Gripper mechanism

Abstract

The utility model discloses a gripper mechanism which comprises a fixing support, a hanging belt, grippers, a reel, a motor and a linkage mechanism. The fixed bracket can be fixed at a high position; the reel is rotatably arranged in an inner cavity of the fixing support, and one end of the reel penetrates through the fixing support. The motor is fixedly arranged on the side face of the fixing support, and the conveying end of the motor is connected with the end, extending out of the fixing support, of the reel. One end of the sling is wound on the outer wall of the reel; the gripper is fixedly arranged at the other end of the hanging belt; the linkage mechanism is arranged between the fixing support and the gripper and used for achieving stable lifting of the gripper. By means of an advanced gear linkage mechanism, high-precision control over synchronous operation of the double grabbing arms is achieved. In addition, the vertical operation is more accurate by comprehensively utilizing the actions of the hanging belt and the electric reel, and the adaptability to objects with different sizes and shapes is greatly improved.

Description

Technical Field

[0001] The utility model relates to the technical field of gripper mechanisms, in particular to a gripper mechanism. Background Art

[0002] In the field of automation and robotic arm technology, especially in high-speed production lines, logistics sorting centers and precision assembly industries, the technical requirements for grasping and manipulating objects are becoming increasingly higher. Traditional mechanical grippers can only provide basic grasping functions and are difficult to handle objects of various shapes and textures, resulting in limited operating efficiency and applicability.

[0003] In addition, most of the robotic arms in the prior art are driven by simple synchronous or asynchronous motors. The main disadvantages of these systems are high control complexity, insufficient adaptability to extreme working environments, and limitations in precision and repeatability of position.

[0004] Another common problem is that when handling lightweight or fragile items, rough or imprecise operation may cause damage to the items or operational errors, increasing production costs and reducing the overall reliability of the system.

[0005] Therefore, there is an urgent need to develop a new technical solution that can provide higher flexibility, precision and better mechanical stability to meet the stringent requirements of modern industry for automated robotic arms. Utility Model Content

[0006] The purpose of the utility model is to provide a gripping mechanism to solve the problems raised in the above background technology.

[0007] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: a gripper mechanism, comprising: a fixed bracket, a sling, a gripper, a reel, a motor and a linkage mechanism;

[0008] The fixed bracket can be fixed at a high place; the reel is rotatably arranged in the inner cavity of the fixed bracket, and one end passes through the fixed bracket; the motor is fixedly arranged on the side of the fixed bracket, and the conveying end is connected to the end of the reel extending from the fixed bracket; one end of the sling is wrapped around the outer wall of the reel; the gripper is fixedly arranged at the other end of the sling; the linkage mechanism is arranged between the fixed bracket and the gripper, which is used to realize the stable lifting and lowering of the gripper.

[0009] Preferably, the linkage mechanism includes: a first grabbing arm, a connecting bracket and a second grabbing arm; there are two first grabbing arms, one end of which is rotatably arranged on both sides of the fixed bracket through a pin; there are two connecting brackets, which are respectively arranged at the other end of the first grabbing arm, and the first grabbing arm is rotatably connected to one side of the connecting bracket through a pin; there are two second grabbing arms, one end of which is rotatably arranged on the other side of the connecting bracket through a pin, and the other end of the second grabbing arm is rotatably connected to the gripper through a pin.

[0010] Preferably, the linkage mechanism further comprises a gear assembly, and the gear assembly is arranged between the first grabbing arm and the second grabbing arm and is located in the connecting bracket.

[0011] Preferably, the gear assembly includes a first gear and a second gear, the second gear is rotatably disposed at the other end of the first grabbing arm, the second gear is rotatably disposed at one end of the second grabbing arm, and the first gear and the second gear are meshed.

[0012] Preferably, a first connecting rod is rotatably provided between the connecting bracket and the fixing bracket via a pin.

[0013] Preferably, a second connecting rod is rotatably provided between the gripper and the connecting bracket via a pin shaft.

[0014] Preferably, the first connecting rod and the second connecting rod are arranged in parallel and in an alternating manner.

[0015] Compared with the prior art, the beneficial effects of the utility model are:

[0016] Improved precision and flexibility: The advanced gear linkage mechanism enables high-precision control of the synchronous operation of the dual grab arms; in addition, the combined use of slings and electric reel movements makes vertical operations more precise, greatly improving the adaptability to objects of different sizes and shapes.

[0017] Increased operational stability: The use of fixed brackets and a carefully designed linkage system ensures mechanical stability when performing high-speed and precision operations, reducing product quality issues caused by mechanical vibration or inaccurate docking.

[0018] Reduce item damage rate: Optimization of the gripper design allows even very fragile or complex items to be manipulated firmly and delicately, significantly reducing the rate of product damage during operation.

[0019] Improve efficiency and reduce costs: This technical solution can complete more tasks in a shorter time. At the same time, due to its high reliability and reduced damage to items, it can effectively reduce the company's operating costs on automation equipment in the long term.

[0020] In summary, this technical solution not only optimizes the operating process, improves production capacity and product quality, but also creates huge economic value and competitive advantages for users by providing a safer and more stable mechanical operating environment. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a schematic diagram of the structure of the utility model;

[0022] Figure 2 It is a side structural schematic diagram of the utility model;

[0023] Figure 3 It is a partial structural schematic diagram of the utility model.

[0024] In the figure: 1. fixed bracket, 2. first gear, 3. first grab arm, 4. second gear, 5. connecting bracket, 6. second grab arm, 7. second connecting rod, 9. sling, 10. grabber, 11. reel, 12. motor, 13. first connecting rod. DETAILED DESCRIPTION

[0025] 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.

[0026] See also Figure 1-3 The utility model provides a technical solution: a gripper mechanism, comprising: a fixed bracket 1, a sling 9, a gripper 10, a reel 11, a motor 12 and a linkage mechanism; the fixed bracket 1 serves as the mounting base of the entire mechanism, and can be firmly fixed at a high place to provide a stable support point for subsequent operations; the reel 11 is rotatably arranged in the inner cavity of the fixed bracket 1, and one end passes through the fixed bracket 1; the motor 12 is fixedly arranged on the side of the fixed bracket 1, and the conveying end is connected to the end of the reel 11 extending out of the fixed bracket 1; one end of the sling 9 is wound around the outer wall of the reel 11; the gripper 10 is fixedly arranged at the other end of the sling 9; the motor 12 drives the reel 11 to rotate, and the reel 11 realizes the lifting and lowering of the object by winding the sling 9 around its outer wall, so that the object can move smoothly in the vertical direction, and the linkage mechanism is arranged between the fixed bracket 1 and the gripper 10, for realizing the stable lifting and lowering of the gripper 10.

[0027] The linkage mechanism includes: a first grab arm 3, a connecting bracket 5, a second grab arm 6 and a gear assembly; the number of the first grab arms 3 is two, and one end is rotatably set on both sides of the fixed bracket 1 through a pin; the number of the connecting brackets 5 is two, which are respectively set at the other end of the first grab arm 3, and the first grab arm 3 and one side of the connecting bracket 5 are rotatably connected through a pin; the number of the second grab arms 6 is two, and one end is rotatably set on the other side of the connecting bracket 5 through a pin, and the other end of the second grab arm 6 is rotatably connected to the gripper 10 through a pin, and the gear assembly is set between the first grab arm 3 and the second grab arm 6, and is located in the connecting bracket 5; it provides stable and flexible movement capabilities for the gripper 10, and motion conversion can be achieved through the coordinated use of the first grab arm 3 and the second grab arm 6, and through the mutual engagement of the gear assemblies, thereby ensuring that the gripper 10 can accurately and stably reach the predetermined position.

[0028] The gear assembly includes a first gear 2 and a second gear 4, wherein the second gear 2 is rotatably disposed at the other end of the first grabbing arm 3, and the second gear 4 is rotatably disposed at one end of the second grabbing arm 6, and the first gear 2 and the second gear 4 are meshed with each other, further enhancing the movement synchronization between the first grabbing arm 3 and the second grabbing arm 6, thereby achieving efficient power transmission and precise control.

[0029] A first connecting rod 13 is rotatably provided between the connecting bracket 5 and the fixed bracket 1 via a pin shaft; a second connecting rod 7 is rotatably provided between the gripper 10 and the connecting bracket 5 via a pin shaft; the first connecting rod 13 and the second connecting rod 7 are staggered and parallel to further ensure stability and accuracy during the lifting process.

[0030] The detailed connection means are well-known in the art. The following mainly introduces the working principle and process. The specific work is as follows.

[0031] The motor 12 is started to rotate the reel 11, and the reel 11 raises or lowers the gripper 10 hung at the lower end by winding the sling 9.

[0032] Sling and grab action:

[0033] When the motor 12 is activated, the sling 9 begins to curl or unwind, and depending on the direction of rotation of the motor 12, the sling 9 lifts the gripper 10 upward or lowers it downward;

[0034] The gripper 10 is located at the end of the sling 9 and directly performs gripping or releasing operations on the object.

[0035] Linkage control:

[0036] The movement between the first grab arm 3 and the second grab arm 4 is synchronized through the gear assembly (the first gear 2 and the second gear 4). When the gripper 10 rises or falls, the first grab arm 3 and the second grab arm 6 are caused to rotate. The gear assembly ensures the coordinated movement of the first grab arm 3 and the second grab arm 6.

[0037] Interaction between the gear assembly and the first connecting rod 13 and the second connecting rod 7:

[0038] The position of the gripper 10 is precisely controlled through the interaction of the gear assembly with the first link 13 and the second link 7. The first link 13 and the second link 7 help convert and transmit the power generated by the gripper arm 10 to ensure that the gripper performs precise movement and positioning.

[0039] 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 gripper mechanism, characterized in that: include: A fixed bracket (1) capable of being fixed at a high place; A reel (11) rotatably disposed in the inner cavity of the fixed bracket (1), with one end passing through the fixed bracket (1); A motor (12) is fixedly arranged on a side of the fixed bracket (1), and a conveying end is connected to an end of the reel (11) extending out of the fixed bracket (1); A sling (9), one end of which is wound around the outer wall of the reel (11); A gripper (10) fixedly disposed on the other end of the sling (9); The linkage mechanism is arranged between the fixed support (1) and the gripper (10) and is used to achieve stable lifting and lowering of the gripper (10).

2. A gripping mechanism according to claim 1, characterized in that: The linkage mechanism comprises: A first grabbing arm (3), the number of the first grabbing arms (3) being two, one end of which is rotatably arranged on both sides of the fixed bracket (1) via a pin; A connecting bracket (5), wherein the connecting brackets (5) are two in number and are respectively arranged at the other end of the first grabbing arm (3), and the first grabbing arm (3) is rotatably connected to one side of the connecting bracket (5) via a pin shaft; The second gripping arms (6) are two in number, one end of which is rotatably arranged on the other side of the connecting bracket (5) via a pin, and the other end of the second gripping arms (6) is rotatably connected to the gripping hand (10) via the pin.

3. A gripping mechanism according to claim 2, characterized in that: The linkage mechanism further comprises a gear assembly, wherein the gear assembly is arranged between the first gripping arm (3) and the second gripping arm (6), and is located within the connecting bracket (5).

4. A gripping mechanism according to claim 3, characterized in that: The gear assembly comprises a first gear (2) and a second gear (4), wherein the second gear (4) is rotatably arranged at the other end of the first gripping arm (3), and the second gear (4) is rotatably arranged at one end of the second gripping arm (6), and the first gear (2) and the second gear (4) are meshed with each other.

5. A gripping mechanism according to claim 4, characterized in that: A first connecting rod (13) is rotatably arranged between the connecting bracket (5) and the fixed bracket (1) via a pin shaft.

6. A gripping mechanism according to claim 5, characterized in that: A second connecting rod (7) is rotatably arranged between the gripper (10) and the connecting bracket (5) via a pin.

7. A gripping mechanism according to claim 6, characterized in that: The first connecting rod (13) and the second connecting rod (7) are arranged in parallel and in an alternating manner.

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