Stay wire type mechanical gripper

Abstract

The utility model discloses a stay wire type mechanical gripper which comprises a base, a driving mechanism, a fixed finger and two movable fingers, the driving mechanism is arranged in the base, the fixed finger is arranged at one end of the base, the two movable fingers are arranged at the other end, opposite to the fixed finger, of the base, and the two movable fingers are arranged on the base. A rotating seat is arranged at the bottom end of the movable finger, a torsional spring is arranged on the rotating seat, one end of the torsional spring is connected with the movable finger, the other end of the torsional spring is connected with the base, and the movable finger rotates with the rotating seat as a shaft. Compared with the prior art, the pull-wire type finger has the advantages that the pull-wire type finger can grab a round object by arranging the rotatable movable fingers matched with the fixed fingers, and three-point type grabbing can be achieved by arranging the two movable fingers, so that the object is grabbed more stably and reliably; the utility model has the advantages of simple structure and low cost.

Description

Technical Field

[0001] The utility model relates to the technical field of automation, in particular to a wire-pulling type mechanical gripper. Background Art

[0002] Robotic grippers. Existing robotic grippers are divided into two types. One is gear-driven or electric push rod-driven, which is mainly used in humanoid robots or complex grasping mechanisms. The other is a wire-pull type gripper. Compared with the gear gripper, the wire-pull type gripper has a simpler structure and saves costs.

[0003] The existing wire-pull type gripper is mainly of the two-finger type, which is used for simple grasping actuators or demonstration machines. Although the wire-pull type two-finger gripper is simple to make and low in cost, it is not conducive to grasping objects that are spherical or have other complex curved shapes, and it may fail to grasp the object. Utility Model Content

[0004] The purpose of the utility model is to provide a wire-pulling mechanical gripper to solve the problems raised in the above-mentioned background technology.

[0005] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: a wire-pulling mechanical gripper, comprising a base, a driving mechanism, a fixed finger and two movable fingers, the driving mechanism being arranged inside the base, the fixed finger being arranged at one end of the base, the two movable fingers being arranged at the other end of the base opposite to the fixed finger, a rotating seat being arranged at the bottom end of the movable finger, a torsion spring being arranged on the rotating seat, one end of the torsion spring being connected to the movable finger, and the other end being connected to the base, and the movable finger rotates around the rotating seat as the axis.

[0006] Preferably, the base is provided with a hollow inner cavity with openings at both ends, a bottom end cover is provided at the bottom end, and an upper end cover is provided at the upper end, an installation space is formed between the upper end cover, the lower end cover and the inner cavity of the base, and the driving mechanism is arranged in the installation space.

[0007] Preferably, the driving mechanism includes a servo, a winding shaft and a wire-passing porcelain bow seat, the winding shaft is arranged at the driving shaft end of the servo, the wire-passing porcelain bow seat is arranged on the inner wall of the upper end cover, the winding shaft is provided with a pull wire, the pull wire passes through the wire-passing porcelain bow seat and is connected to a fixed finger and a movable finger, and the servo drives the winding shaft to rotate.

[0008] Preferably, the fixed finger and the movable finger both include a finger mounting seat, a shell, a first connecting rod, a second connecting rod, a third connecting rod and a clamping portion, the bottoms of the first connecting rod and the second connecting rod are both movably connected to the finger mounting seat, the tops of the first connecting rod and the second connecting rod are both movably connected to the third connecting rod, wherein the top of the second connecting rod is provided with a rotating shaft, and the clamping portion is movably connected to the top of the third connecting rod.

[0009] Preferably, the shell is divided into three sections, which are respectively arranged outside the first connecting rod, the third connecting rod and the clamping part.

[0010] Preferably, the rotation angle of the movable finger is 120 degrees.

[0011] Compared with the prior art, the beneficial effects of the utility model are as follows: the utility model can realize the grasping of round objects by pulling-wire-type fingers by setting a rotatable movable finger in cooperation with a fixed finger, and can realize three-point grasping by setting two movable fingers, making the grasping of objects more stable and reliable; the utility model has a simple structure and low cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 It is a schematic diagram of the structure of the utility model;

[0013] Figure 2 It is a schematic diagram of the open structure of the utility model;

[0014] Figure 3 This is an exploded view of the utility model;

[0015] Figure 4 It is a schematic diagram of grabbing a circular object according to the utility model.

[0016] In the figure: 1. base; 11. lower end cover; 12. upper end cover; 2. driving mechanism; 21. servo; 22. winding shaft; 23. wire-passing porcelain bow seat; 3. fixed finger; 31. finger mounting seat; 32. outer shell; 33. first connecting rod; 34. second connecting rod; 35. third connecting rod; 36. clamping part; 37. rotating shaft; 4. movable finger; 5. rotating seat; 6. torsion spring. DETAILED DESCRIPTION

[0017] 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.

[0018] See also Figure 1-4The utility model provides a technical solution: a wire-pulling mechanical gripper, comprising a base 1, a driving mechanism 2, a fixed finger 3 and two movable fingers 4, the driving mechanism 2 is arranged inside the base 1, the fixed finger 3 is arranged at one end of the base 1, the two movable fingers 4 are arranged at the other end of the base 1 opposite to the fixed finger 3, a rotating seat 5 is provided at the bottom end of the movable finger 4, and a torsion spring 6 is provided on the rotating seat 5, one end of the torsion spring 6 is connected to the movable finger 4, and the other end is connected to the base 1, and the movable finger 4 rotates around the rotating seat 5 as an axis.

[0019] Specifically, the base 1 is provided with a hollow inner cavity with openings at both ends, a bottom cover 11 is provided at the bottom end, and an upper cover 12 is provided at the upper end. An installation space is formed between the upper cover 12, the lower cover 11 and the inner cavity of the base 1, and the driving mechanism 2 is arranged in the installation space.

[0020] Specifically, the driving mechanism 2 includes a servo 21, a winding shaft 22 and a wire-passing porcelain bow seat 23. The winding shaft 22 is arranged at the driving shaft end of the servo 21, and the wire-passing porcelain bow seat 23 is arranged on the inner wall of the upper end cover 12. The winding shaft 22 is provided with a pull wire, which passes through the wire-passing porcelain bow seat 23 and is connected to the fixed finger 3 and the movable finger 4. The servo 21 drives the winding shaft 22 to rotate.

[0021] Specifically, the fixed finger 3 and the movable finger 4 both include a finger mounting seat 31, a shell 32, a first connecting rod 33, a second connecting rod 34, a third connecting rod 35 and a clamping portion 36, the bottoms of the first connecting rod 33 and the second connecting rod 34 are movably connected to the finger mounting seat 31, the tops of the first connecting rod 33 and the second connecting rod 34 are movably connected to the third connecting rod 35, wherein the top of the second connecting rod is provided with a rotating shaft 37, and the clamping portion 36 is movably connected to the top of the third connecting rod 35.

[0022] Specifically, the housing 32 is divided into three sections, which are respectively arranged outside the first connecting rod 33 , the third connecting rod 35 and the clamping portion 36 .

[0023] Collectively, the rotation angle of the active finger 4 is 120 degrees.

[0024] Specifically, when using, when starting to work, aim the hand at the grasped object, then start the steering engine 21 to retract the pull line. The pull line is realized by wrapping around each finger joint, so that the first railing, second connecting rod and third connecting rod of the fixed gripper 3 and the movable gripper 4 are bent or stretched, so that the three fingers can grasp the grasped object in an environmentally friendly manner; because the three joints of the fixed finger 3 rotate, they are adjusted according to the shape of the grasped object; the rotating seats 5 of the other two movable fingers 4 rotate, and can be clamped on the surface of the round object under the action of the torsion spring 6. The movable fingers 4 can rotate 120 degrees respectively. When the steering engine 21 is started, the movable fingers 4 automatically adjust according to the shape of the grasped object to ensure that the grasped object is grasped with three points of contact. When the grasped object is released, the movable fingers 4 can return to the initial position under the action of the torsion spring 6.

[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 wire-pulling mechanical gripper, characterized in that: It includes a base, a driving mechanism, a fixed finger and two movable fingers, the driving mechanism is arranged inside the base, the fixed finger is arranged at one end of the base, and the two movable fingers are arranged at the other end of the base opposite to the fixed finger. A rotating seat is provided at the bottom end of the movable finger, and a torsion spring is provided on the rotating seat. One end of the torsion spring is connected to the movable finger and the other end is connected to the base. The movable finger rotates around the rotating seat as an axis.

2. A wire-pulling mechanical gripper according to claim 1, characterized in that: The base is provided with a hollow inner cavity with upper and lower ends being open, a bottom end cover is provided at the bottom end, and an upper end cover is provided at the upper end. An installation space is formed between the upper end cover, the lower end cover and the inner cavity of the base, and the driving mechanism is arranged in the installation space.

3. A wire-pulling mechanical gripper according to claim 2, characterized in that: The driving mechanism includes a servo, a winding shaft and a wire-passing porcelain bow seat. The winding shaft is arranged at the driving shaft end of the servo, and the wire-passing porcelain bow seat is arranged on the inner wall of the upper end cover. The winding shaft is provided with a pull wire, which passes through the wire-passing porcelain bow seat and is connected to a fixed finger and a movable finger. The servo drives the winding shaft to rotate.

4. A wire-pulling manipulator gripper according to claim 3, characterized in that: The fixed finger and the movable finger both include a finger mounting seat, a shell, a first connecting rod, a second connecting rod, a third connecting rod and a clamping portion, the bottoms of the first connecting rod and the second connecting rod are both movably connected to the finger mounting seat, the tops of the first connecting rod and the second connecting rod are both movably connected to the third connecting rod, wherein the top of the second connecting rod is provided with a rotating shaft, and the clamping portion is movably connected to the top of the third connecting rod.

5. A wire-pulling mechanical gripper according to claim 4, characterized in that: The shell is divided into three sections, which are respectively arranged outside the first connecting rod, the third connecting rod and the clamping part.

6. A wire-pulling mechanical gripper according to claim 5, characterized in that: The rotation angle of the movable finger is 120 degrees.

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