechanism composed of a support rod, a first connecting rod, a second connecting rod, and a third connecting rod in sequence. Specifically, the second end of the support rod is hinged to the first end of the first connecting rod, the second end of the first connecting rod is hinged to the first end of the second connecting rod, the second end of the second connecting rod is hinged to the first end of the third connecting rod, and the second end of the third connecting rod is hinged to the first end of the first connecting rod. The first connecting rod is installed in the corresponding sliding groove of the horizontal top rod through a double-ended snap ring pin and snap ring plate. The extension end of the second end of the third connecting rod is hinged to a fourth connecting rod, and a slider is installed at the end of the fourth connecting rod. The extension end of the first end of the support rod is hinged to a claw finger, and a slide is provided on the upper side of the claw finger. The slider cooperates with the slide and can move along the slide. The two support rods of each mechanical gripper unit are fixedly connected to each other.

[0008] The working method of the center-driven, four-claw linkage adaptive mechanical gripper device of the present invention is as follows: In the initial state, the linear drive assembly is in a retracted or not fully extended state, and the transmission connection assembly drives the pair of claws of the mechanical gripper units on the left and right sides to be in an open state, and the adaptive buffer assembly is located above the target object; when gripping, the linear drive assembly outputs displacement in the vertical direction, driving the transmission connection assembly to move downward; the transmission connection assembly (2) first drives the adaptive buffer assembly (3) to approach the target object, so that the bottom plate (7) contacts the upper surface of the target object, and generates vertical buffering and pre-pressure through the spring (8); As the linear drive assembly (1) continues to move, the transmission connection assembly (2) synchronously drives the outer mechanical gripper unit (4) to move. At this time, the slider (16) moves along the slide (17), the parallelogram mechanism is linked, the opening and closing angle of the mechanical gripper gradually decreases, and the claws (18) on the front and rear sides gradually move towards the side surface of the target object until they contact the target object.

[0009] Because the mechanical gripper unit (4) is evenly arranged through the transmission connection assembly (2), the claw fingers (18) are able to The clamping action is formed from different directions of the target object, so that the target object is subjected to a relatively uniform clamping force.

[0010] Based on the above technical solution, the center-driven, four-claw linkage adaptive mechanical gripper device of the present invention has at least the following technical effects: The center-driven, four-claw linkage adaptive mechanical gripper device of this invention adopts a single center-driven method, simultaneously driving the adaptive buffer component and two mechanical gripper components, simplifying the complexity of the structure and control. The adaptive buffer structure generates vertical elastic deformation through springs, producing adjustable preload to absorb the impact energy generated at the moment of contact. The two symmetrical mechanical grippers contain a total of four claws, which, compared to the traditional two-claw structure, provides stable gripping, uniform force distribution, and strong resistance to off-center loads. The parallelogram structure helps the mechanical gripper maintain basic stability during opening and closing, reducing interference and impact caused by sudden changes in posture during gripping. Attached Figure Description

[0011] Figure 1 This is a schematic diagram of the overall structure of the centrally driven, four-claw linkage adaptive mechanical gripper device of the present invention in the open state. Figure 2 This is a schematic diagram of the overall structure of the centrally driven, four-claw linkage adaptive mechanical gripper device of the present invention in the closed state. Figure 3 This is a schematic diagram of the adaptive buffer component in the center-driven, four-claw linkage adaptive mechanical gripper device of the present invention; Figure 4 This is a schematic diagram of the mechanical gripper assembly in the center-driven, four-claw linkage adaptive mechanical gripper device of the present invention; Figure 5 This is a schematic diagram of the mechanical gripper assembly in the center-driven, four-claw linkage adaptive mechanical gripper device of the present invention from another perspective. Explanation of reference numerals in the attached drawings: 1-Linear drive assembly; 2-Transmission connection assembly; 3-Adaptive buffer assembly; 4-Mechanical gripper unit; 5-Top plate; 6-Contact plate; 7-Base plate; 8-Spring; 9-Horizontal push rod; 10-Double-headed snap ring pin; 11-Snap ring plate; 12-First link; 13-Second link; 14-Third link; 15-Fourth link; 16-Slider; 17-Slideway; 18-Claw finger; 19-Support rod Detailed Implementation

[0012] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are merely some embodiments of this invention, and not all embodiments. Based on the embodiments of this invention, all other implementation methods obtained by those skilled in the art without creative effort are within the scope of protection of this invention.

[0013] In the description of this invention, it should be noted that, unless otherwise stated, the terms "upper," "lower," "left," "right," "front," "rear," "middle," "end," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting this invention.

[0014] In the description of this invention, it should also be noted that, unless otherwise explicitly specified and limited, the terms "connected," "linked," and "installed" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0015] The following is in conjunction with the instruction manual appendix. Figures 1 to 5 The technical solution of the adaptive mechanical gripper device with center drive and four-claw linkage of the present invention is described in detail.

[0016] like Figure 1 and Figure 2 As shown, this invention provides a center-driven, four-jaw-linked adaptive mechanical gripper device, including a linear drive assembly, a transmission connection assembly, an adaptive buffer assembly, and a mechanical gripper assembly. The linear drive assembly 1 is preferably a linear motor, which is vertically positioned and fixed at the center of the device. The transmission connection assembly 2 is preferably a transmission connecting rod, whose center is connected to the output end of the linear motor, and whose two sides are connected to the center of the horizontal push rod 9 in the mechanical gripper unit 4. The adaptive buffer assembly 3 is located below the middle of the transmission connecting rod and extends or retracts via the linear motor. The mechanical gripper unit 4 is synchronously driven by the linear motor to clamp or release the target object. The center-driven, four-jaw-linked adaptive mechanical gripper device of this invention has a relatively simple structure and is relatively easy to control.

[0017] Further preferred, such as Figure 1 and Figure 2 As shown, the mechanical gripper unit 4 is located on the left and right sides of the adaptive buffer component 3 and is arranged symmetrically about the center line. Each side of the mechanical gripper contains two claws, and the two sides of the mechanical gripper have a total of four claws. The four-claw structure can form a more uniform envelope clamping force on both sides of the target object, which is beneficial to reduce the off-center load phenomenon during the gripping process and improve the gripping stability and the ability to resist attitude disturbance.

[0018] Further preferred, such as Figure 3As shown. The adaptive buffer assembly 3 includes a top plate 5, a contact plate 6, a bottom plate 7, and a spring 8. The top plate 5 is located at the top of the adaptive buffer assembly 3 and is used to connect with the transmission connecting rod 2; the contact plate 6 is located between the top plate 5 and the bottom plate 7; the bottom plate 7 is located at the bottom of the adaptive buffer assembly 3 and is used to contact the upper surface of the target object during the gripping process. The spring 8 is located between the contact plate 6 and the bottom plate 7 and can generate vertical elastic deformation when the bottom plate 7 contacts the target object, thereby absorbing the impact load generated at the moment of contact and providing a certain vertical preload to the target object.

[0019] Further preferred, such as Figure 4 and Figure 5 As shown, the mechanical gripper unit 4 includes a horizontal push rod 9, a double-ended snap ring pin 10, a snap ring plate 11, a first connecting rod 12, a second connecting rod 13, a third connecting rod 14, a fourth connecting rod 15, a slider 16, a slide rail 17, claw fingers 18, and a support rod 19. The horizontal push rod 9 is located at the upper part of the mechanical gripper unit 4 and is used to limit the range of motion of the mechanical gripper, and its effective length limits the opening and closing angle of the mechanical gripper unit 4. The double-ended snap ring pin 10 works in conjunction with the snap ring plate 11 to achieve rotational connection and axial limiting between the linkage structures, ensuring the connection reliability of the mechanical gripper unit 4 during the opening and closing process and reducing contact impact during gripping.

[0020] In a further preferred embodiment, the fourth link 15 is positioned above the slider 16 and engages with the slide rail 17. The slider 16 can slide relative to the slide rail 17, thereby driving the claw finger 18 to move. The claw finger 18 is located at the end of the mechanical gripper unit 4 and is used to contact the side surface of the target object and form a clamping action.

[0021] Preferably, the support rod 19 is positioned at the main body of the mechanical gripper unit 4, and together with the first link 12, the second link 13, and the third link 14, forms a parallelogram linkage mechanism. This parallelogram linkage mechanism can maintain the relatively stable posture of the claw fingers 18 during the opening and closing of the mechanical gripper unit 4, allowing the claw fingers 18 to approach or move away from the side surface of the target object with a relatively smooth trajectory, reducing local interference and impact caused by sudden changes in the posture of the claw fingers 18.

[0022] Working principle: In the initial state, such as Figure 1 As shown, the linear motor is in a retracted or partially extended state, and the transmission connecting rod drives the mechanical gripper units 4 on both sides to be in an open state, with the adaptive buffer assembly 3 positioned above the target object. During gripping, the linear motor outputs displacement in the vertical direction, driving the transmission connecting rod downwards. The transmission connecting rod first drives the adaptive buffer assembly 3 closer to the target object, causing the base plate 7 to contact the upper surface of the target object, and generating vertical buffering and pre-compression through the spring 8.

[0023] As the linear motor continues to move, the transmission connecting rod synchronously drives the mechanical gripper units 4 on both sides to move. At this time, the slider 16 moves along the slide rail 17, and the parallelogram mechanism formed by the first connecting rod 12, the second connecting rod 13, the third connecting rod 14 and the support rod 19 is linked, causing the claws 18 on the left and right sides to gradually move closer to the side surface of the target object. Because the mechanical gripper units 4 on both sides are symmetrically arranged, the four claws 18 can simultaneously form a clamping action from both sides of the target object, so that the target object is subjected to a relatively uniform clamping force.

[0024] When claw 18 contacts the side surface of the target object, as Figure 2 As shown, the mechanical gripper unit 4 enters the closed clamping state. At this time, the adaptive buffer component 3 provides vertical support and elastic preload to the upper surface of the target object, and the four claw fingers 18 form an envelope clamping around the side surface of the target object, thereby achieving stable gripping of the target object. This structure can maintain good clamping stability even when the target object has a certain positional error, attitude deviation, or external disturbance.

[0025] When the target object needs to be released, the linear motor moves in the reverse direction, driving the transmission connecting rod to return to its original position. The transmission connecting rod drives the slider 16 to move in the reverse direction along the slide rail 17, and through the linkage mechanism, drives the claw finger 18 to gradually move away from the side surface of the target object. The mechanical gripper unit 4 returns from the closed state to the open state. At the same time, the adaptive buffer component 3 moves upward with the transmission connecting rod, the base plate 7 gradually detaches from the upper surface of the target object, the spring 8 releases its compression deformation, and the device completes the release action.

[0026] The above-described embodiments are merely preferred embodiments of the present invention, and the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A center-driven, four-jaw linkage adaptive mechanical gripper device, characterized in that: It consists of a linear drive assembly (1), a transmission connection assembly (2), an adaptive buffer assembly (3), and two mechanical gripper units (4); The transmission connection assembly is located below the linear drive assembly and connected to the output end of the linear drive assembly; the transmission connection assembly has an M-shaped structure, that is, it includes a middle connecting arm for installing the adaptive buffer assembly, and two outer connecting arms located on the left and right sides of the middle connecting arm for installing the mechanical gripper unit (4) respectively. The adaptive buffer assembly comprises, from top to bottom, a top plate (5), a contact plate (6), and a bottom plate (7); the top plate (5) is fixedly connected to the middle connecting arm of the transmission connection assembly (2); the contact plate (6) is fixedly set below the top plate (5) by a mounting block; and the bottom plate (7) is set below the contact plate (6) by a spring (8). The mechanical gripper unit (4) includes a horizontal top rod (9). A sliding groove is provided on each of the front and rear sides of the horizontal top rod (9). Each sliding groove is equipped with a finger unit, and the two finger units cooperate with each other. Each finger unit is composed of a support rod (19), a first connecting rod (12), a second connecting rod (13), and a third connecting rod (14) forming a parallelogram mechanism. Specifically, the second end of the support rod (19) is hinged to the first end of the first connecting rod (12), the second end of the first connecting rod (12) is hinged to the first end of the second connecting rod (13), the second end of the second connecting rod (13) is hinged to the first end of the third connecting rod (14), and the second end of the third connecting rod (14) is hinged to the first connecting rod. (12) The first end is hinged; the first connecting rod (12) is installed in the corresponding groove of the horizontal top rod (9) through the cooperation of the double-headed snap ring pin (10) and snap ring (11); the extension end of the second end of the third connecting rod (14) is hinged to install the fourth connecting rod (15), and the end of the fourth connecting rod (15) is equipped with a slider (16); the extension end of the first end of the support rod (19) is hinged to install a claw finger (18), and a slide (17) is provided on the upper side of the claw finger (18). The slider (16) cooperates with the slide (17) and can move along the slide (17); the two support rods (19) of each mechanical gripper unit are fixedly connected to each other.

2. The adaptive mechanical gripper device with center drive and four-jaw linkage according to claim 1, characterized in that: The linear drive component is a linear motor.

3. The adaptive mechanical gripper device with center drive and four-jaw linkage according to claim 1, characterized in that: A protective block is provided below the contact plate (6).

4. The working method of the center-driven, four-jaw linkage adaptive mechanical gripper device according to claim 1, characterized in that... The process includes the following: In the initial state, the linear drive assembly (1) is in a retracted or not fully extended state, the transmission connection assembly (2) drives the pair of claws (18) of the mechanical gripper units (4) on the left and right sides to be in an open state, and the adaptive buffer assembly (3) is located above the target object. When grasping, the linear drive component (1) outputs displacement in the vertical direction, driving the transmission connection component (2) to move downward; the transmission connection component (2) first drives the adaptive buffer component (3) to approach the target object, so that the bottom plate (7) contacts the upper surface of the target object, and generates vertical buffering and pre-compression through the spring (8); As the linear drive assembly (1) continues to move, the transmission connection assembly (2) synchronously drives the outer mechanical gripper unit (4) to move; at this time, the slider (16) moves along the slide (17), the parallelogram mechanism is linked, the opening and closing angle of the mechanical gripper gradually decreases, so that the claws (18) on the front and rear sides gradually move closer to the side surface of the target object until they contact the target object. Since the mechanical gripper unit (4) is evenly arranged through the transmission connection assembly (2), the claws (18) can form a clamping action from different directions of the target object, so that the target object is subjected to a relatively uniform clamping force.

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