Mechanical gripper with fluid-driven bag cavity structure

Abstract

The utility model discloses a mechanical gripper with a fluid-driven bag cavity structure, which comprises a bottom plate and a moving block, one end of a guide rod is mounted on the bottom surface of the bottom plate, a hexagonal connecting piece is mounted at the other end of the guide rod, an open hole is formed in the moving block, and the guide rod penetrates through the open hole; a plurality of clamping jaws are rotationally connected to the side wall of the hexagonal connecting piece in the circumferential direction, one ends of a plurality of connecting rods are rotationally connected to the side wall of the moving block in the circumferential direction, and the other ends of the connecting rods are rotationally connected to the clamping jaws. And a fluid driving bag cavity structure is arranged between the bottom plate and the moving block. According to the clamping jaw structure, objects can be rapidly clamped or loosened, the weight of the clamping jaw structure can be reduced to a great extent, and the clamping jaw structure can be flexibly applied to different working occasions. According to the device, the bag cavity structure can be controlled to stretch out and draw back through fluid, then the moving block is pushed to move in the Z-axis direction, all the clamping jaws are made to be close to or open under linkage of the moving block and the connecting rod assembly, and objects are clamped or loosened.

Description

Technical Field

[0001] The utility model relates to the technical field of mechanical grippers, in particular to a mechanical gripper with a fluid-driven capsule structure. Background Art

[0002] The gripper structure is widely used in intelligent robots and other equipment. It is a mechanical gripper structure that can realize the function of picking up and placing objects. At present, there are many commonly used mechanical gripper structures, such as electric mechanical grippers or pneumatic mechanical grippers. Among them, the driving motor of the electric mechanical gripper is generally built into the gripper, which makes the gripper structure heavy and cumbersome to operate. Therefore, it cannot be used in the operating environment when there are greater requirements for the use occasion.

[0003] Pneumatic mechanical grippers cannot be moved flexibly due to the supporting air supply equipment, and can only be used in specific industrial environments, making them inconvenient to replace and use. Utility Model Content

[0004] The utility model aims to provide a mechanical gripper with a fluid-driven capsule structure to solve the problem of heavy weight of the clamping claw structure and achieve the effect of being easy to use.

[0005] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: a mechanical gripper of a fluid-driven capsule structure, comprising a base plate and a moving block, one end of a guide rod is mounted on the bottom surface of the base plate, the other end of the guide rod is mounted on a hexagonal connector, an opening is provided on the moving block, and the guide rod passes through the opening; the side wall of the hexagonal connector is circumferentially connected to a plurality of clamping claws, the side wall of the moving block is circumferentially connected to one end of a plurality of connecting rods, and the other end of the connecting rod is rotatably connected to the clamping claw. A fluid-driven capsule structure is provided between the base plate and the moving block.

[0006] Compared with the prior art, the beneficial effects of the utility model are:

[0007] The device can control the expansion and contraction of the telescopic bag cavity through fluid, thereby pushing the moving block to move along the Z-axis direction, and then under the linkage of the moving block and the connecting rod assembly, all the clamping claws are brought closer or opened to clamp or release the object.

[0008] Compared with the current clamping claw structure, the present clamping claw structure can not only realize quick clamping or releasing of objects and is easy to use, but also can greatly reduce the weight of the clamping claw structure, so that it can be flexibly moved and applied in different working occasions. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] Figure 1 It is a schematic diagram of the mechanical gripper of the fluid-driven sac cavity structure of the present utility model.

[0010] Figure 2It is a schematic diagram of the mechanical gripper of the fluid-driven sac cavity structure of the present utility model.

[0011] Figure 3 This is a cross-sectional view of the mechanical gripper of the fluid-driven sac cavity structure of the present utility model.

[0012] Figure 4 It is a schematic diagram of the reinforcing ring of the fluid-driven bladder cavity structure of the utility model.

[0013] 10. Bottom plate; 20. Guide rod; 30. Top screw; 40. Connecting rod; 50. Clamping claw; 60. Hexagonal connector; 70. Hinge pin; 80. Moving block; 90. Fluid-driven bladder cavity structure; 100. Air hole; 110. Pressing plate; 120. Reinforcement ring. DETAILED DESCRIPTION

[0014] 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.

[0015] See also Figure 1-4 The utility model provides a technical solution: a mechanical gripper of a fluid-driven bladder structure, comprising a base plate 10 and a moving block 80, one end of a guide rod 20 is mounted on the bottom surface of the base plate 10, and a hexagonal connector 60 is mounted on the other end of the guide rod 20, and the guide rod 20 is circumferentially mounted between the base plate 10 and the hexagonal connector 60. An opening is provided on the moving block 80, and the guide rod 20 passes through the opening, and a sliding bearing is provided in the opening, so that the guide rod 20 runs more smoothly. A top screw 30 is provided on the side wall of the moving block 80, and the top screw 30 cooperates with the sliding bearing and can be used to lock the position of the sliding bearing.

[0016] The side wall of the hexagonal connector 60 is rotatably connected to a plurality of clamping jaws 50, and the side wall of the moving block 80 is rotatably connected to one end of a plurality of connecting rods 40, and the other end of the connecting rod 40 is rotatably connected to the clamping jaw 50. The moving block 80, the connecting rod 40, the clamping jaw 50 and the hexagonal connector 60 are all connected by a hinge pin 70.

[0017] When the number of the clamping jaws 50 is even, the clamping jaws 50 are centrally arranged, that is, the multiple clamping jaws 50 move in pairs toward or away from each other. When the number of the clamping jaws 50 is odd, the clamping jaws 50 are circumferentially arranged, that is, the multiple clamping jaws 50 move toward or away from the center they enclose. The movable angle of the clamping jaws 50 when clamping is greater than 45° and less than 90°. The clamping part clamps the object, and the angle between the jaw head and the jaw body is 120 degrees. The jaw head of the clamping jaw 50 is 120 degrees to the jaw body, and the head of the jaw is not provided with a sharp corner, and is oval in shape, inclined at 45 degrees to the vertical plane. The clamping jaws 50 are all provided with a hollow structure, which can reduce the weight of the clamping jaw 50, thereby reducing the weight of the entire clamping jaw structure and avoiding stress concentration.

[0018] Preferably, there are three clamping jaws 50, which are distributed in a 120-degree circle and are all curved inwards, which not only makes the clamping jaw structure as flexible as a human hand when clamping, but also increases the accommodation space of the clamping jaw structure when clamping, making it easier to clamp different objects.

[0019] A fluid-driven sac cavity structure 90 is provided between the base plate 10 and the moving block 80. The fluid-driven sac cavity structure 90 can be provided with one or the number of the fluid-driven sac cavity structure 90 can be equal to that of the clamping jaws 50. The fluid-driven sac cavity structure 90 is a multilayer structure, which is folded or corrugated. The sac cavity spacing is 0.9 to 1.1 times the thickness of each sac cavity, and the sac cavity wall thickness is 0.12 to 0.24 times the sac cavity spacing. The fluid-driven sac cavity structure 90 can push the moving block 80 to move along the guide rod 20 in the Z-axis direction, and drive all the clamping jaws 50 to move closer to or open each other through the transmission of the connecting rod 40. The fluid-driven sac cavity structure 90 is relatively cheap, has a long service life, and can be flexibly replaced. It is relatively light in weight, and is deformable as a whole, and will not hurt the surrounding staff and objects during movement.

[0020] The fluid-driven capsule cavity structure 90 is installed on the bottom plate 10 and the moving block 80 through the pressure plate 110 to ensure the stability and sealing of the connection. A plurality of reinforcing rings 120 are provided in the fluid-driven capsule cavity structure 90, and the thickness of the reinforcing rings 120 is 0.25 to 0.35 times the capsule cavity spacing. The reinforcing rings 120 are used to support and guide the fluid-driven capsule cavity structure 90, maintain the shape of the fluid-driven capsule cavity structure 90 stable, and improve the lateral rigidity of the folding unit, so that it can have a larger operating range and will not collapse or deform due to excessive bending angles.

[0021] The ratio of the end diameter of the fluid-driven capsule cavity structure 90 in the non-driven state to the length of the telescopic capsule cavity 90 in the non-driven state is less than 1:2.

[0022] When the fluid-driven capsule structure 90 is in a non-driven state, its projection area parallel to the end face is S1, and the minimum circumscribed circle area of ​​the projection of the hexagonal connector 60 parallel to the end face is S2. The plane parallel to the end face can be called a reference projection plane, and the projection area of ​​the circumscribed circle on the reference projection plane is S2. S1:S2>1:3 makes the structure of the flexible bending module more compact, smaller in size, and lighter in weight. For example, S1:S2 is 0.4, 0.5, 0.6, etc.

[0023] The bottom plate 10 is provided with an air hole 100, and the air hole 100 is connected to the inner cavity of the fluid-driven bladder cavity structure 90. Specifically, there are two air holes 100, one is a vertical air hole and the other is a horizontal air hole. When working, one is opened and the other is closed with a piston. Different mechanical arms can be combined according to different environments to choose to open the vertical or horizontal air hole for ventilation.

[0024] Working principle: Align the clamping jaw 50 with the device to be clamped, and input or output gas or liquid or other fluid into or out of the inner cavity of the fluid-driven capsule structure 90 through the air hole 100. Since the hexagonal connector 60 and the guide rod 20 can limit the moving block 80 to prevent the moving direction of the moving block 80 from deviating, the expansion and contraction of the fluid-driven capsule structure 90 enables the moving block 80 to smoothly drive the opening and closing of the clamping jaw 50, thereby achieving the clamping work.

[0025] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A mechanical gripper with a fluid-driven capsule structure, characterized in that: It comprises a base plate (10) and a moving block (80), wherein one end of a guide rod (20) is mounted on the bottom surface of the base plate (10), a hexagonal connector (60) is mounted on the other end of the guide rod (20), an opening is provided on the moving block (80), and the guide rod (20) passes through the opening; The side wall of the hexagonal connector (60) is rotatably connected to a plurality of clamping claws (50), the side wall of the moving block (80) is rotatably connected to one end of a plurality of connecting rods (40), and the other end of the connecting rod (40) is rotatably connected to the clamping claws (50); A fluid-driven capsule structure (90) is provided between the bottom plate (10) and the moving block (80).

2. The mechanical gripper of the fluid-driven bladder structure according to claim 1, characterized in that: The fluid-driven capsule cavity structure (90) is folded or corrugated, the capsule cavity spacing is 0.9 to 1.1 times the thickness of each capsule cavity, and the capsule cavity wall thickness is 0.12 to 0.24 times the capsule cavity spacing.

3. The mechanical gripper of the fluid-driven bladder structure according to claim 2, characterized in that: The fluid-driven bladder cavity structure (90) is mounted on the bottom plate (10) and the moving block (80) via a pressure plate (110).

4. The mechanical gripper of the fluid-driven bladder structure according to claim 2, characterized in that: A plurality of reinforcing rings (120) are arranged in the fluid-driven bladder cavity structure (90), and the thickness of the reinforcing rings (120) is 0.25 to 0.35 times the bladder cavity spacing.

5. The mechanical gripper of the fluid-driven bladder structure according to claim 2, characterized in that: The bottom plate (10) is provided with an air hole (100), and the air hole (100) is connected to the inner cavity of the fluid-driven sac cavity structure (90).

6. The mechanical gripper of the fluid-driven bladder structure according to claim 1, characterized in that: A sliding bearing is arranged in the opening, a top screw (30) is arranged on the side wall of the moving block (80), and the top screw (30) cooperates with the sliding bearing.

7. The mechanical gripper of the fluid-driven bladder structure according to claim 1, characterized in that: The moving block (80), the connecting rod (40), the clamping claw (50) and the hexagonal connecting piece (60) are all connected via a hinge pin (70).

8. The mechanical gripper of the fluid-driven bladder structure according to claim 1, characterized in that: The clamping jaw (50) is curved inwardly in an arc shape, and the inner side of the clamping jaw (50) is provided with a hollow portion.

9. The mechanical gripper of the fluid-driven bladder structure according to claim 1, characterized in that: The number of the clamping jaws (50) is even, and the clamping jaws (50) are centrally arranged.

10. The mechanical gripper of the fluid-driven bladder structure according to claim 1, characterized in that: The number of the clamping jaws (50) is odd, and the clamping jaws (50) are arranged in a circumferential direction.

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