Mechanical clamping jaw with ranging, temperature sensing and weight sensing functions

Abstract

The utility model discloses a mechanical clamping jaw with ranging, temperature sensing and weight sensing functions, which relates to the technical field of mechanical arm structures and comprises a mounting connecting piece, a wrist joint shell is fixedly mounted on one side of the mounting connecting piece through mounting fixing screws, and a first wrist joint connecting piece is fixedly mounted on one side of the wrist joint shell. A second wrist joint connecting piece is fixedly installed on one side of the first wrist joint connecting piece, an upper shell and a lower shell are fixedly installed on one side of the second wrist joint connecting piece, the upper shell and the lower shell are distributed up and down, and a power-on indicator lamp mounting hole is formed in the top face of the upper shell; the clamping assembly and the detection assembly are arranged on the upper shell, the gear connecting rod is driven by the transmission motor to move, then opening and closing of the chuck are controlled, clamping and releasing of an object are achieved, meanwhile, the distance measuring sensor, the weighing sensor and the temperature sensor provide position, weight and temperature information correspondingly, and powerful support is provided for precise operation of the mechanical arm.

Description

Technical Field

[0001] The utility model relates to the technical field of mechanical arm structures, in particular to a mechanical clamp with distance measurement, temperature sensing and weight sensing. Background Art

[0002] With the rapid development of industrial automation and robotics technology, mechanical grippers are an indispensable part of the robot system. Their performance and application range directly affect the efficiency and function of the entire robot system.

[0003] In the application field of the robot arm, the clamp at the end of the robot arm is an essential tool for the robot arm in the application stage. The clamps of the robot arms on the market are mainly used for gripping functions, and are not equipped with relevant sensing systems. In the field of commercial services, although the robot arm can imitate human actions, it can only do simple picking up. As for the weight, temperature, and distance of the object from the hand, they cannot be sensed, so that the robot arm cannot replace commercial service personnel, especially in the beverage industry. A cup of freshly prepared beverage will be composed of nearly ten ingredients. If the robot arm cannot accurately sense the weight and temperature of each ingredient, it cannot do this work. The utility model improves the structure of the mechanical clamp, and adds a temperature sensor, a distance sensor, and a weight sensor, so that any robot arm can be conveniently engaged in the work in the commercial service field after the clamp of the present invention is installed;

[0004] Therefore, based on the above search and in combination with the prior art, a mechanical gripper with ranging, temperature sensing and weight sensing is proposed to solve the above problems. Utility Model Content

[0005] The utility model aims to provide a mechanical gripper with distance measurement, temperature sensing and weight sensing to solve the problems raised in the above background technology.

[0006] In order to achieve the above purpose, the utility model provides the following technical solutions:

[0007] A mechanical gripper with ranging, temperature and weight sensing, comprises a mounting connector, a wrist joint shell is fixedly mounted on one side of the mounting connector by means of mounting fixing screws, a wrist joint connector 1 is fixedly mounted on one side of the wrist joint shell, a wrist joint connector 2 is fixedly mounted on one side of the wrist joint connector 1, an upper shell and a lower shell are fixedly mounted on one side of the wrist joint connector 2, the upper shell and the lower shell are distributed up and down, a power-on indicator light mounting hole is provided on the top surface of the upper shell; a clamping assembly and a detection assembly are arranged on the upper shell.

[0008] Preferably, the clamping assembly includes: two transverse connecting rods, the two transverse connecting rods are respectively installed on the two side walls of the upper shell and the lower shell, the two transverse connecting rods are respectively rotatably connected with the outer link - left and the outer link - right, the outer link - left and the outer link - right are respectively provided with a gear link - left and a gear link - right on one side, the gear link - left and the gear link - right are respectively provided with an L-shaped link - left and an L-shaped link - right on one side, the side walls of the gear link - left and the gear link - right are respectively fixedly installed with a chuck - left and a chuck - right, and the clamping assembly also includes a driving member.

[0009] Preferably, the driving member includes: a transmission motor, which is arranged inside the upper shell and the lower shell, a cooling fan is arranged on the top surface of the transmission motor, a transmission gear is arranged inside the lower shell, and an output shaft of the transmission motor is connected to the transmission gear.

[0010] Preferably, the detection component includes: a temperature sensor, which is fixedly mounted on the bottom surface of the lower shell, a weighing sensor is fixedly mounted on the mounting connector and the inside of the wrist joint shell via a fixing member, and a ranging sensor is fixedly mounted on the front side walls of the upper shell and the lower shell.

[0011] Preferably, the fixing part includes: a magnetic control head and a fixed connecting part, the magnetic control head is arranged on the side wall of the mounting connecting part, the fixed connecting part is adsorbed in the magnetic control head and cooperates with the magnetic control head, and one side of the fixed connecting part is connected to one end of the weighing sensor.

[0012] Preferably, the outer connecting rod-left, the outer connecting rod-right, the gear connecting rod-right and the L-shaped connecting rod-left are all rotatably connected via a rotating pin.

[0013] Compared with the prior art, the beneficial effects of the utility model are:

[0014] 1. By integrating the clamping components, distance sensors, temperature sensors and weighing sensors, multiple sensing functions for the clamped objects are realized. The design of the clamping components, especially the detachable characteristics of the clamping head, enables the mechanical gripper to adapt to objects of different shapes and sizes, greatly increasing its flexibility and extensiveness of application. At the same time, the setting of the distance sensor can provide real-time feedback on the distance information between the gripper and the object, helping the robotic arm to achieve precise positioning and operation, and ensuring the stability and reliability of the clamping process. In addition, the addition of temperature sensors and weighing sensors not only enables the mechanical gripper to monitor the temperature changes of the object in real time, but also to accurately measure the object;

[0015] 2. Through the drive of the transmission motor and the transmission gear, the rapid opening and closing of the chuck is realized, which improves the work efficiency. At the same time, the setting of the cooling fan effectively ensures the stability of the transmission motor during long-term work and extends its service life. In addition, the coordinated use of the magnetic control head and the fixed connecting piece not only simplifies the installation process, but also improves the stability and reliability of the overall structure. In short, the present invention provides a mechanical clamp with comprehensive functions, easy operation, stability and reliability, which provides strong support for the development of industrial automation and intelligentization, and has broad market prospects and application value. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic diagram of the overall structure of the utility model;

[0017] Figure 2 This is a schematic diagram of the structure of the utility model when viewed from above;

[0018] Figure 3 This is a schematic diagram of the internal structure of the utility model;

[0019] Figure 4 It is a schematic diagram of the internal structure of the utility model when viewed from above.

[0020] In the figure: 1. Install the connector; 2. Install the fixing screws; 3. Wrist joint housing; 4. Wrist joint connector 1; 5. Wrist joint connector 2; 6. Power indicator light mounting hole; 7. Upper housing; 8. Lower housing; 9. Temperature sensor; 10. Transverse connecting rod; 11. Outer connecting rod - left; 12. Outer connecting rod - right; 13. Gear connecting rod - left; 14. Gear connecting rod - right; 15. L-shaped connecting rod - left; 16. L-shaped connecting rod - right; 17. Chuck - left; 18. Chuck - right; 19. Rotating pin; 20. Weighing sensor; 21. Distance sensor; 22. Cooling fan; 23. Transmission motor; 24. Transmission gear; 25. Magnetic control head; 26. Fixed connector. DETAILED DESCRIPTION

[0021] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments can be combined with each other.

[0022] In the description of the present utility model, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present utility model. In addition, the terms "first", "second", etc. are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, features defined as "first", "second", etc. may explicitly or implicitly include one or more of the features. In the description of the present utility model, unless otherwise specified, "multiple" means two or more.

[0023] 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.

[0024] In a typical implementation of this application, please refer to Figure 1 to Figure 4 As shown, a mechanical gripper with ranging, temperature sensing and weight sensing includes a mounting connector 1, a wrist joint housing 3 is fixedly installed on one side of the mounting connector 1 by means of a mounting fixing screw 2, a wrist joint housing 3 is fixedly installed on one side of the wrist joint housing 3, a wrist joint connector 1 4 is fixedly installed on one side of the wrist joint connector 1 4, a wrist joint connector 2 5 is fixedly installed on one side of the wrist joint connector 2 5, an upper housing 7 and a lower housing 8 are fixedly installed on one side of the wrist joint connector 2 5, the upper housing 7 and the lower housing 8 are distributed up and down, a power-on indicator light mounting hole 6 is provided on the top surface of the upper housing 7, and a clamping component and a detection component are provided on the upper housing 7.

[0025] As a preferred implementation in this embodiment, please refer to Figure 1 to Figure 4As shown, the clamping assembly includes: two transverse connecting rods 10, the two transverse connecting rods 10 are respectively installed on the two side walls of the upper shell 7 and the lower shell 8, the two transverse connecting rods 10 are respectively rotatably connected with the outer connecting rod-left 11 and the outer connecting rod-right 12, the outer connecting rod-left 11 and the outer connecting rod-right 12 are respectively provided with a gear connecting rod-left 13 and a gear connecting rod-right 14 on one side, the gear connecting rod-left 13 and the gear connecting rod-right 14 are respectively provided with an L-shaped connecting rod-left 15 and an L-shaped connecting rod-right 16 on one side, the gear connecting rod-left 13 and the gear connecting rod-right - Right 14 are respectively fixedly mounted with a chuck - Left 17 and a chuck - Right 18, the outer connecting rod - Left 11, the outer connecting rod - Right 12, the gear connecting rod - Right 14 and the L-shaped connecting rod - Left 15 are all rotatably connected by a rotating pin 19, the clamping assembly also includes a driving member, the driving member includes: a transmission motor 23, the transmission motor 23 is arranged inside the upper shell 7 and the lower shell 8, a cooling fan 22 is arranged on the top surface of the transmission motor 23, a transmission gear 24 is arranged inside the lower shell 8, and the output shaft of the transmission motor 23 is connected to the transmission gear 24.

[0026] As a preferred implementation in this embodiment, please refer to Figure 3-4 As shown, the detection component includes: a temperature sensor 9, which is fixedly mounted on the bottom surface of the lower shell 8, a weighing sensor 20 is fixedly mounted on the inside of the mounting connector 1 and the wrist joint shell 3 through a fixing part, and a distance measuring sensor 21 is fixedly mounted on the front side walls of the upper shell 7 and the lower shell 8, and the fixing part includes: a magnetic control head 25 and a fixed connector 26, the magnetic control head 25 is arranged on the side wall of the mounting connector 1, the fixed connector 26 is adsorbed in the magnetic control head 25 and cooperates with the magnetic control head 25, and one side of the fixed connector 26 is connected to one end of the weighing sensor 20.

[0027] Working principle:

[0028] When in use, the device described in the present invention is first connected to the main body of the robot arm by installing the connecting piece 1 to ensure that it is fixed and stable. Then, according to the shape of the object to be clamped, the appropriate chuck-left 17 and chuck-right 18 are selected and installed on the side walls of the gear connecting rod-left 13 and the gear connecting rod-right 14. These chucks are designed as detachable parts to adapt to objects of different shapes and sizes. Once the chucks are installed, the transmission motor 23 starts to work, and the rotation of the transmission motor 23 is transmitted to the gear connecting rod-left 13 and the gear connecting rod-right 14 through the transmission gear 24. Since the gear connecting rod and the outer connecting rod- The left 11, the outer link-right 12 and the L-shaped link-left 15, the L-shaped link-right 16 are connected by a rotating pin 19, so the rotation of the gear link will drive the relative movement of the outer link and the L-shaped link, and this movement causes the opening or closing of the chuck-left 17 and the chuck-right 18, thereby achieving the clamping or release of the object. In the process of clamping the object, the distance sensor 21 plays an important role. It is installed on the front side wall of the upper shell 7, located at the middle plane of the gear link. This position ensures that the laser sent by the distance sensor 21 will not be affected by the chuck and the L-shaped link. When the jaws are in the open state, the distance sensor 21 can provide real-time feedback on the detection distance between the middle plane of the jaw cover and the object, helping the robot arm to accurately locate the object. After the object is clamped, the distance sensor 21 continues to work, detecting in real time whether the distance between the object and the sensor is consistent, so as to determine whether the object has tilted forward and backward. At the same time, the weighing sensor 20 also plays a key role in the entire clamping process. It is installed inside the mounting connector 1 and the wrist joint housing 3, and is connected to the weighing end through the cooperation of the fixed connector 26 and the magnetic control head 25. When clamping an object, the weighing sensor 20 can accurately measure the weight of the clamped object and remove the weight influence of the jaw body itself to provide accurate weight data. In addition, the temperature sensor 9 is installed on the bottom surface of the lower housing 8, which can measure the temperature of the clamped object in real time. This is very useful for objects that need to monitor temperature changes, such as food, medicine or objects that require a specific temperature environment.

[0029] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes within the technical scope disclosed by the present invention according to the technical scheme and the utility model concept of the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A mechanical gripper with ranging, temperature and weight sensing, comprising a mounting connector (1), characterized in that: A wrist joint housing (3) is fixedly mounted on one side of the mounting connector (1) by means of a mounting screw (2); a wrist joint housing (3) is fixedly mounted on one side of the wrist joint housing (3); a wrist joint housing (4) is fixedly mounted on one side of the wrist joint housing (4); an upper housing (7) and a lower housing (8) are fixedly mounted on one side of the wrist joint housing (5); the upper housing (7) and the lower housing (8) are arranged vertically, and a power-on indicator light mounting hole (6) is provided on the top surface of the upper housing (7); The upper housing (7) is provided with a clamping component and a detection component.

2. A mechanical gripper with ranging, temperature sensing and weight sensing according to claim 1, characterized in that: The clamping assembly includes: Two transverse connecting rods (10), the two transverse connecting rods (10) are respectively mounted on the two side walls of the upper shell (7) and the lower shell (8), the two transverse connecting rods (10) are respectively rotatably connected with an outer side connecting rod-left (11) and an outer side connecting rod-right (12), one side of the outer side connecting rod-left (11) and the outer side connecting rod-right (12) is respectively provided with a gear connecting rod-left (13) and a gear connecting rod-right (14), one side of the gear connecting rod-left (13) and the gear connecting rod-right (14) is respectively provided with an L-shaped connecting rod-left (15) and an L-shaped connecting rod-right (16), the side walls of the gear connecting rod-left (13) and the gear connecting rod-right (14) are respectively fixedly mounted with a chuck-left (17) and a chuck-right (18), and the clamping assembly also includes a driving member.

3. A mechanical gripper with ranging, temperature sensing and weight sensing according to claim 2, characterized in that: The drive components include: A transmission motor (23), wherein the transmission motor (23) is arranged inside the upper housing (7) and the lower housing (8), a cooling fan (22) is arranged on the top surface of the transmission motor (23), a transmission gear (24) is arranged inside the lower housing (8), and an output shaft of the transmission motor (23) is connected to the transmission gear (24).

4. The mechanical gripper with ranging temperature sensing and weight sensing according to claim 1, characterized in that: The detection components include: A temperature sensor (9) is fixedly mounted on the bottom surface of the lower housing (8); a weighing sensor (20) is fixedly mounted inside the mounting connector (1) and the wrist joint housing (3) via a fixing member; and a distance measuring sensor (21) is fixedly mounted on the front side walls of the upper housing (7) and the lower housing (8).

5. A mechanical gripper with ranging, temperature sensing and weight sensing according to claim 4, characterized in that: The parts include: A magnetic control head (25) and a fixed connection piece (26), wherein the magnetic control head (25) is arranged on the side wall of the mounting connection piece (1), the fixed connection piece (26) is adsorbed in the magnetic control head (25) and cooperates with the magnetic control head (25), and one side of the fixed connection piece (26) is connected to one end of the weighing sensor (20).

6. The mechanical gripper with ranging, temperature sensing and weight sensing according to claim 2, characterized in that: The outer connecting rod-left (11), the outer connecting rod-right (12), the gear connecting rod-right (14) and the L-shaped connecting rod-left (15) are all rotatably connected via a rotating pin (19).

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