Intelligent mechanical clamping hand with sensor

Abstract

The utility model provides an intelligent mechanical gripper with a sensor, which relates to the technical field of mechanical grippers and comprises a gripper body and a working mechanism, a support is arranged on the outer side of the gripper body, and the working mechanism is mounted on the outer side of the support. The working mechanism comprises an adjusting assembly, a clamping assembly, a limiting assembly, a driving assembly and a control assembly, the adjusting assembly is installed on the outer side of the support, the clamping assembly is installed on the outer side of the adjusting assembly, the limiting assembly is installed on the outer side of the clamping assembly, the driving assembly is installed on one side of the clamping hand body, and the control assembly is installed on the other side of the clamping hand body. And a control assembly is mounted on one side of the driving assembly. And self-adaptive adjustment can be achieved according to the shape and surface characteristics of an object, and the clamping stability is ensured.

Description

Technical Field

[0001] The utility model relates to the technical field of mechanical grippers, in particular to an intelligent mechanical gripper with a sensor. Background Technique

[0002] The intelligent mechanical gripper with a sensor is a highly automated mechanical device that combines the functions of a robotic arm and a precision clamping tool. By integrating various types of sensors, it can achieve precise identification, positioning, and clamping of objects. This intelligent mechanical gripper has a wide range of applications in the field of industrial automation, especially in scenarios such as assembly lines, material handling, and precision assembly.

[0003] After retrieval, the text of the publication number "CN217147672U" mentions that "the utility model relates to the technical field of material handling, and discloses a mechanical gripper, including a frame, a three-way moving block, and a clamping assembly. The three-way moving block is installed on the frame and is used to drive the clamping assembly to move in different directions. The clamping assembly is movably installed on the three-way moving block. The clamping assembly includes a sliding plate, two first driving members, and grippers. The two first driving members are fixedly installed on the sliding plate, and the two grippers are slidably installed on the sliding plate. The output ends of the two first driving members are respectively fixedly connected to the two grippers. The mechanical gripper of the utility model transports the crucible by mechanical means, reducing labor and improving efficiency." When in use, the three-way moving block drives the clamping assembly to move in different directions, so that the clamping assembly reaches the specified position to clamp the crucible and transports the crucible to another working station. When clamping the crucible, the first driving member drives the two grippers to move towards each other, so as to abut against both sides of the crucible to clamp the crucible. When the crucible needs to be placed, the first driving member drives the two grippers to move in the opposite direction, eliminating the need for manual placement and removal of the crucible, reducing labor intensity and improving efficiency. However, this gripper cannot adaptively make the anti-sliding block horizontal with the clamped object, which will cause instability when clamping the object, resulting in the object tilting or falling, affecting the overall operation efficiency and safety.

[0004] Therefore, we provide an intelligent mechanical gripper with a sensor to solve the above problems. Content of the Utility Model

[0005] The purpose of the utility model is to provide an intelligent mechanical gripper with a sensor to solve the problems raised in the above background technique.

[0006] To achieve the above purpose, the utility model provides the following technical solution: an intelligent mechanical gripper with a sensor, including a gripper main body and a working mechanism. A bracket is arranged on the outer side of the gripper main body, and a working mechanism is installed on the outer side of the bracket;

[0007] The working mechanism includes an adjustment component, a clamping component, a limiting component, a driving component, and a control component. The adjustment component is installed on the outer side of the bracket, the clamping component is installed on the outer side of the adjustment component, the limiting component is installed on the outer side of the clamping component, the driving component is installed on one side of the gripper body, and the control component is installed on one side of the driving component.

[0008] Preferably, the adjustment component includes a gripper and an anti-slip block rotating shaft. The gripper is installed on the outer side of the bracket, and the anti-slip block rotating shaft is installed inside the gripper.

[0009] Preferably, the clamping component includes an adaptive anti-slip block and a contact surface. The adaptive anti-slip block is installed on the outer side of the anti-slip block rotating shaft, and the contact surface is provided on the surface of the adaptive anti-slip block.

[0010] Preferably, the limiting component includes an anti-slip block limit pin and an anti-slip block rotating shaft fixing buckle. The anti-slip block limit pin is installed inside the adaptive anti-slip block, and the anti-slip block rotating shaft fixing buckle is installed on one side of the anti-slip block limit pin.

[0011] Preferably, the driving component includes a motor and a connecting piece. The motor is installed on one side of the gripper body, and the connecting piece is installed on the other side of the gripper body.

[0012] Preferably, the control component includes a first sensor mounting piece and a sensor body. The first sensor mounting piece is threadedly connected to the outer side of the connecting piece, and the sensor body is installed on the surface of the first sensor mounting piece.

[0013] Preferably, a working component is installed at the bottom end of the connecting piece. The working component includes a second sensor mounting piece and a gripper fixing screw. The second sensor mounting piece is installed at the bottom end of the connecting piece, and the gripper fixing screw is threadedly connected to the surface of the bracket.

[0014] Compared with the prior art, the beneficial effects of the present utility model are as follows:

[0015] 1. Through the setting of the working mechanism, when the gripper moves to the set range of the item to be clamped, the sensor is in a standby state. Once the sensor senses the presence of the item, the signal will change. At this time, the sensor will immediately send a signal to the motor. After receiving the signal, the motor starts to work, transmits the power to the gripper, and controls the gripper to clamp the item. During this process, the adaptive anti-slip block can adaptively adjust according to the shape and surface characteristics of the item to ensure the stability of clamping. In addition, during the clamping process, if the item falls due to some reason, the sensor will immediately sense this change and quickly send a signal to the control device. After receiving the abnormal signal, the master control device will start the corresponding abnormal handling program, such as stopping the motor operation, alarming to prompt the operator, etc., to ensure the safety of the system and the continuity of operation.

[0016] 2. By setting the control components, the sensor body is connected to the connecting piece through the first sensor mounting piece to ensure that the sensor can accurately monitor the state of the clamping hand. At the same time, other types of sensors are installed through the second sensor mounting piece to enhance the monitoring ability of the system and its ability to handle different situations. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the overall external structure of the present utility model;

[0018] Figure 2 It is a schematic diagram of the overall exploded structure of the present utility model;

[0019] Figure 3 Of the present utility model Figure 2 Schematic diagram of the enlarged structure at point A;

[0020] Figure 4 It is a front view schematic diagram of the adaptive anti-slip block of the present utility model.

[0021] Reference numerals in the figure: 1, clamping hand body; 2, bracket; 3, working mechanism; 31, adjusting component; 311, clamping hand; 312, anti-slip block rotating shaft; 32, clamping component; 321, adaptive anti-slip block; 322, contact surface; 33, limiting component; 331, anti-slip block limiting pin; 332, anti-slip block rotating shaft fixing buckle; 34, driving component; 341, motor; 342, connecting piece; 35, control component; 351, first sensor mounting piece; 352, sensor body; 4, working component; 41, second sensor mounting piece; 42, clamping hand fixing screw. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0022] Next, the technical solutions in the embodiments of the present utility model will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present utility model. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all of the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present utility model without making creative efforts shall fall within the protection scope of the present utility model.

[0023] Embodiment 1

[0024] Please refer to Figures 1-4 As shown, the present utility model provides a technical solution: an intelligent mechanical clamping hand with a sensor, including a clamping hand body 1 and a working mechanism 3. A bracket 2 is arranged on the outer side of the clamping hand body 1, and a working mechanism 3 is installed on the outer side of the bracket 2;

[0025] The working mechanism 3 includes an adjusting component 31, a clamping component 32, a limiting component 33, a driving component 34 and a control component 35. The adjusting component 31 is installed on the outer side of the bracket 2, the clamping component 32 is installed on the outer side of the adjusting component 31, the limiting component 33 is installed on the outer side of the clamping component 32, the driving component 34 is installed on one side of the clamp body 1, and the control component 35 is installed on one side of the driving component 34.

[0026] Furthermore, the adjustment component 31 includes a clamping hand 311 and an anti-sliding block rotating shaft 312. The clamping hand 311 is installed on the outside of the bracket 2, and the anti-sliding block rotating shaft 312 is installed inside the clamping hand 311. The anti-sliding block rotating shaft 312 allows the adaptive anti-sliding block 321 to rotate around its axis to adapt to objects of different shapes and sizes.

[0027] Furthermore, the clamping assembly 32 includes an adaptive anti-sliding block 321 and a contact surface 322. The adaptive anti-sliding block 321 is installed on the outer side of the anti-sliding block rotating shaft 312. The surface of the adaptive anti-sliding block 321 is provided with a contact surface 322. The contact surface 322 has serrations, and the serrations on the left and right sides are V-shaped, which effectively prevents objects from slipping.

[0028] Furthermore, the limiting assembly 33 includes an anti-sliding block limiting pin 331 and an anti-sliding block rotating shaft fixing buckle 332. The anti-sliding block limiting pin 331 is installed inside the adaptive anti-sliding block 321, and the anti-sliding block rotating shaft fixing buckle 332 is installed on one side of the anti-sliding block limiting pin 331. The anti-sliding block limiting pin 331 limits the maximum rotation angle of the anti-sliding block to ensure safe clamping, and the anti-sliding block rotating shaft fixing buckle 332 fixes the position of the anti-sliding block rotating shaft 312.

[0029] Furthermore, the driving assembly 34 includes a motor 341 and a connecting piece 342 . The motor 341 is installed on one side of the gripper body 1 , and the connecting piece 342 is installed on the other side of the gripper body 1 . The motor 341 provides power for the gripper 311 .

[0030] Furthermore, the control component 35 includes a first sensor mounting component 351 and a sensor body 352. The outer side of the connecting component 342 is threadedly connected to the first sensor mounting component 351, and the sensor body 352 is installed on the surface of the first sensor mounting component 351. The first sensor mounting component 351 is used to sense objects, thereby controlling the gripper 311 to work.

[0031] Embodiment 2

[0032] See also Figure 2As shown, as another implementation mode of the present utility model compared with the first comparative example, a working component 4 is installed at the bottom end of the connecting piece 342. The working component 4 includes a second sensor mounting piece 41 and a gripper fixing screw 42. The second sensor mounting piece 41 is installed at the bottom end of the connecting piece 342, and the gripper fixing screw 42 is threadedly connected to the surface of the bracket 2. The bracket 2 is connected to the connecting piece 342 through the gripper fixing screw 42.

[0033] Working principle: First, move a smart mechanical gripper with a sensor to the working position. When in use, in the first step, when the gripper 311 moves to the set range of the item to be clamped, the sensor body 352 is in the standby state. Once the sensor body 352 senses the presence of the item, the signal will change. At this time, the sensor body 352 will immediately send a signal to the motor 341. After receiving the signal, the motor 341 starts to work and transmits the power to the gripper 311. In the second step, the gripper 311 controls the anti-slip block rotating shaft 312 to rotate, thereby controlling the adaptive anti-slip block 321 to rotate. Further, the adaptive anti-slip block 321 clamps the object. In this process, the adaptive anti-slip block 321 can adaptively adjust according to the shape and surface characteristics of the item through the anti-slip block rotating shaft 312 to ensure the stability of clamping. In this way, the use process of a smart mechanical gripper with a sensor is completed.

[0034] Although the embodiments of the present utility model have been shown and described, for those of ordinary skill in the art, it can be understood that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principle and spirit of the present utility model. The scope of the present utility model is defined by the appended claims and their equivalents.

Claims

1. An intelligent mechanical gripper with a sensor, comprising a gripper body (1) and a working mechanism (3), characterized in that: A bracket (2) is provided on the outer side of the gripper body (1), and a working mechanism (3) is installed on the outer side of the bracket (2); The working mechanism (3) includes an adjusting component (31), a clamping component (32), a limiting component (33), a driving component (34) and a control component (35). The adjusting component (31) is installed on the outer side of the bracket (2), the clamping component (32) is installed on the outer side of the adjusting component (31), the limiting component (33) is installed on the outer side of the clamping component (32), a driving component (34) is installed on one side of the gripper body (1), and a control component (35) is installed on one side of the driving component (34).

2. The intelligent mechanical gripper with a sensor according to claim 1, characterized in that The adjusting component (31) includes a gripper (311) and an anti-slip block rotating shaft (312). The gripper (311) is installed on the outer side of the bracket (2), and the anti-slip block rotating shaft (312) is installed inside the gripper (311).

3. The intelligent mechanical gripper with a sensor according to claim 2, characterized in that, The clamping component (32) includes an adaptive anti-slip block (321) and a contact surface (322). The adaptive anti-slip block (321) is installed on the outer side of the anti-slip block rotating shaft (312), and the contact surface (322) is provided on the surface of the adaptive anti-slip block (321).

4. The intelligent mechanical gripper with a sensor according to claim 3, characterized in that, The limiting component (33) includes an anti-slip block limiting pin (331) and an anti-slip block rotating shaft fixing buckle (332). The anti-slip block limiting pin (331) is installed inside the adaptive anti-slip block (321), and the anti-slip block rotating shaft fixing buckle (332) is installed on one side of the anti-slip block limiting pin (331).

5. The intelligent mechanical gripper with a sensor according to claim 1, characterized in that, The driving component (34) includes a motor (341) and a connecting piece (342). The motor (341) is installed on one side of the gripper body (1), and the connecting piece (342) is installed on the other side of the gripper body (1).

6. The intelligent mechanical gripper with a sensor according to claim 5, characterized in that, The control component (35) includes a first sensor mounting piece (351) and a sensor body (352). The first sensor mounting piece (351) is threadedly connected to the outer side of the connecting piece (342), and the sensor body (352) is installed on the surface of the first sensor mounting piece (351).

7. The intelligent mechanical gripper with a sensor according to claim 5, characterized in that, A working component (4) is installed at the bottom end of the connecting piece (342). The working component (4) includes a second sensor mounting piece (41) and a gripper fixing screw (42). The second sensor mounting piece (41) is installed at the bottom end of the connecting piece (342), and the gripper fixing screw (42) is threadedly connected to the surface of the bracket (2).

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