A gripper mechanism and a gripping device

Abstract

This invention relates to the field of gripper technology, and discloses a gripper mechanism and gripping device. The gripper mechanism includes: a housing, a motor, a gripper assembly, and a buffer assembly. The housing has a receiving cavity with a first hole at the top and a second hole at the bottom. The motor is located at the top of the housing, and the motor's lead screw passes through the first hole and extends into the receiving cavity, with a nut threaded onto the lead screw. The gripper assembly includes a transmission component and at least two gripper bodies. The transmission component is movably inserted through the second hole, and the at least two gripper bodies are respectively hinged to the lower end of the transmission component. The buffer assembly includes an upper flange, a lower flange, and a limiting component. The upper flange is connected to the nut, and the lower flange is connected to the transmission component. The limiting component connects the upper flange and the lower flange, generating an upward driving force when the upper flange and the lower flange reach their maximum distance. Through the dummy design of the buffer assembly, a pause time is allowed during the process of the gripper contacting the object and applying clamping force, simulating the biomimetic action of a human hand first lightly touching the surface of the object and then clamping it forcefully.

Description

Technical Field

[0001] This invention relates to the field of gripper technology, and in particular to a gripper mechanism and gripping device. Background Technology

[0002] Currently, gripper mechanisms are widely used in industrial production, logistics sorting, and claw machines. They mimic the structure of a human hand, which can open and close, and form a gripping force by contacting the object, thereby completing a reliable grasping action.

[0003] For example, Chinese utility model patent CN223947945U discloses a small mechanical gripper, which includes: an outer tube, a telescopic assembly, a gripper body, and a connecting rod; the telescopic assembly is located at the bottom of the outer tube, and its top end extends into the inner cavity of the outer tube; the gripper body has an "L"-shaped structure, with one end rotatably connected to the bottom end of the telescopic assembly; one end of the connecting rod is rotatably connected to the outer tube, and the other end is rotatably connected to the middle of the gripper body; a motor is installed in the inner cavity of the outer tube, and the output shaft of the motor is connected to the telescopic assembly for transmission; the bottom surface of the telescopic assembly is also provided with a telescopic clamping component. In use, the motor drives the telescopic assembly to extend downwards, which can cause the gripper body to open, and then the motor is controlled to reverse so that the gripper body gradually returns to its original position and clamps the object.

[0004] The aforementioned existing small mechanical grippers employ a design consisting of a motor, a telescopic assembly, a gripper body, and a linkage. The linear motion of the telescopic assembly drives the gripper body to open or close. However, the transmission between the motor, the telescopic assembly, and the gripper body is rigid, meaning the required clamping force is generated the instant the gripper contacts the object. This fails to simulate the biomimetic action of a human hand first lightly touching the object's surface and then forcefully clamping it. Summary of the Invention

[0005] The technical problem to be solved by the present invention is that the motor, telescopic component and gripper body of the existing small mechanical gripper are rigid transmissions. The required clamping force is generated the moment the gripper contacts the object, which cannot simulate the biomimetic action of a human hand first lightly touching the surface of the object and then clamping it with force.

[0006] To solve the above-mentioned technical problems, the present invention provides a technical solution for a gripper mechanism: The gripper mechanism includes: The housing has an internal cavity, a first hole at the top of the housing, and a second hole at the bottom of the housing. Both the first hole and the second hole communicate with the cavity. A motor is located at the top of the housing. The motor is equipped with a lead screw that passes through the first hole and extends into the receiving cavity. The lead screw is threadedly connected to a nut. A gripper assembly includes a transmission component and at least two gripper bodies. The transmission component is movably inserted through the second hole, and the at least two gripper bodies are respectively hinged to the lower end of the transmission component. A connecting rod is hinged between the housing and the gripper bodies. The buffer assembly includes an upper flange, a lower flange, and a limiting member. The upper flange is connected to the nut, and the lower flange is connected to the transmission member. The limiting member connects the upper flange and the lower flange to generate an upward driving force when the upper flange and the lower flange reach their maximum distance.

[0007] Furthermore, the limiting member is spaced apart on the outside of the lead screw, the upper flange and / or the lower flange are provided with through holes, the limiting member is movably provided in the through holes, and the end of the limiting member is provided with a stop portion; when the upper flange and the lower flange reach the maximum distance, the stop portion is engaged with the upper flange and / or the lower flange to stop.

[0008] Furthermore, the stop portion is located at the upper end of the limiting member, and the lower end of the limiting member is fixedly connected to the lower flange.

[0009] Furthermore, at least two limiting members are provided, and the at least two limiting members are symmetrically arranged about the central axis of the lead screw.

[0010] Furthermore, the transmission component includes a sleeve, which is coaxially arranged with the lead screw and clearance-fitted. The sleeve is movably disposed in the second hole, and the lower flange is disposed at the upper end of the sleeve.

[0011] Furthermore, the transmission component also includes a connecting block, which is located at the lower end of the sleeve, and at least two of the gripper bodies are respectively hinged to the connecting block.

[0012] Furthermore, the gripper mechanism also includes a U-shaped plate, which is disposed in the accommodating cavity and located outside the buffer assembly, and the upper flange is slidably engaged with the inner wall of the U-shaped plate.

[0013] Furthermore, the U-shaped plate has a clearance hole, the length of which extends along a direction parallel to the axis of the lead screw, and a portion of the lower flange is movably disposed in the clearance hole.

[0014] Furthermore, the U-shaped plate is also equipped with a position sensor, which is located above the clearance hole and is used to detect the height position of the nut.

[0015] To address the aforementioned technical problems, the present invention provides a technical solution for a gripping device: The gripping device includes the gripper mechanism of any of the above-mentioned schemes.

[0016] Compared with the prior art, the gripper mechanism and grasping device of the present invention have the following advantages: The gripper mechanism adopts a design of a housing, a motor, a gripper assembly, and a buffer assembly. The housing has a receiving cavity, a first hole at the top, and a second hole at the bottom. The motor is located at the top of the housing, and the motor's lead screw passes through the first hole and extends into the receiving cavity. The lead screw is threadedly connected to a nut. The gripper assembly includes a transmission component and at least two gripper bodies. The transmission component is movably located in the second hole, and the at least two gripper bodies are respectively hinged to the lower end of the transmission component. A connecting rod is hinged between the housing and the gripper bodies. The buffer assembly includes an upper flange, a lower flange, and a limiting component. The upper flange is connected to the nut, the lower flange is connected to the transmission component, and the limiting component connects the upper flange and the lower flange.

[0017] The motor drives the lead screw to rotate, and through the threaded engagement between the lead screw and the nut, the rotational motion is converted into linear motion, which drives the nut and the upper flange to move up and down together. Because the limiting component connects the upper and lower flanges, the upper flange does not directly drive the lower flange through the limiting component. Instead, the limiting component generates an upward driving force only when the maximum distance between the upper and lower flanges is reached. This creates a play between the nut and the transmission component through the upper flange, lower flange, and limiting component.

[0018] Before clamping, the nut and upper flange are at the lower end of the lead screw and abut against the lower flange. The transmission component extends downward through the second hole into the housing and drives at least two gripper bodies to open. The gripper assembly remains in the unfolded state, ready for clamping. When the object is started to be clamped, the motor-lead screw-nut drives the upper flange to move upward. When the upper flange no longer abuts against the lower flange (the buffer assembly is in a dormant position), the downward pressure on the transmission component disappears. Under the action of the gripper body's own weight, the transmission component is driven to return to its original position, allowing at least two gripper bodies to automatically close.

[0019] Within the play-off range, the gripper assembly automatically closes and drives the lower flange upward via the transmission component until the gripper assembly is fully closed or lightly touches the object surface (without generating clamping force). The motor-lead screw-nut drives the upper flange to continue moving upward. Only when the upper and lower flanges reach their maximum distance (ending the play-off range) will the upward driving force be transmitted to the transmission component through the limiting component and the lower flange, ultimately causing at least two gripper bodies to generate clamping force. Through the play-off design of the buffer component, a pause time is allowed during the process of the gripper contacting the object and applying clamping force, thus simulating the biomimetic action of a human hand first lightly touching the object surface and then clamping it forcefully. Attached Figure Description

[0020] Figure 1 This is a three-dimensional schematic diagram of the gripper mechanism according to an embodiment of the present invention; Figure 2 This is a top view schematic diagram of the gripper mechanism according to an embodiment of the present invention; Figure 3yes Figure 2 Cross-sectional view of the gripper mechanism at point AA; Figure 4 This is an assembly diagram of the lead screw, nut, and buffer assembly according to an embodiment of the present invention; Figure 5 This is a partial schematic diagram of the gripper mechanism (without the housing) according to an embodiment of the present invention; In the diagram: 1. Housing; 10. Receiving cavity; 11. First hole; 12. Second hole; 2. Motor; 21. Lead screw; 22. Nut; 3. Gripper assembly; 31. Transmission component; 311. Sleeve; 312. Connecting block; 32. Gripper body; 33. Connecting rod; 4. Buffer assembly; 41. Upper flange; 410. Through hole; 42. Lower flange; 43. Limiting component; 431. Stopping part; 5. U-shaped plate; 51. Clearance hole; 52. Position sensor. Detailed Implementation

[0021] The specific embodiments of the present invention will be described in further detail below with reference to the accompanying drawings and examples. The following examples are for illustrative purposes only and are not intended to limit the scope of the invention.

[0022] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise" used to indicate orientations or positional relationships are based on the orientations or positional relationships shown in the accompanying drawings and are only for the convenience of describing this invention and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention.

[0023] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0024] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0025] like Figures 1 to 4 As shown, a gripper mechanism according to an embodiment of the present invention includes: a housing 1, a motor 2, a gripper assembly 3, and a buffer assembly 4; the housing 1 has a receiving cavity 10, a first hole 11 at the top of the housing 1, and a second hole 12 at the bottom of the housing 1, both the first hole 11 and the second hole 12 communicating with the receiving cavity 10; the motor 2 is located at the top of the housing 1, and the motor 2 has a lead screw 21, which passes through the first hole 11 and extends into the receiving cavity 10, and the lead screw 21 is threadedly connected to a nut 22.

[0026] The gripper assembly 3 includes a transmission member 31 and at least two gripper bodies 32. The transmission member 31 is movably inserted through the second hole 12. The at least two gripper bodies 32 are respectively hinged to the lower end of the transmission member 31. A connecting rod 33 is hinged between the housing 1 and the gripper bodies 32. The buffer assembly 4 includes an upper flange 41, a lower flange 42 and a limiting member 43. The upper flange 41 is connected to the nut 22 and the lower flange 42 is connected to the transmission member 31. The limiting member 43 connects the upper flange 41 and the lower flange 42 to generate an upward driving force when the upper flange 41 and the lower flange 42 reach the maximum distance.

[0027] The gripper mechanism adopts a design consisting of a housing 1, a motor 2, a gripper assembly 3, and a buffer assembly 4. The motor 2 drives the lead screw 21 to rotate. Through the threaded engagement between the lead screw 21 and the nut 22, the rotational motion is converted into linear motion, which can drive the nut 22 and the upper flange 41 to move up and down together. The limiting member 43 connects the upper flange 41 and the lower flange 42. The upper flange 41 does not directly drive the lower flange 42 through the limiting member 43. Instead, the limiting member 43 generates an upward driving force when the maximum distance between the upper flange 41 and the lower flange 42 is reached. Through the upper flange 41, the lower flange 42, and the limiting member 43, a virtual space is formed between the nut 22 and the transmission member 31.

[0028] Before clamping, nut 22 and upper flange 41 are at the lower end of lead screw 21 and abut against lower flange 42. Transmission component 31 extends downward from housing 1 through second hole 12 and drives at least two gripper bodies 32 to open. Gripper assembly 3 remains in the unfolded state for clamping. When starting to clamp an object, motor 2-lead screw 21-nut 22 drives upper flange 41 to move upward. When upper flange 41 no longer abuts against lower flange 42 (buffer assembly 4 is in a dormant position), the downward pressure on transmission component 31 disappears. Under the action of the gripper body 32's own weight, transmission component 31 is driven to reset upward, so that at least two gripper bodies 32 can automatically close.

[0029] Within the vacancy range, the gripper assembly 3 can automatically close and drive the lower flange 42 upward through the transmission component 31 until the gripper assembly 3 is fully closed or lightly touches the object surface (without generating clamping force). The motor 2-lead screw 21-nut 22 drives the upper flange 41 to continue moving upward. Only when the upper flange 41 and lower flange 42 reach the maximum distance (end of vacancy) will the upward driving force be transmitted to the transmission component 31 through the limiting component 43 and the lower flange 42, finally causing at least two gripper bodies 32 to generate clamping force. Through the vacancy design of the buffer component 4, a pause time is left during the process of the gripper contacting the object and applying clamping force, thereby simulating the biomimetic action of a human hand first lightly touching the object surface and then clamping it forcefully.

[0030] In this embodiment, the limiting member 43 is spaced apart on the outside of the lead screw 21. The lower end of the limiting member 43 is fixedly connected to the lower flange 42. The upper flange 41 is provided with a through hole 410. The limiting member 43 is movably disposed in the through hole 410. The upper end of the limiting member 43 is provided with a stop portion 431. When the upper flange 41 and the lower flange 42 reach the maximum distance, the stop portion 431 stops and engages with the upper flange 41. The limiting member 43 is fixedly connected to the lower flange 42 and slidably connected to the upper flange 41. This not only creates a buffer space between the upper flange 41 and the lower flange 42, but also generates an upward driving force through the stop portion 431 at the maximum distance, so that at least two gripper bodies 32 form a clamping force.

[0031] In some embodiments of this application, the upper end of the limiting member 43 is fixedly connected to the upper flange 41, the lower flange 42 is provided with a through hole 410, the limiting member 43 is movably disposed in the through hole 410, and the lower end of the limiting member 43 is provided with a stop portion 431; when the upper flange 41 and the lower flange 42 reach the maximum distance, the stop portion 431 and the lower flange 42 stop and cooperate. The limiting member 43 is fixedly connected to the upper flange 41 and slidably connected to the lower flange 42, which can achieve the purpose of forming a buffer space between the upper flange 41 and the lower flange 42 and generating an upward driving force through the stop portion 431 when the distance is at its maximum.

[0032] In some embodiments of this application, both the upper flange 41 and the lower flange 42 are provided with through holes 410. The limiting member 43 is movably disposed in the through holes 410 of the upper flange 41 and the lower flange 42, and both the upper and lower ends of the limiting member 43 are provided with stop portions 431. The limiting member 43 is slidably connected to the upper flange 41 and to the lower flange 42, which can also achieve the purpose of forming a buffer gap between the upper flange 41 and the lower flange 42, and generating an upward driving force through the stop portion 431 when the gap is at its maximum.

[0033] To meet different usage requirements, the limiting member 43 is not limited to the optical rod or optical axis in the above embodiments. In some embodiments of this application, the limiting member 43 can also be a pull rope, chain, spring or scissor structure. The limiting member 43 can be compressed and deformed vertically, which ensures that the upper flange 41 abuts against the lower flange 42 and drives at least two gripper bodies 32 to open, and can also transmit an upward driving force to the lower flange 42 at the maximum spacing.

[0034] In this embodiment, two limiting members 43 are provided, and the two limiting members 43 are symmetrically arranged about the central axis of the lead screw 21. In some embodiments, three or more limiting members 43 may be provided. The three or more limiting members 43 are centrally symmetrical about the central axis of the lead screw 21, which can balance the transmission of driving force when the maximum distance is reached between the upper flange 41 and the lower flange 42, thus avoiding the problem of uneven force transmission.

[0035] It should be noted that the transmission component 31 includes a sleeve 311, which is coaxially arranged with the lead screw 21 and has a clearance fit. The sleeve 311 is movably disposed in the second hole 12, and the lower flange 42 is disposed at the upper end of the sleeve 311. The transmission component 31 also includes a connecting block 312, which is disposed at the lower end of the sleeve 311. At least two gripper bodies 32 are respectively hinged to the connecting block 312. When the nut 22 and the upper flange 41 move upward, the abutment force on the lower flange 42 disappears. Under the gravity of the gripper bodies 32, the sleeve 311 moves upward and is sleeved on the outside of the lead screw 21, thereby ensuring the upward reset of the transmission component 31 and the automatic closing of the gripper assembly 3.

[0036] In addition, such as Figure 4 , Figure 5 As shown, the gripper mechanism also includes a U-shaped plate 5, which is disposed in the accommodating cavity 10 and located outside the buffer assembly 4. The upper flange 41 is slidably engaged with the inner wall of the U-shaped plate 5. The inner wall of the U-shaped plate 5 provides anti-rotation constraint to the nut 22 and the upper flange 41, ensuring that the rotational motion of the lead screw 21 can be effectively converted into the linear motion of the nut 22.

[0037] As a further preferred embodiment, the U-shaped plate 5 has a clearance hole 51, the length of which extends parallel to the axis of the lead screw 21, and a portion of the lower flange 42 is movably disposed within the clearance hole 51. Furthermore, the U-shaped plate 5 is also equipped with a position sensor 52, located above the clearance hole 51, which detects the height position of the nut 22. When the nut 22 reaches its maximum height, the position sensor 52 sends an electrical signal to the control board, which then stops the motor 2 to prevent it from burning out due to continuous power supply.

[0038] The gripping device of this invention includes a gripper mechanism, which is the same as the specific embodiments of the gripper mechanism in the specific implementation of this invention, and will not be described again here.

[0039] Preferably, the gripping device can be a handling robot, a sorting robotic arm, or a claw machine. If the gripping device is a claw machine, the stopping time of motor 2 can be controlled by the control board to achieve the control purpose of successful gripping (with clamping force) and failure (without clamping force).

[0040] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and substitutions can be made without departing from the technical principles of the present invention, and these improvements and substitutions should also be considered within the scope of protection of the present invention.

Claims

1. A gripper mechanism, characterized in that, include: The housing (1) has a cavity (10) inside. The top of the housing (1) has a first hole (11) and the bottom of the housing (1) has a second hole (12). The first hole (11) and the second hole (12) are both connected to the cavity (10). The motor (2) is located on the top of the housing (1). The motor (2) is provided with a lead screw (21). The lead screw (21) passes through the first hole (11) and extends into the accommodating cavity (10). The lead screw (21) is threaded with a nut (22). The gripper assembly (3) includes a transmission member (31) and at least two gripper bodies (32). The transmission member (31) is movably inserted through the second hole (12). At least two gripper bodies (32) are respectively hinged to the lower end of the transmission member (31). A connecting rod (33) is hinged between the housing (1) and the gripper bodies (32). The buffer assembly (4) includes an upper flange (41), a lower flange (42), and a limiting member (43). The upper flange (41) is connected to the nut (22), and the lower flange (42) is connected to the transmission member (31). The limiting member (43) connects the upper flange (41) and the lower flange (42) to generate an upward driving force when the upper flange (41) and the lower flange (42) reach their maximum distance.

2. The gripper mechanism according to claim 1, characterized in that, The limiting member (43) is spaced apart on the outside of the lead screw (21). The upper flange (41) and / or the lower flange (42) are provided with through holes (410). The limiting member (43) is movably provided in the through holes (410). The end of the limiting member (43) is provided with a stop part (431). When the upper flange (41) and the lower flange (42) reach the maximum distance, the stop part (431) stops and cooperates with the upper flange (41) and / or the lower flange (42).

3. The gripper mechanism according to claim 2, characterized in that, The stop (431) is located at the upper end of the limiting member (43), and the lower end of the limiting member (43) is fixedly connected to the lower flange (42).

4. The gripper mechanism according to any one of claims 1 to 3, characterized in that, At least two limiting members (43) are provided, and the at least two limiting members (43) are symmetrically arranged about the central axis of the lead screw (21).

5. The gripper mechanism according to any one of claims 1 to 3, characterized in that, The transmission component (31) includes a sleeve (311), which is coaxially arranged with the lead screw (21) and has a clearance fit. The sleeve (311) is movably disposed in the second hole (12), and the lower flange (42) is disposed at the upper end of the sleeve (311).

6. The gripper mechanism according to claim 5, characterized in that, The transmission component (31) also includes a connecting block (312), which is located at the lower end of the sleeve (311), and at least two of the gripper bodies (32) are respectively hinged to the connecting block (312).

7. The gripper mechanism according to any one of claims 1 to 3, characterized in that, The gripper mechanism also includes a U-shaped plate (5), which is disposed in the accommodating cavity (10) and located outside the buffer assembly (4), and the upper flange (41) slides in cooperation with the inner wall of the U-shaped plate (5).

8. The gripper mechanism according to claim 7, characterized in that, The U-shaped plate (5) has a clearance hole (51), the length direction of which extends along the axis parallel to the lead screw (21), and a portion of the lower flange (42) is movably disposed in the clearance hole (51).

9. The gripper mechanism according to claim 8, characterized in that, The U-shaped plate (5) is also provided with a position sensor (52), which is located on the upper side of the clearance hole (51) and is used to detect the height position of the nut (22).

10. A gripping device, characterized in that, Includes the gripper mechanism as described in any one of claims 1 to 9.

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