Anti-pinch mechanism of mechanical arm gripper

Abstract

The utility model discloses an anti-pinch mechanism of a mechanical arm gripper, and relates to the technical field of robots. The hand grab comprises a hand grab body, and pressure sensors are installed at the bottom of the inner side face of the hand grab body at equal intervals. The mounting block is fixedly embedded in the middle of the interior of the gripper body, and circular channels are evenly distributed in the surface of the mounting block; and the clamping mechanism is used for clamping an object, and the clamping mechanism comprises a mounting cylinder which is fixedly inserted into the circular channel in a penetrating manner. According to the anti-pinch mechanism of the mechanical arm gripper, the pressure sensor detects the existence of an object and transmits a signal to the microcontroller, the microcontroller adjusts the current of the electromagnetic coil according to the pressure signal, so that the magnetic force generated by the electromagnetic coil is changed, the change of the magnetic force can influence the repulsive force borne by the magnet column, and the mechanical arm gripper is prevented from being damaged. The compression degree of the spring is changed, and the change of the compression degree of the spring can be transmitted to the abutting disc, so that the clamping force is adjusted.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to an anti-pinching mechanism for a gripper of a mechanical arm. Background Art

[0002] In the field of modern industrial automation and robotics, robotic arms and their end effectors (commonly called grippers) are important equipment for tasks such as object handling, assembly, and inspection. With the continuous development of intelligent manufacturing, the performance requirements for robotic arm grippers are getting higher and higher, especially in industries such as precision manufacturing and electronic assembly, which have extremely high requirements for the accuracy and softness of the grasping action.

[0003] Most of the existing robotic arm grippers use a rigid clamping method, and the clamping force is usually pre-set and cannot be adaptively adjusted according to factors such as the material, shape, and weight of different items. This leads to damage during the clamping process, especially for items with fragile shells or fragile packaging boxes. Therefore, we propose an anti-pinching mechanism for a robotic arm gripper to solve the above problem. Utility Model Content

[0004] In order to achieve the above-mentioned purpose, the utility model specifically adopts the following technical solutions:

[0005] A mechanical arm gripper anti-pinching mechanism, comprising:

[0006] A gripper body, wherein pressure sensors are installed at equal intervals at the bottom of the inner side of the gripper body;

[0007] A mounting block, fixedly embedded in the middle of the gripper body, with circular channels evenly distributed on the surface of the mounting block;

[0008] A clamping mechanism for clamping an object, the clamping mechanism comprising a mounting cylinder fixedly inserted in the circular channel, an extension rod slidably inserted in one end of the mounting cylinder close to the pressure sensor, a contact plate fixedly provided at one end of the extension rod located outside the mounting cylinder, and a magnet column fixedly provided at one end of the extension rod located inside the mounting cylinder, the magnet column being slidably connected to the inner wall of the mounting cylinder, a spring sleeved on the surface of the extension rod located between the magnet column and the inner top wall of the mounting cylinder, and an electromagnetic coil provided at the other end inside the mounting cylinder;

[0009] The control component is arranged on the back of the gripper body and is used to control the magnetic force of the electromagnetic coil.

[0010] Furthermore, the control component includes a microcontroller installed on the upper back side of the gripper body, a current regulator is installed on the top rear side of the mounting block, and the pressure sensor, electromagnetic coil and input ends of the current regulator are all electrically connected to the output end of the microcontroller.

[0011] Furthermore, the gripper body is arc-shaped.

[0012] Furthermore, a rectangular notch is constructed at the bottom end of the gripper body, and a roller is rotatably connected in the rectangular notch via a rotating shaft.

[0013] Furthermore, a rubber sleeve is provided on the surface of the roller.

[0014] Furthermore, a buffer pad is provided on a side of the abutment plate away from the extension rod, and the buffer pad is an elastic rubber pad.

[0015] The beneficial effects of the utility model are as follows:

[0016] The utility model detects the presence of an object through a pressure sensor and transmits a signal to a microcontroller. The microcontroller adjusts the current of the electromagnetic coil according to the pressure signal, thereby changing the magnetic force generated by the electromagnetic coil. The change in the magnetic force will affect the repulsive force exerted on the magnet column, thereby changing the compression degree of the spring. The change in the compression degree of the spring will be transmitted to the contact plate, thereby adjusting the clamping force. Through this adaptive adjustment, the gripper can softly clamp according to the characteristics of different objects to avoid damage to the objects. BRIEF DESCRIPTION OF THE DRAWINGS

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

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

[0019] Figure 3 It is a top view schematic diagram of the utility model;

[0020] Figure 4 This utility model Figure 3 Schematic diagram of the cross-section along the AA direction.

[0021] Figure numerals: 1. gripper body; 2. pressure sensor; 3. mounting block; 4. clamping mechanism; 401. mounting cylinder; 402. extension rod; 403. contact plate; 404. magnet column; 405. spring; 406. electromagnetic coil; 407. buffer pad; 5. control component; 501. microcontroller; 502. current regulator; 6. roller. DETAILED DESCRIPTION

[0022] In order to make the purpose, technical solution and advantages of the embodiments of the present utility model clearer, the technical solution in the embodiments of the present utility model will be clearly and completely described below in conjunction with the drawings in the embodiments of the present utility model.

[0023] The present application provides an anti-pinch mechanism for a robot gripper, which is mainly used to solve the problem that most existing robot grippers in the prior art adopt a rigid clamping method, and the clamping force is usually pre-set and cannot be adaptively adjusted according to factors such as the material, shape and weight of different items. This leads to the problem that it is easy to cause damage during the clamping process, especially for items with fragile shells or fragile packaging boxes, and provides the following technical solutions, which will be combined with Figure 1-Figure 4 Make a detailed description:

[0024] A mechanical arm gripper anti-pinching mechanism, comprising:

[0025] The gripper body 1 has pressure sensors 2 installed at equal intervals on the bottom of the inner side of the gripper body 1;

[0026] The mounting block 3 is fixedly embedded in the middle of the gripper body 1, and circular channels are evenly distributed on the surface of the mounting block 3;

[0027] The clamping mechanism 4 is used to clamp an object. The clamping mechanism 4 includes a mounting cylinder 401 fixedly inserted in the circular channel. An extension rod 402 is slidably inserted in one end of the mounting cylinder 401 close to the pressure sensor 2. A contact plate 403 is fixedly provided at one end of the extension rod 402 located outside the mounting cylinder 401, and a magnet column 404 is fixedly provided at one end of the extension rod 402 located inside the mounting cylinder 401. The magnet column 404 is slidably connected to the inner wall of the mounting cylinder 401. A spring 405 is sleeved on the surface of the extension rod 402 between the magnet column 404 and the inner top wall of the mounting cylinder 401. An electromagnetic coil 406 is provided at the other end inside the mounting cylinder 401.

[0028] The control component 5 is arranged on the back of the gripper body 1 and is used to control the magnetic force of the electromagnetic coil 406 .

[0029] It should be noted that the gripper body 1 in the device is a component in the gripper clamping part of the robot arm. A complete robot arm usually consists of several gripper bodies 1 (at least two) cooperating with a transmission component to realize the gripping function.

[0030] The specific implementation process and principle of the anti-pinch mechanism of the robot gripper:

[0031] When in use, the robotic arm is first moved to the position of the object to be clamped. When the pressure sensor 2 at the bottom of the gripper body 1 contacts the object and transmits the induction signal to the microcontroller 501, the microcontroller 501 adjusts the current of the electromagnetic coil 406 through the current regulator 502 after receiving the pressure signal. The change in the current of the electromagnetic coil 406 causes the magnetic force it generates to change, thereby changing the repulsive force on the magnet column 404. The change in the repulsive force on the magnet column 404 changes the compression degree of the spring 405, thereby affecting the clamping force of the resistance plate 403 on the object. The gripper adaptively adjusts the clamping force according to the characteristics of the object to achieve soft clamping of different objects. The robotic arm moves the object to the specified position to complete the clamping task.

[0032] It should be noted that when the pressure sensor 2 contacts a softer object, the contact pressure changes slowly due to its lower sensitivity, while when the pressure sensor 2 contacts a harder object, the contact pressure changes rapidly due to its higher sensitivity. Based on this feature, the clamping force can be changed by adjusting the current of the electromagnetic coil 406.

[0033] like Figure 1 As shown, in some embodiments, the control component 5 includes a microcontroller 501 installed on the upper back side of the gripper body 1, and a current regulator 502 is installed on the top rear side of the mounting block 3. The pressure sensor 2, the electromagnetic coil 406 and the input end of the current regulator 502 are all electrically connected to the output end of the microcontroller 501. More specifically, when the robot arm moves to make the gripper approach the object, the pressure sensor 2 installed on the inner side of the gripper will contact the object. These pressure sensors 2 can detect the pressure changes caused by contact with the object, and convert this information into electrical signals and transmit them to the microcontroller 501. The microcontroller 501 calculates the required clamping force based on the received pressure information and sends instructions to the current regulator 502. The task of the current regulator 502 is to adjust the current flowing to the electromagnetic coil 406. Since the magnetic force generated by the electromagnetic coil 406 is proportional to the current passing through it, the magnetic force can be controlled by changing the current.

[0034] like Figure 2 As shown, in some embodiments, the gripper body 1 is arc-shaped. More specifically, a complete manipulator is composed of multiple gripper bodies 1. The arc-shaped structure allows the gripper to embrace the object from multiple directions, not just from the sides or the top and bottom. This multi-directional clamping method can more effectively fix irregularly shaped objects to prevent them from sliding or falling off during transportation. Since the arc-shaped gripper can form a closed or semi-closed clamping circle around the object, the clamping force can be more evenly distributed on the surface of the object, reducing damage caused by excessive local pressure.

[0035] like Figure 2 As shown, in some embodiments, a rectangular notch is constructed at the bottom end of the gripper body 1, and a roller 6 is rotatably connected to the rectangular notch via a rotating shaft. More specifically, the roller 6 can rotate in the rectangular notch, which helps to provide better positioning and support when clamping slender or irregularly shaped objects. When the object contacts the roller 6, the roller 6 can rotate to adapt to the shape and size of the object, thereby reducing damage or indentation to the surface of the object.

[0036] like Figure 2 As shown, in some embodiments, the surface of the roller 6 is provided with a rubber sleeve. More specifically, the rubber material can provide a larger friction coefficient. When the gripper clamps an object, the roller 6 on the rubber sleeve surface helps to increase the grip of the object, thereby preventing the object from sliding or falling off. Rubber is a relatively soft material that can reduce scratches and damage when in direct contact with an object. This protection is particularly important for sensitive, smooth or fragile surfaces.

[0037] like Figure 4 As shown, in some embodiments, a buffer pad 407 is provided on the side of the contact plate 403 away from the extension rod 402, and the buffer pad 407 is an elastic rubber pad. More specifically, the elastic rubber pad, due to its soft characteristics, can prevent hard objects from directly touching the surface of the object when the contact plate 403 contacts the object, thereby avoiding damages such as scratches or indentations. Due to the good elasticity and flexibility of rubber, when the contact plate 403 applies pressure, the rubber pad can distribute the pressure more evenly, ensuring that the object is clamped steadily and evenly, which is especially important for fragile or easily deformed objects.

[0038] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. An anti-pinch mechanism for a robot gripper, characterized in that: include: A gripper body (1), wherein pressure sensors (2) are installed at equal intervals on the bottom of the inner side surface of the gripper body (1); A mounting block (3) fixedly embedded in the middle of the gripper body (1), the surface of the mounting block (3) being evenly distributed with circular channels; A clamping mechanism (4) for clamping an object, the clamping mechanism (4) comprising a mounting tube (401) fixedly inserted into the circular channel, an extension rod (402) slidably inserted into one end of the mounting tube (401) close to the pressure sensor (2), a contact plate (403) fixedly provided at one end of the extension rod (402) located outside the mounting tube (401), and a magnet column (404) fixedly provided at one end of the extension rod (402) located inside the mounting tube (401), the magnet column (404) being slidably connected to the inner wall of the mounting tube (401), a spring (405) sleeved on the surface of the extension rod (402) located between the magnet column (404) and the inner top wall of the mounting tube (401), and an electromagnetic coil (406) provided at the other end inside the mounting tube (401); A control component (5) is arranged on the back side of the gripper body (1) and is used to control the magnetic force of the electromagnetic coil (406).

2. The anti-pinch mechanism of a robot gripper according to claim 1, characterized in that: The control component (5) comprises a microcontroller (501) mounted on the upper back side of the gripper body (1), a current regulator (502) is mounted on the top rear side of the mounting block (3), and the input ends of the pressure sensor (2), the electromagnetic coil (406) and the current regulator (502) are all electrically connected to the output end of the microcontroller (501).

3. The anti-pinch mechanism of a robot gripper according to claim 1, characterized in that: The gripper body (1) is arc-shaped.

4. The anti-pinch mechanism of a robot gripper according to claim 1, characterized in that: The bottom end of the gripper body (1) is formed with a rectangular notch, and a roller (6) is rotatably connected in the rectangular notch via a rotating shaft.

5. The anti-pinch mechanism of a robot gripper according to claim 4, characterized in that: The surface of the roller (6) is covered with a rubber sleeve.

6. The anti-pinch mechanism of a robot gripper according to claim 1, characterized in that: A buffer pad (407) is provided on the side of the abutment plate (403) away from the extension rod (402), and the buffer pad (407) is an elastic rubber pad.

Images