Self-adaptive mechanical gripper based on adjustable diameter

Abstract

The utility model provides a self-adaptive mechanical gripper based on adjustable diameter, which comprises a power transmission device, a clamping jaw track control tool and a clamping device, the power transmission device is arranged at the top of the clamping jaw track control tool, and the clamping device is arranged in the clamping jaw track control tool; the power transmission device comprises a gear and a supporting rod, the supporting rod is connected with the clamping device, and the gear is connected with the clamping jaw track control tool and drives the clamping jaw track control tool to rotate relative to the clamping device. The clamping jaw track control tool comprises a circular track control board, a clamping jaw guide track exists in the circular track control board, and the track is designed to be a circle with the size continuously reduced and the circle center fixed. According to the cylindrical product center positioning device, cylindrical products of different sizes can be grabbed, center positioning of the cylindrical products is achieved, and the clamping jaws can reset automatically after clamping. In addition, the device is simple in power structure, the product can be grabbed only by a fixed stroke cylinder, and the device is simple and clear in structure and easy to maintain and manufacture.

Description

Technical Field

[0001] The utility model relates to the technical field of mechanical arms, in particular to an adaptive mechanical gripper based on adjustable diameter. Background Art

[0002] A manipulator, also known as an industrial robot, is an automatic operating device that can imitate certain movements of human hands and arms and automatically grasp, carry objects or operate tools according to a predetermined program. As a highly integrated automation equipment, the manipulator is an indispensable part of modern industry.

[0003] There is a product whose clamping surface is cylindrical, and the placement and shape are relatively uniform. It is relatively simple to grasp mechanically and can be grasped using a mechanical gripper mechanism. However, due to the different diameters of the clamping surfaces of different cylindrical products, the product grasping position needs to be accurately positioned to meet the requirements of subsequent processes.

[0004] The existing general mechanical gripper is composed of an oil cylinder, an air cylinder, a rack, a cam, a guide device, an arm and an end clamp. When clamping cylindrical products of different diameters, the mechanical gripper needs multiple sensors to transmit data to provide the precise position of the grasping structure through data calculation, and calculate the output force. This method has a large amount of calculation, high cost and is easy to damage due to its complex structure. Through the search, no technical solution identical to the utility model was found, but some related comparative technical documents were found, mainly the following:

[0005] 1. The patent with application number 202311727244.5 discloses an autonomous adaptive three-way robot arm that prevents grabbing and slipping, which relates to the field of robot arms, including an arm body, a connecting seat, a mounting block and a clamping mechanism. The connecting seat is installed at the end of the arm body, and a mounting block is fixed below the connecting seat. A clamping mechanism is arranged on the outside of the mounting block for grabbing goods. The clamping mechanism includes a transverse clamping plate and a longitudinal clamping plate. The transverse clamping plate is arranged symmetrically about the center line of the mounting block, and the longitudinal clamping plate is arranged symmetrically about the center line of the mounting block. A first control block is arranged above the transverse clamping plate. The autonomous adaptive three-way robot arm that prevents grabbing and slipping provides clamping for the four sides of the goods through the transverse clamping plate and the longitudinal clamping plate, and after clamping, the goods can be driven to move through the longitudinal clamping plate. Subsequently, the bottom support plate is moved below the goods to provide support and protection for the bottom of the goods, thereby preventing the goods from slipping.

[0006] 2. The patent with application number 202311868695.0 proposes an adaptive adjustment robot arm. A sliding rod extends inwardly from the lower end of the mounting rod in a radial direction, and each clamping link is mounted on a sliding rod, and the upper and lower ends of the clamping link extend inwardly from a first crossbar and a second crossbar in a radial direction of the mounting plate, respectively. Each clamping plate is vertically fixed to the inner end of a second crossbar, and a plurality of rotating shafts are connected to the motor output shaft through a transmission mechanism, so that when the motor rotates, the plurality of rotating shafts are driven to rotate synchronously, and the directions of the two adjacent rotating shafts are opposite. The transmission frame and the clamping link are frictionally matched to drive the corresponding clamping link to move inward when the transmission frame slides inward. The contraction frame is configured to drive the corresponding telescopic rod to contract when the rotating shaft rotates. Each telescopic rod is connected to a transmission frame to drive the transmission frame to move inward synchronously when the contraction frame contracts, thereby achieving the effect of the device adaptively clamping different objects.

[0007] 3. The patent with application number 202320593993.2 proposes an adaptive flexible manipulator clamp, including an active cylinder, a mounting plate fixedly connected to the bottom of the active cylinder, three fixed connecting rods fixedly connected to the outside of the mounting plate, the bottoms of the three fixed connecting rods are fixedly connected to the fixed plate, the output end of the active cylinder is fixedly connected to a floating joint, three flexible connecting rods are hinged on the outside of the floating joint, the bottoms of the three flexible connecting rods are hinged with flexible clamps, cam bearing followers for sliding and guiding the flexible clamps are installed on both sides of the flexible clamps, a guide groove matching the cam bearing follower is opened in the middle of the fixed plate, and the cam bearing follower is slidably connected to the guide groove. The utility model is an adaptive flexible manipulator clamp, the whole

[0008] The robot clamp uses a three-claw structure. When changing the specifications of parts according to the size of the fixed plate, there is no need to replace the clamping jaws or repeatedly adjust the position of the clamping jaws. The clamping work can be completed by adjusting the active cylinder.

[0009] Through the analysis of the above patents, it can be found that although the current universal mechanical gripper can clamp cylindrical products of different diameters, it has a large amount of calculation, high cost and is easy to damage due to its complex structure. Therefore, it is necessary to improve it. Utility Model Content

[0010] The technical problem to be solved by the utility model is: to provide an adaptive mechanical gripper based on adjustable diameter, which can automatically grasp and accurately locate the center of a cylinder, and accurately place the product at the target position for the next process. Under the rotational movement of the clamping device, the robot controls the trajectory tooling through the clamping claws to tighten the clamping tooling, thereby achieving stable grasping and center positioning of the cylindrical product.

[0011] The technical solution proposed by the utility model is: an adaptive mechanical gripper based on adjustable diameter, including a power transmission device, a clamping jaw trajectory control tooling, and a clamping device, wherein the power transmission device is installed on the top of the clamping jaw trajectory control tooling, so as to facilitate the overall movement of the manipulator, and the clamping device is arranged inside the clamping jaw trajectory control tooling, and the clamping device is driven to rotate by the clamping jaw trajectory control tooling, so as to reduce the clamping radius of the device to adapt to the radius of the cylinder;

[0012] The power transmission device includes a gear and a support rod, the support rod is connected to the clamping device, the gear is connected to the clamping jaw trajectory control tooling through a fixing ring, the gear is not directly connected to the support rod, the gear does not transmit rotational force to the support rod, and the gear can drive the clamping jaw trajectory control tooling to rotate relative to the clamping device; the clamping jaw trajectory control tooling includes a circular trajectory control plate, and there is a clamping jaw guide trajectory inside the circular trajectory control plate. The trajectory is designed to be a circle with a continuously shrinking size and a fixed center, which can achieve precise positioning of the center of the cylinder, and the clamping jaw can move along the clamping jaw guide trajectory.

[0013] Furthermore, the power transmission device also includes bearing 1, a support rod sleeve, bearing 2, and the support rod sleeve is arranged on the outside of the support rod. There is a gap between the support rod sleeve and the support rod, and the rotational force of the clamping jaw trajectory control tooling is not transmitted to the support rod. The support rod sleeve is connected to the clamping jaw trajectory control tooling, and bearing 1 and bearing 2 are respectively arranged at both ends of the support rod sleeve to reduce the friction of the support rod.

[0014] Furthermore, the power transmission device also includes a connecting seat, and the support rod is connected to the mechanical arm through the connecting seat.

[0015] Furthermore, the gripper trajectory control tooling also includes a disc, a connecting rod, and a circular trajectory control plate. The disc and the circular trajectory control plate are connected by the connecting rod, and there are round holes on the disc to help reduce weight.

[0016] Furthermore, the clamping device includes a circular track control plate, a support frame, a moving block, a clamping claw, and a fixed rod. The circular track control plate is connected to the support frame and the fixed rod, the support frame is connected to the moving block, the moving block can drive the clamping claw to slide on the support frame, and one end of four return springs is connected to the inner side of the moving block, and the other end is connected to the fixed rod.

[0017] Furthermore, there is a cross groove on the circular track control plate, and four support frames are arranged in four directions of the cross groove of the circular track control plate. One end of the cross-sectional shape of the support frame matches the cross groove on the circular track control plate, and the other end matches the groove of the moving block. The moving block slides on the support frame to drive the clamp to move.

[0018] Furthermore, a roller is provided on the outer side of the moving block, and the roller can slide on the clamping claw guide track of the circular track control plate, driving the moving block and the clamping claw to rotate, thereby reducing the clamping radius of the device.

[0019] Furthermore, the clamping jaws are provided with weight-reducing circular holes, and the clamping surfaces are provided with horse tooth grooves to increase friction.

[0020] Furthermore, the fixing rod is in the shape of a square column with four round holes on the side to facilitate spring fixing.

[0021] Furthermore, the clamping device also includes four return springs, one end of the return spring is connected to the inner side of the moving block, and the other end is connected to the round hole of the fixing rod.

[0022] The beneficial effects of the utility model are as follows: (1) The power structure is simple, and only a fixed stroke cylinder is required to achieve product grasping. The structure is concise and clear, and easy to maintain and manufacture. (2) The clamping device is driven by the jaw track control tooling to reduce the clamping diameter, and cylindrical products of different sizes can be grasped. (3) After the power transmission device stops applying force to the jaw control tooling, the reset spring will cause the clamping device to return along the original path of the track control tooling, thereby achieving automatic reset of the clamping device. (4) There is a jaw guide track inside the circular track control plate, and the track is designed as a circle with a continuously decreasing size and a fixed center, so as to achieve the center positioning of the cylindrical product. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a schematic diagram of the three-dimensional structure of the new adaptive mechanical gripper;

[0024] Figure 2 It is a schematic diagram of the cross-sectional structure of a new adaptive mechanical gripper;

[0025] Figure 3 is a schematic diagram of the cross-sectional structure of a power transmission device;

[0026] Figure 4 It is a three-dimensional structural schematic diagram of the gripper trajectory control tooling;

[0027] Figure 5 is a schematic diagram of the three-dimensional structure of the clamping device;

[0028] Figure 6 It is a schematic diagram of the three-dimensional structure of the circular track control plate controlling the clamping diameter of the clamping jaws;

[0029] Figure 7 It is a schematic diagram of the three-dimensional structure of the circular track control panel;

[0030] Figure 8 It is a schematic diagram of the three-dimensional structure of the circular track control board;

[0031] Fig. 9Schematic diagram of the three-dimensional structure of the gripper;

[0032] Explanation of the reference numerals: (1) power transmission device; (101) connecting seat; (102) bearing 1; (103) support rod; (104) support rod sleeve; (105) gear; (106) fixing ring; (107) bearing 2; (2) clamping jaw trajectory control tooling; (201) disc; (202) connecting rod; (203) circular trajectory control plate; (3) clamping device; (301) circular track control plate; (3011) cross groove; (302) moving block; (303) roller; (304) clamping jaw; (305) fixing rod; (306) support frame; (307) return spring. DETAILED DESCRIPTION

[0033] The utility model will be further described below in conjunction with the accompanying drawings.

[0034] An adaptive mechanical gripper based on adjustable diameter, as shown in the attached Figures 1 to 9 , the specific structure is as follows:

[0035] Working method: An adaptive mechanical gripper based on adjustable diameter, including a power transmission device, a gripper trajectory control tooling 2, and a clamping device 3, wherein the power transmission device is installed on the top of the gripper trajectory control tooling 2, so as to facilitate the overall movement of the manipulator, and the clamping device 3 is arranged inside the gripper trajectory control tooling 2, and the gripping device 3 is driven to rotate by the gripper trajectory control tooling 2, so as to reduce the clamping radius of the device to adapt to the radius of the cylinder;

[0036] The power transmission device includes a gear 105 and a support rod 103, the support rod 103 is connected to the clamping device 3, the gear 105 is connected to the clamping jaw trajectory control tooling 2 through a fixing ring 106, the gear 105 is not directly connected to the support rod 103, the gear 105 does not transmit rotational force to the support rod 103, and the gear 105 can drive the clamping jaw trajectory control tooling 2 to rotate relative to the clamping device 3; the clamping jaw trajectory control tooling 2 includes a circular trajectory control plate 203, and there is a clamping jaw 304 guide trajectory inside the circular trajectory control plate 203. The trajectory is designed to be a circle with a continuously shrinking size and a fixed center, which can achieve precise positioning of the center of the cylinder, and the clamping jaw 304 can move along the clamping jaw guide trajectory.

[0037] Furthermore, the power transmission device also includes bearing 102, support rod sleeve 104, bearing 2 107, support rod sleeve 104 is arranged on the outside of support rod 103, there is a gap between support rod sleeve 104 and support rod 103, and the rotational force of the clamping jaw trajectory control tooling 2 is not transmitted to support rod 103, support rod sleeve 104 is connected to clamping jaw trajectory control tooling 2, bearing 102 and bearing 2 107 are respectively arranged at both ends of support rod sleeve 104, so as to reduce the friction of support rod 103.

[0038] Furthermore, the power transmission device also includes a connecting seat 101, and the support rod 103 is connected to the mechanical arm through the connecting seat 101.

[0039] Furthermore, the gripper trajectory control tooling 2 also includes a disc 201, a connecting rod 202, and a circular trajectory control plate 203. The disc 201 and the circular trajectory control plate 203 are connected via the connecting rod 202. There are round holes on the disc 201 to help reduce weight.

[0040] Furthermore, the clamping device 3 includes a circular track control plate 301, a support frame 306, a moving block 302, a clamp 304, and a fixed rod 305. The circular track control plate 301 is connected to the support frame 306 and the fixed rod 305. The support frame 306 is connected to the moving block 302. The moving block 302 can drive the clamp 304 to slide on the support frame 306. One end of four return springs 307 is connected to the inner side of the moving block 302, and the other end is connected to the fixed rod 305.

[0041] Furthermore, there is a cross groove 3011 on the circular track control plate 301, and four support frames 306 are arranged in four directions of the cross groove 3011 of the circular track control plate 301. One end of the cross-sectional shape of the support frame 306 matches the cross groove 3011 on the circular track control plate 301, and the other end matches the groove of the moving block 302. The moving block 302 slides on the support frame 306, driving the clamp 304 to move.

[0042] Furthermore, a roller 303 is disposed outside the moving block 302 , and the roller 303 can slide on the clamping jaw guide track of the circular track control plate 301 , driving the moving block 302 and the clamping jaw 304 to rotate, thereby reducing the clamping radius of the device.

[0043] Furthermore, the clamping jaw 304 is provided with a weight-reducing circular hole, and the clamping surface is provided with a tooth groove to increase friction.

[0044] Furthermore, the fixing rod 305 is in the shape of a square column with four round holes on the side for easy spring fixing.

[0045] Furthermore, the clamping device 3 also includes four return springs 307 , one end of the return spring 307 is connected to the inner side of the moving block 302 , and the other end is connected to the round hole of the fixing rod 305 .

[0046] When in use, the robot arm drives the manipulator to the top of the cylinder to be moved, and the external cylinder transmits power to the clamping jaw trajectory control tooling 2 through the gear rack mechanism. The clamping jaw trajectory control tooling 2 rotates relative to the clamping device 3, and the four clamping jaws gradually move closer at a certain rate along the circular trajectory control plate 203 and press the reset spring 307. Finally, the product is clamped and the center of the product and the center of the trajectory control tooling coincide.

Claims

1. An adaptive mechanical gripper based on adjustable diameter, comprising a power transmission device (1), a gripper trajectory control tool (2), and a clamping device (3), wherein the power transmission device (1) is mounted on the top of the gripper trajectory control tool (2), and the clamping device (3) is arranged inside the gripper trajectory control tool (2); Features: The power transmission device (1) comprises a gear (105) and a support rod (103), the support rod (103) being connected to the clamping device (3), the gear (105) being connected to the clamping jaw trajectory control tooling (2), and driving the clamping jaw trajectory control tooling (2) to rotate relative to the clamping device (3); the clamping jaw trajectory control tooling (2) comprises a circular trajectory control plate (203), a clamping jaw guide trajectory is present inside the circular trajectory control plate (203), and the trajectory is designed to be a circle with a continuously decreasing size and a fixed center.

2. The diameter-adjustable adaptive mechanical gripper according to claim 1, characterized in that: The power transmission device (1) further comprises a bearing 1 (102), a support rod sleeve (104), and a bearing 2 (107). The support rod sleeve (104) is arranged outside the support rod (103) and connected to the clamping jaw trajectory control tooling (2). The bearing 1 (102) and the bearing 2 (107) are respectively arranged at two ends of the support rod sleeve (104).

3. The diameter-adjustable adaptive mechanical gripper according to claim 1, characterized in that: The power transmission device (1) further comprises a connecting seat (101), and the support rod (103) is connected to the mechanical arm via the connecting seat (101).

4. The diameter-adjustable adaptive mechanical gripper according to claim 1, characterized in that: The gripper trajectory control tooling (2) further comprises a disc (201), a connecting rod (202), and a circular trajectory control plate (203); the disc (201) and the circular trajectory control plate (203) are connected via the connecting rod (202); and a circular hole is provided on the disc (201) to help reduce weight.

5. The diameter-adjustable adaptive mechanical gripper according to claim 1, characterized in that: The clamping device (3) comprises a circular track control plate (301), a support frame (306), a moving block (302), a clamping claw (304), and a fixed rod (305). The circular track control plate (301) is connected to the support frame (306) and the fixed rod (305). The support frame (306) is connected to the moving block (302). The moving block (302) can drive the clamping claw (304) to slide on the support frame (306). One end of four return springs (307) is connected to the inner side of the moving block (302), and the other end is connected to the fixed rod (305).

6. The diameter-adjustable adaptive mechanical gripper according to claim 5, characterized in that: The circular track control plate (301) has a cross groove (3011), and four support frames (306) are arranged in four directions of the cross groove (3011) of the circular track control plate (301). One end of the cross-sectional shape of the support frame (306) matches the cross groove (3011) on the circular track control plate (301), and the other end matches the groove of the moving block (302).

7. The diameter-adjustable adaptive mechanical gripper according to claim 5, characterized in that: The outer side of the moving block (302) is provided with a roller (303), and the roller (303) can slide on the clamping claw guide track of the circular track control plate (301).

8. The diameter-adjustable adaptive mechanical gripper according to claim 5, characterized in that: The clamping jaw (304) is provided with a weight-reducing circular hole, and the clamping surface is provided with a tooth groove to increase friction.

9. The diameter-adjustable adaptive mechanical gripper according to claim 5, characterized in that: The fixing rod (305) is in the shape of a square column and has four circular holes on its side.

10. The diameter-adjustable adaptive mechanical gripper according to claim 5, characterized in that: The clamping device (3) further comprises four return springs (307), one end of the return spring (307) being connected to the inner side of the moving block (302) and the other end being connected to the fixing rod (305).

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