Mechanical clamping hand with touch sensing structure

Abstract

The utility model relates to the related technical field of mechanical clamping hands, in particular to a mechanical clamping hand with a touch sensing structure. Comprising a mounting frame, a fixing screw rod is mounted on the surface of one side of the mounting frame, a connecting plate is mounted at one end of the fixing screw rod, a fixing frame is mounted on the connecting plate and the surface of one side of the connecting plate, a second connecting rod set is mounted on the inner side of the fixing frame, and a connecting block is mounted at one end of the second connecting rod set; a connecting rod, a clamp, an extrusion plate, an extrusion frame, a spring and a pressure sensor can detect whether a workpiece is clamped or not when the clamping hand clamps the workpiece, the clamp clamps the workpiece and extrudes the extrusion plate towards the pressure sensor through the connecting rod, and the purposes that the clamped workpiece is detected, and when the workpiece is clamped, the spring pushes the extrusion plate, and the extrusion frame clamps the workpiece are achieved. And the extrusion plate drives the connecting rod and the clamp to reset, it is ensured that the clamping jaw can check whether the workpiece is clamped or not every time the workpiece is clamped, and the situation of invalid clamping is avoided.

Description

Technical Field

[0001] The utility model relates to the technical field related to mechanical grippers, and in particular to a mechanical gripper with a touch sensing structure. Background Art

[0002] A robotic gripper is a key component for grasping and manipulating objects, widely used in robotics, automated production lines, and various industrial and medical devices. It mimics the functions of a human hand, capable of gripping, manipulating, and moving objects in various ways. A robotic gripper with a touch-sensing mechanism combines traditional gripper technology with advanced sensing technology. This gripper not only performs basic grasping tasks but also provides more precise operation and feedback through touch sensing. Therefore, a robotic gripper with a touch-sensing mechanism is particularly desirable.

[0003] However, most of the existing mechanical grippers with touch-sensing structures cannot confirm whether they are clamping the object when clamping. When working on the assembly line, the workpiece is transmitted intermittently. When the mechanical gripper is clamping, it is unable to confirm whether it is clamping the workpiece, resulting in invalid clamping and reduced work efficiency. Utility Model Content

[0004] The purpose of the present utility model is to provide a mechanical gripper with a touch sensing structure to solve the problem of the existing mechanical grippers with a touch sensing structure proposed in the above background technology, that most of the mechanical grippers cannot confirm whether they clamp the object when clamping. When working on the assembly line, the workpiece is transmitted intermittently. When clamping, the mechanical gripper cannot confirm whether it clamps the workpiece, resulting in invalid clamping and reduced work efficiency.

[0005] The cam is secured on one side of the fixing plate and has a first end fixed to the side panel that is provided with a lockhole, and a second end of the fixing plate is secured on the other side of the fixing plate.

[0006] Preferably, a motor is installed on one side of the mounting frame, a screw rod is installed on the output end of the motor, an internal threaded frame is installed on the outer side of the screw rod, and a first connecting rod group is installed on both ends of the internal threaded frame.

[0007] Preferably, the built-in threaded rack forms a telescopic structure with the mounting frame through a screw rod, and the built-in threaded rack is connected to the connecting block through a first connecting rod group.

[0008] Preferably, the connecting block is connected to the fixing frame via a second connecting rod group, and two groups of connecting blocks are provided, and the second connecting rod groups correspond to the connecting blocks one by one.

[0009] Preferably, the clamp is connected to the slide plate via a slider, and the slider is connected to the slide plate via a limit block.

[0010] Preferably, the connecting rods are provided in multiple groups. The extrusion plate forms a telescopic structure with the mounting rod through the connecting rods and the clamps.

[0011] Preferably, the extrusion plate is arranged on the inner side of the extrusion frame, and the extrusion plate forms a telescopic structure with the extrusion frame via a spring.

[0012] Compared with the prior art, the beneficial effects of the present invention are as follows: the mechanical gripper with a touch-sensing structure, through the arrangement of a mounting frame, a motor, a screw rod, a built-in threaded frame, a first connecting rod group, a fixed screw, a connecting plate, a fixed frame, a second connecting rod group, a connecting block, a mounting rod, a connecting rod, a slide plate, a slider, a limit block, a clamp, a rubber pad, an extrusion plate, an extrusion frame, a spring and a pressure sensor, the motor, the screw rod, the built-in threaded frame, the first connecting rod group and the second connecting rod group can displace the mounting rod through the connecting block, the motor drives the screw rod to rotate, the rotating screw rod drives the built-in threaded frame to displace, and the displaced built-in threaded frame displaces the mounting rod through the first connecting rod group and the connecting block The rod is displaced under the limit of the second connecting rod group to achieve the clamping effect. The mechanical structure using the connecting rod group and the connecting block provides strong stability, can withstand a large clamping force and maintain clamping stability. The connecting rod, clamp, extrusion plate, extrusion frame, spring and pressure sensor can detect whether the workpiece is clamped when the clamp is clamped. The clamp clamps the workpiece, and the clamp squeezes the extrusion plate toward the pressure sensor through the connecting rod to detect the clamped workpiece. When the workpiece is clamped, the spring pushes the extrusion plate, so that the extrusion plate drives the connecting rod and the clamp to reset, ensuring that the clamp can check whether the workpiece is clamped each time to avoid invalid clamping. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 This is a side view of the structure of the utility model;

[0014] Figure 2This is a schematic diagram of the structure of the screw rod and built-in threaded rack of the utility model;

[0015] Figure 3 This is a schematic diagram of the structure of the second connecting rod group and the connecting block cooperating with each other in the utility model;

[0016] Figure 4 This is a schematic diagram of the structure of the slide plate and the slider cooperating with each other in the utility model;

[0017] Figure 5 This is a schematic diagram of the internal structure of the extrusion frame of the utility model.

[0018] In the figure: 1. Mounting frame; 2. Motor; 3. Screw; 4. Built-in threaded frame; 5. First connecting rod group; 6. Fixed screw; 7. Connecting plate; 8. Fixed frame; 9. Second connecting rod group; 10. Connecting block; 11. Mounting rod; 12. Connecting rod; 13. Slide plate; 14. Slider; 15. Limit block; 16. Clamp; 17. Rubber pad; 18. Extrusion plate; 19. Extrusion frame; 20. Spring; 21. Pressure sensor. DETAILED DESCRIPTION

[0019] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0020] See also Figure 1-5The utility model provides a technical solution: a mechanical gripper with a touch sensing structure, including a mounting frame 1, a fixing screw 6 is installed on one side surface of the mounting frame 1, a connecting plate 7 is installed on one end of the fixing screw 6, a connecting plate 7, a fixing frame 8 is installed on one side surface of the connecting plate 7, a second connecting rod group 9 is installed on the inner side of the fixing frame 8, a connecting block 10 is installed on one end of the second connecting rod group 9, a mounting rod 11 is installed on one side surface of the connecting block 10, a connecting rod 12 is installed inside the mounting rod 11, a slide plate 13 is installed on one end of the connecting rod 12, a slider 14 is installed on the inner side of the slide plate 13, a limiting block 15 is installed on one end of the slide plate 13, a clamp 16 is installed on one side surface of the slider 14, a rubber pad 17 is installed on one side surface of the clamp 16, an extrusion plate 18 is installed on the other end of the connecting rod 12, an extrusion frame 19 is installed on the outer side of the mounting rod 11, a spring 20 is installed on the inner side of the extrusion frame 19, and a pressure sensor 21 is installed inside the extrusion frame 19. Through the arrangement of the motor 2, the screw rod 3, the built-in threaded frame 4, the first connecting rod group 5, the fixed screw 6, the connecting plate 7, the fixed frame 8, the second connecting rod group 9, the connecting block 10, the mounting rod 11, the connecting rod 12, the clamp 16, the rubber pad 17, the extrusion plate 18, the extrusion frame 19, the spring 20 and the pressure sensor 21, the mechanical structure using the connecting rod group and the connecting block 10 provides strong stability, can withstand a large clamping force and maintain clamping stability, the clamp 16 clamps the workpiece, the clamp 16 squeezes the extrusion plate 18 toward the pressure sensor 21 through the connecting rod 12, to detect the clamped workpiece, when the workpiece is clamped, the spring 20 pushes the extrusion plate 18, so that the extrusion plate drives the connecting rod 12 and the clamp 16 to reset, ensuring that the clamp can check whether the workpiece is clamped each time it clamps, avoiding invalid clamping, the combination of the clamp 16 and the rubber pad 17 can provide stronger clamping force, and has a protective effect on the workpiece surface, reducing the risk of damage to the workpiece.

[0021] Furthermore, a motor 2 is mounted on one side of the mounting frame 1. A screw rod 3 is mounted on the output end of the motor 2. An internal threaded frame 4 is mounted on the outside of the screw rod 3. A first connecting rod group 5 is mounted on both ends of the internal threaded frame 4. Through the arrangement of the screw rod 3, the internal threaded frame 4, and the first connecting rod group 5, the screw rod 3 and the internal threaded frame 4 cooperate to provide precise linear motion control. By driving the screw rod 3 with the motor 2, high-precision movement can be achieved.

[0022] Furthermore, the built-in threaded frame 4 forms a telescopic structure with the mounting frame 1 through the screw rod 3, and the built-in threaded frame 4 is connected to the connecting block 10 through the first connecting rod group 5. Through the arrangement of the mounting frame 1, the screw rod 3, the built-in threaded frame 4, the first connecting rod group 5 and the connecting block 10, the motor 2 drives the screw rod 3 to rotate, and the rotating screw rod 3 drives the built-in threaded frame 4 to displace. The displaced built-in threaded frame 4 displaces the mounting rod 11 under the limit of the second connecting rod group 9 through the first connecting rod group 5 and the connecting block 10 to achieve a clamping effect. The mechanical structure using the connecting rod group and the connecting block 10 provides strong stability, can withstand a large clamping force and maintain clamping stability.

[0023] Furthermore, connecting block 10 is connected to fixed frame 8 via second connecting rod set 9. Two sets of connecting blocks 10 are provided, with one set of second connecting rod set 9 corresponding to each connecting block 10. Through the arrangement of fixed frame 8, second connecting rod set 9, and connecting blocks 10, the connection between the two connecting blocks 10 and fixed frame 8 via the second connecting rod set 9 effectively distributes the load evenly. This prevents single-point overload and reduces stress concentration at a specific point, thereby improving the overall durability and stability of the system.

[0024] Furthermore, the clamp 16 is connected to the slide plate 13 through the slider 14, and the slider 14 is connected to the slide plate 13 through the limit block 15. Through the arrangement of the slide plate 13, the slider 14, the limit block 15 and the clamp 16, when the clamp 16 is replaced, the limit block 15 is removed, and then the clamp 16 is removed from the upper end of the slide plate 13 through the slider 14, and then the appropriate clamp 16 is replaced, and the clamp 16 can be replaced, so that the design of the slider 14 and the limit block 15 makes it easy to adjust the clamp 16 and maintain it.

[0025] Furthermore, multiple groups of connecting rods 12 are provided, and the extrusion plate 18 forms a telescopic structure with the mounting rod 11 through the connecting rods 12 and the clamps 16. Through the arrangement of the connecting rods 12 and the extrusion plate 18, multiple groups of connecting rods 12 can be more evenly distributed on the extrusion plate 18, reducing the risk of a single connecting rod 12 being subjected to excessive stress, thereby enhancing the stability of the overall structure.

[0026] Furthermore, the extrusion plate 18 is arranged on the inner side of the extrusion frame 19, and the extrusion plate 18 forms a telescopic structure with the extrusion frame 19 through the spring 20. Through the arrangement of the extrusion plate 18, the extrusion frame 19 and the spring 20, the spring 20 pushes the extrusion plate 18, so that the extrusion plate drives the connecting rod 12 and the clamp 16 to reset. The action of the spring 20 enables the extrusion plate 18 to automatically reset after the pressure is removed, thereby reducing the need for manual adjustment and improving operating efficiency.

[0027] Working principle: When in use, first start the motor 2, the motor 2 drives the screw rod 3 to rotate, and the rotating screw rod 3 drives the built-in threaded rack 4 to displace. The displaced built-in threaded rack 4 displaces the mounting rod 11 under the limit of the second connecting rod group 9 through the first connecting rod group 5 and the connecting block 10. The displaced mounting rod 11 drives the clamp 16 to clamp the workpiece. During clamping, the clamp 16 squeezes the extrusion plate 18 toward the pressure sensor 21 through the connecting rod 12, and the clamped workpiece is detected. When the workpiece is clamped, the spring 20 pushes the extrusion plate 18, so that the extrusion plate drives the connecting rod 12 and the clamp 16 to reset. When the clamp 16 is replaced, the limit block 15 is removed, and then the clamp 16 is removed from the upper end of the slide plate 13 through the slider 14, and then the appropriate clamp 16 is replaced. The clamp 16 can be replaced. In this way, the use process of a mechanical clamp with a touch sensing structure is completed.

[0028] Although the embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and variations may be made to these embodiments without departing from the principles and spirit of the present invention, and the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A mechanical gripper with a touch sensing structure, comprising a mounting frame (1), characterized in that: A fixing screw (6) is installed on one side surface of the mounting frame (1), a connecting plate (7) is installed on one end of the fixing screw (6), a fixing frame (8) is installed on one side surface of the connecting plate (7), a second connecting rod group (9) is installed on the inner side of the fixing frame (8), a connecting block (10) is installed on one end of the second connecting rod group (9), a mounting rod (11) is installed on one side surface of the connecting block (10), a connecting rod (12) is installed inside the mounting rod (11), and a slide plate is installed on one end of the connecting rod (12). (13), a slider (14) is installed on the inner side of the slide plate (13), a limit block (15) is installed on one end of the slide plate (13), a clamp (16) is installed on one side surface of the slider (14), a rubber pad (17) is installed on one side surface of the clamp (16), an extrusion plate (18) is installed on the other end of the connecting rod (12), an extrusion frame (19) is installed on the outer side of the mounting rod (11), a spring (20) is installed on the inner side of the extrusion frame (19), and a pressure sensor (21) is installed inside the extrusion frame (19).

2. The mechanical gripper with a touch sensing structure according to claim 1, characterized in that: A motor (2) is mounted on one side of the mounting frame (1), a screw rod (3) is mounted on the output end of the motor (2), an internal threaded frame (4) is mounted on the outside of the screw rod (3), and a first connecting rod group (5) is mounted on both ends of the internal threaded frame (4).

3. The mechanical gripper with a touch sensing structure according to claim 2, characterized in that: The built-in threaded frame (4) forms a telescopic structure with the mounting frame (1) through the screw rod (3), and the built-in threaded frame (4) is connected to the connecting block (10) through the first connecting rod group (5).

4. The mechanical gripper with a touch sensing structure according to claim 1, characterized in that: The connecting block (10) is connected to the fixing frame (8) via a second connecting rod group (9), and two groups of connecting blocks (10) are provided, and the second connecting rod groups (9) correspond to the connecting blocks (10) in a one-to-one manner.

5. The mechanical gripper with a touch sensing structure according to claim 1, characterized in that: The clamp (16) is connected to the chute plate (13) via a slider (14), and the slider (14) is connected to the chute plate (13) via a limit block (15).

6. The mechanical gripper with a touch sensing structure according to claim 1, characterized in that: The connecting rods (12) are provided in multiple groups, and the extrusion plate (18) forms a telescopic structure with the installation rod (11) through the connecting rods (12) and the clamps (16).

7. The mechanical gripper with a touch sensing structure according to claim 1, characterized in that: The extrusion plate (18) is arranged inside the extrusion frame (19), and the extrusion plate (18) forms a telescopic structure with the extrusion frame (19) via a spring (20).

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