Shifting and grabbing integrated mechanical claw and mechanical arm

Abstract

The utility model provides a shifting and grabbing integrated mechanical claw and a mechanical arm, which are used for solving the problems that the working mode of the mechanical claw is single and a larger transmission structure is needed in the prior art. The mechanical claw comprises a connecting shell, a front pusher dog and a rear pusher dog are hinged to the connecting shell, a driving motor is fixed in the connecting shell, the output end of the driving motor is connected with a driving gear, the driving gear is meshed with a transfer gear, and the transfer gear slides in the axis direction of the driving gear through a reversing device. The transfer gear is meshed with a front driven gear and a reversing gear, a front half gear capable of being meshed with the transfer gear is arranged on the front pusher dog, a rear half gear capable of being meshed with the transfer gear is arranged on the rear pusher dog, and the front half gear and the rear half gear are arranged in a staggered mode. According to the mechanical claw, the modes of hinging and gear transmission are adopted, so that the overall structure is compact, the action of the mechanical claw is more stable and reliable through gear transmission, the failure rate of the mechanical claw can be reduced, and the service life of the mechanical claw is prolonged.

Description

Technical Field

[0001] The utility model relates to the field of industrial robots, in particular to a mechanical claw and a mechanical arm with integrated poking and grasping function. Background Art

[0002] The robot arm is a complex system with high precision, multiple inputs and multiple outputs, high nonlinearity and strong coupling. Due to its unique operational flexibility, it has been widely used in industrial assembly, safety and explosion-proof and other fields.

[0003] Existing mechanical claw grasping methods, such as screw drive, pneumatic control and cam drive, all have some problems. For example, screw drive is not suitable for high-speed reverse transmission and has low efficiency; pneumatic control has low precision and high cost; traditional cam drive can only control the gripper to perform gripping operations individually, but cannot control a single gripper to perform operations, so it is not convenient for screening and sorting goods in a small space, as well as high-risk experiments. In addition, the existing transmission method requires a larger mechanical claw structure. When a larger mechanical claw structure is installed in the mechanical claw, it will inevitably take up more camera installation space, which brings great trouble to subsequent image debugging. Utility Model Content

[0004] The utility model provides an integrated mechanical claw and mechanical arm, which solves the problem in the prior art that the mechanical claw has a single working mode and the transmission structure occupies more camera installation space.

[0005] The technical solution of the utility model is achieved in this way:

[0006] A mechanical claw with integrated shifting and grasping comprises a connecting shell, a front shifting claw and a rear shifting claw being hingedly connected to the connecting shell, a driving motor being fixed in the connecting shell, an output end of the driving motor being connected to a driving gear, the driving gear being meshed with a transfer gear, the transfer gear sliding along the axis direction of the driving gear through a reversing device, the transfer gear being meshed with a front driven gear and a reversing gear, the reversing gear being meshed with a rear driven gear, the front driven gear driving the front shifting claw through a front driven shaft, the rear driven gear driving the rear shifting claw through a rear driven shaft, the front shifting claw being provided with a front half gear meshed with the transfer gear, the rear shifting claw being provided with a rear half gear meshed with the transfer gear, the front half gear and the rear half gear being arranged alternately.

[0007] Furthermore, the reversing device includes a fixed shaft, the axial direction of the fixed shaft is parallel to the axial direction of the driving gear, the intermediate gear is sleeved on the fixed shaft, the two ends of the fixed shaft are respectively fixed with electromagnets a and d, the two sides of the intermediate gear are respectively fixed with electromagnets b and c, and the magnetic forces generated by electromagnets a, b, c and d are the same. Components such as the electromagnet and the fixed shaft are relatively independent, and when a component fails, it can be repaired or replaced separately without disassembling and repairing the entire mechanical claw.

[0008] Furthermore, a connecting rod is fixed to one side of the front driven shaft and the rear driven shaft, a metal sheet is fixed to the connecting rod, and a fixed electromagnet corresponding to the metal sheet is fixed to the housing, and the fixed electromagnet can attract the metal sheet. Through the attraction of the fixed electromagnet to the metal sheet, it can be ensured that the controlled claw maintains a stable position and posture during operation, thereby improving the operating accuracy of the mechanical claw and reducing the complexity of the control system.

[0009] Furthermore, the front and rear claws can be arc-shaped, straight-plate-shaped, or comb-shaped. Different shapes of the front and rear claws can adapt to objects of different shapes and materials, thereby increasing the application range and flexibility of the mechanical claws.

[0010] A mechanical arm comprises a base and the above-mentioned mechanical claw, wherein the base drives a mechanical arm to rotate through a first control motor, a mechanical small arm is driven at the top of the mechanical arm through a second control motor, an end of the mechanical small arm away from the second control motor is driven to connect to a shell through a third control motor, and a accommodating cavity for accommodating the mechanical small arm is provided on the mechanical arm.

[0011] Furthermore, the base, the mechanical arm, the mechanical arm and the connection housing are all hinged by an optical axis, and the first control motor, the second control motor and the third control motor are all double-axis steering gears. When parts need to be replaced or repaired, the operation can be performed more conveniently, reducing the complexity and time cost of maintenance work.

[0012] Furthermore, a plane bearing is fixed at the bottom of the base, the side of the plane bearing away from the base is a fixed end, and the end of the plane bearing close to the base is fixedly connected to a rotating motor through a flange. The design of the plane bearing can reduce the friction between the robot arm and the base, reduce wear, and thus extend the service life of the robot arm.

[0013] Furthermore, the bottom surface of the base is connected to the inner ring of a deep groove ball bearing through two flanges, the outer ring of the deep groove ball bearing is a fixed end, and the flange on the bottom surface of the deep groove ball bearing is fixed with a rotating motor. The deep groove ball bearing provides longitudinal support while reducing the loss caused by friction. At the same time, the rotating motor will not bear longitudinal loads, thereby maximizing the service life of the rotating motor.

[0014] Beneficial effects:

[0015] The utility model adopts a simple electromagnet and fixed shaft structure, avoiding complex mechanical transmission and connecting parts, making the overall structure more concise and compact, and also increasing the installation space of the camera. Through different gear meshing transmission, the front and rear claws can be switched in different matching modes, which improves the efficiency and flexibility of operation, makes the action of the mechanical claw more stable and reliable, and increases its service life. The space occupied by the mechanical arm can be reduced by the accommodating cavity, making it more compact, and also helps to reduce the overall weight and improve the movement efficiency and speed of the mechanical arm. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0017] Figure 1 It is a three-dimensional structural schematic diagram of the mechanical arm of the utility model;

[0018] Figure 2 It is a three-dimensional structural schematic diagram of the mechanical claw of the utility model;

[0019] Figure 3 This is a schematic diagram of the partial parts structure of the mechanical claw of the utility model;

[0020] Figure 4 It is a top view of the mechanical claw of the utility model;

[0021] Figure 5 This is a schematic diagram of the gear drive principle structure of the mechanical claw of the utility model;

[0022] Figure 6 It is a three-dimensional structural schematic diagram of the mechanical arm base of the utility model;

[0023] Figure 7 It is a sectional isometric view of the base of the mechanical arm of the utility model;

[0024] Figure 8 This is a cross-sectional view of another embodiment of the robotic arm base of the utility model.

[0025] Wherein: 1. connecting shell, 2. front derailleur claw, 3. rear derailleur claw, 4. driving gear, 5. transfer gear, 6. reversing device, 7. front driven gear, 8. reversing gear, 9. rear driven gear, 10. front half gear, 11. rear half gear, 12. fixed shaft, 13. electromagnet a, 14. electromagnet d, 15. accommodating chamber, 16. optical axis, 17. metal sheet, 18. fixed electromagnet, 19. base, 20. mechanical arm, 21. mechanical arm, 22. plane bearing, 23. deep groove ball bearing, 24. flange, 25. rotating motor, 26. front driven shaft, 27. rear driven shaft, 28. connecting rod, 29. electromagnet b, 30. electromagnet c. DETAILED DESCRIPTION

[0026] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0027] like Figure 2-5 As shown, the embodiment of the utility model provides an integrated mechanical claw for shifting and grasping, comprising a connecting shell 1, a front shift claw 2 and a rear shift claw 3 are hingedly connected to the connecting shell 1, a driving motor is fixed in the connecting shell 1, an output end of the driving motor is connected to a driving gear 4, the driving gear 4 is meshed with a transfer gear 5, the transfer gear 5 slides along the axial direction of the driving gear 4 through a reversing device 6, the transfer gear 5 is meshed with a front driven gear 7 and a reversing gear 8, the reversing gear 8 is meshed with a rear driven gear 9, the front driven gear 7 drives the front shift claw 2 through a front driven shaft 26, the rear driven gear 9 drives the rear shift claw 3 through a rear driven shaft 27, the front shift claw 2 is provided with a front half gear 10 that can be meshed with the transfer gear 5, the rear shift claw 3 is provided with a rear half gear 11 that can be meshed with the transfer gear 5, and the front half gear 10 and the rear half gear 11 are arranged alternately.

[0028] A camera is fixed below the driving motor, and the driving motor is a steering gear. The thickness of the driving gear 4 is greater than the maximum width from the driven gear to the front half gear 10 or the rear half gear 11.

[0029] During use, the driving motor rotates the intermediate gear 5 through the driving gear 4. The intermediate gear 5 meshes with different gears to achieve different matching modes of the front shifter claw 2 and the rear shifter claw 3. When the intermediate gear 5 meshes with the front driven gear 7 and the reversing gear 8, the reversing gear 8 drives the rear driven gear 9, so that the front shifter claw 2 and the rear shifter claw 3 can swing toward each other to achieve the clamping action. When the intermediate gear 5 meshes with the front half gear 10 driven by the reversing device 6, since the front half gear 10 and the rear half gear 11 are not in the same plane, the driving device can drive the front shifter claw 2 alone, and accordingly, when the intermediate gear 5 meshes with the rear half gear 11, the rear shifter claw 3 can be driven alone.

[0030] A servo precisely controls the transfer gear 5 through the reversing device 6, so that the mechanical claw can open and close to achieve three working modes, and the mechanical claw can be flexibly operated according to different needs. It reduces production costs and improves precision requirements. It is very suitable for environments with small space and high precision requirements. It can also reduce the weight of the mechanical claw. At the same time, compared with worm gear transmission, it also increases the installation space of the camera.

[0031] The reversing device 6 includes a fixed shaft 12, the axial direction of the fixed shaft 12 is parallel to the axial direction of the driving gear 4, the intermediate gear 5 is sleeved on the fixed shaft 12, the two ends of the fixed shaft 12 are respectively fixed with an electromagnet a13 and an electromagnet d14, the two sides of the intermediate gear 5 are respectively fixed with an electromagnet b29 and an electromagnet c30, and the electromagnet a13, the electromagnet b29, the electromagnet c30 and the battery iron d14 can generate the same magnetic force. The electromagnet can change the magnetic pole by changing the direction of the current.

[0032] There are two ways to connect the transfer gear 5 and the fixed shaft 12. One is that the fixed shaft 12 is relatively fixed to the connecting shell 1, and the transfer gear 5 slides and rotates on the fixed shaft 12. The other is that when the fixed shaft 12 rotates in the connecting shell 1, the transfer gear 5 is slidably connected to the fixed shaft 12 through a flat key, which can ensure that the transfer gear 5 can slide and rotate.

[0033] When the working mode of the mechanical claw needs to be switched, the transfer gear 5 moves along the fixed axis 12 through the mutual attraction or repulsion between the electromagnets, such as Figure 4 and 5As shown, when the electromagnet a13 and the electromagnet b29 attract each other, and the electromagnet c30 and the electromagnet d14 repel each other or have no magnetic force, the intermediate gear 5 meshes with the front driven gear 7 and the reversing gear 8, and when the electromagnet c30 and the electromagnet d14 attract each other, and the electromagnet a13 and the electromagnet b29 repel each other or have no magnetic force, the intermediate gear 5 meshes with the front half gear 10, and when the electromagnet a13 and the electromagnet b29 attract each other, the electromagnet d14 and the electromagnet c30 also attract each other at the same time, and the intermediate gear 5 meshes with the rear half gear 11 at this time, and the mutual repulsion can also make the intermediate gear 5 mesh with the front half gear 10. Through the mutual attraction or repulsion between the electromagnets, the intermediate gear 5 can be quickly moved along the fixed shaft 12, and the front shifter 2 and the rear shifter 3 can be switched in different matching modes, thereby improving the efficiency and flexibility of the operation. The reversing device 6 adopts a simple electromagnet and fixed shaft 12 structure, avoiding complex mechanical transmission and connecting components, making the overall structure more simple and compact, which not only reduces the manufacturing cost, but also improves the reliability and durability of the mechanical claw and the installation space of the camera.

[0034] A connecting rod 28 is provided on one side of the front driven shaft 26 and the rear driven shaft 27 . A metal sheet 17 is fixed on the connecting rod 28 . A fixed electromagnet 18 corresponding to the metal sheet 17 is fixed on the housing. The fixed electromagnet 18 can attract the metal sheet 17 .

[0035] When one of the fingers is controlled individually, the fixed electromagnet 18 at the corresponding finger is started, and the fixed electromagnet 18 attracts and fixes the metal sheet 17, thereby effectively preventing the uncontrolled finger from shaking. For example, when the front finger 2 is controlled individually, the fixed electromagnet 18 on one side of the rear finger 3 fixes the rear finger 3 through the metal sheet 17 and the connecting rod 28, ensuring the independence and stability of each finger during the operation of the mechanical claw, and improving the accuracy and reliability of the operation.

[0036] The front claw 2 and the rear claw 3 can be arc-shaped, straight-plate-shaped or comb-shaped. The front claw 2 and the rear claw 3 of different shapes and structures can adapt to objects of different shapes and sizes. The arc-shaped design can better adapt to round or curved objects, the straight-plate shape is more suitable for grasping flat or regular-shaped objects, and the comb-tooth shape can more effectively grasp small or bulk objects. The different shapes of the front claw 2 and the rear claw 3 can adapt to objects of different shapes and materials, thereby increasing the application range and flexibility of the mechanical claw.

[0037] like Figure 1As shown, a robotic arm includes a base 19 and the above-mentioned robotic claw, a first control motor is fixed on the base 19, the first control motor drives the robotic arm 20 to rotate, a robotic forearm 21 is hinged at the top of the robotic arm 20, one end of the robotic forearm 21 hinged to the robotic arm 20 is driven by a second control motor, one end of the robotic forearm 21 away from the second control motor is connected to a connecting shell 1, the robotic forearm 21 is driven by a third control motor to connect to the shell 1, and a accommodating cavity 15 for accommodating the robotic forearm 21 is provided on the robotic arm 20.

[0038] The first control motor, the second control motor and the third control motor respectively control the mechanical arm 20, the mechanical arm 21 and the connection housing 1, so that the mechanical arm has higher flexibility during operation, so as to adapt to various working environments and tasks. The accommodating cavity 15 can reduce the space occupied by the mechanical arm, making it more compact, and also help to reduce the overall weight and improve the movement efficiency and speed of the mechanical arm.

[0039] The base 19, the mechanical arm 20, the mechanical arm 21 and the connection housing 1 are all hinged via an optical axis 16, and the first control motor, the second control motor and the third control motor are all dual-axis steering gears.

[0040] As a connecting piece, the optical axis 16 has high rigidity and stability, and can effectively reduce the deformation and error of the mechanical claw caused by vibration or external force during operation. The connection through the optical axis 16 can reduce the longitudinal force of the servo and increase the service life of the servo. The installation of ball bearings at the installation position of the optical axis 16 can reduce the friction between the mechanical arm parts and improve the control accuracy of the mechanical arm. Since the design of the connection between the dual-axis servo and the optical axis 16 is relatively simple and direct, the maintenance cost of the mechanical claw is also relatively low.

[0041] like Figure 8 As shown, a plane bearing 22 is fixed to the bottom of the base 19, the side of the plane bearing 22 away from the base 19 is a fixed end, and the end of the plane bearing 22 close to the base 19 is fixedly connected to a rotating motor 25 through a flange 24. The fixed end of the plane bearing 22 is fixedly mounted on the workbench.

[0042] The plane bearing 22 can make the robot arm perform flexible rotational motion on the base 19. The plane bearing 22 has high-precision cylindrical rollers or steel balls. These rolling elements can effectively disperse the load, reduce stress concentration, improve the stability of the overall structure of the robot arm, and make the robot arm still stable when bearing a large load, reducing errors and failures caused by vibration or shaking.

[0043] like Figure 6 and 7As shown, the bottom surface of the base 19 is connected to the inner ring of the deep groove ball bearing 23 through two flanges 24, the outer ring of the deep groove ball bearing 23 is a fixed end, and the flange 24 on the bottom surface of the deep groove ball bearing 23 is fixed with a rotating motor 25. The outer ring of the deep groove ball bearing 23 is fixedly mounted on the workbench. The rotating motor 25 is directly fixed on the flange 24 on the bottom surface of the deep groove ball bearing 23, which can efficiently transmit power to the base 19 and realize fast and stable rotation. The deep groove ball bearing 23 provides longitudinal support while reducing the loss caused by friction, and the rotating motor 25 will not bear longitudinal loads, which maximizes the service life of the rotating motor 25.

[0044] The driving motor, the dual-axis steering gear and the rotating motor 25 are all of the prior art.

[0045] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A mechanical claw with integrated poking and grasping function, characterized in that: The invention comprises a connecting shell (1), the connecting shell (1) is hinged with a front shifter claw (2) and a rear shifter claw (3), a driving motor is fixed in the connecting shell (1), the output end of the driving motor is connected with a driving gear (4), the driving gear (4) is meshed with a transfer gear (5), the transfer gear (5) slides along the axis direction of the driving gear (4) through a reversing device (6), the transfer gear (5) is meshed with a front driven gear (7) and a reversing gear (8), and the reversing gear ( 8) is meshed with a rear driven gear (9), the front driven gear (7) drives the front shifter claw (2) through the front driven shaft (26), and the rear driven gear (9) drives the rear shifter claw (3) through the rear driven shaft (27), the front shifter claw (2) is provided with a front half gear (10) that can mesh with the intermediate gear (5), and the rear shifter claw (3) is provided with a rear half gear (11) that can mesh with the intermediate gear (5), and the front half gear (10) and the rear half gear (11) are arranged alternately.

2. The one-piece mechanical claw according to claim 1, characterized in that: The reversing device (6) comprises a fixed shaft (12), the axial direction of the fixed shaft (12) is parallel to the axial direction of the driving gear (4), the intermediate gear (5) is sleeved on the fixed shaft (12), the two ends of the fixed shaft (12) are respectively fixed with an electromagnet a (13) and an electromagnet d (14), the two sides of the intermediate gear (5) are respectively fixed with an electromagnet b (29) and an electromagnet c (30), and the electromagnet a (13), the electromagnet b (29), the electromagnet c (30) and the electromagnet d (14) can generate the same magnetic force.

3. The one-piece mechanical claw according to claim 1, characterized in that: A connecting rod (28) is fixed on one side of the front driven shaft (26) and the rear driven shaft (27), a metal sheet (17) is fixed on the connecting rod (28), and a fixed electromagnet (18) corresponding to the metal sheet (17) is fixed on the housing, and the fixed electromagnet (18) can attract the metal sheet (17).

4. The one-piece mechanical claw according to claim 1, characterized in that: The front derailleur claw (2) and the rear derailleur claw (3) may be arc-shaped, straight-plate-shaped or comb-shaped.

5. A robotic arm, characterized in that: It comprises a base (19) and the integrated mechanical claw of any one of claims 1 to 4, wherein the base (19) drives a mechanical arm (20) to rotate via a first control motor, a mechanical small arm (21) is driven at the top of the mechanical arm (20) via a second control motor, an end of the mechanical small arm (21) away from the second control motor is driven by a third control motor to connect to a housing (1), and an accommodating cavity (15) for accommodating the mechanical small arm (21) is provided on the mechanical arm (20).

6. A robotic arm according to claim 5, characterized in that: The base (19), the mechanical arm (20), the mechanical arm (21) and the connecting shell (1) are all hinged via an optical axis (16); the first control motor, the second control motor and the third control motor are all dual-axis steering gears.

7. A robotic arm according to claim 5, characterized in that: A plane bearing (22) is fixed at the bottom of the base (19), the side of the plane bearing (22) away from the base (19) is a fixed end, and the end of the plane bearing (22) close to the base (19) is fixedly connected to a rotating motor (25) via a flange (24).

8. A robotic arm according to claim 5, characterized in that: The bottom surface of the base (19) is connected to the inner ring of a deep groove ball bearing (23) via two flanges (24); the outer ring of the deep groove ball bearing (23) is a fixed end; and a rotating motor (25) is fixed to the flange (24) on the bottom surface of the deep groove ball bearing (23).

Images