Mechanical gripper capable of quickly gripping
By designing separate guide paths and slider rotation controlled by a drive unit, the instability and time-consuming problems of existing mechanical grippers when grasping small materials are solved, and fast and stable material grasping is achieved.
Patent Information
- Application Number
- CN202422185181.1
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-09-05
- Publication Date
- 2025-09-09
- Estimated Expiration
- 2034-09-05
AI Technical Summary
Existing mechanical grippers are prone to flying or unstable grasping when grabbing small objects, and require visual components or limit components for precise position judgment, resulting in a long grasping time.
A fast-grabbing mechanical gripper is designed, which adopts separate first and second guide paths. The rotation of the slider and gripper assembly is controlled by a drive unit to achieve synchronous clamping and release of the first and second grippers, simplifying the driving and control process.
It achieves fast and stable material grabbing in a large range without the need to place the material in a specific position, reducing the grabbing time and improving the stability and efficiency of grabbing.
Smart Images
Figure CN223314015U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of mechanical grippers, in particular to a fast-grabbing mechanical gripper. Background Art
[0002] Mechanical grippers include: gear structure type, connecting rod type and ramp slider type. Among them, the connecting rod type and ramp slider type are often used because of their low cost and sufficient precision.
[0003] When grasping materials, the mechanical gripper needs to rely on visual components (cameras) or limit components (photoelectric sensors) to achieve precise position judgment and then accurately grasp the materials. In addition, the materials generally need to be placed in a specific position on the material tray, or the position of the materials needs to be obtained by sensors before grasping. Ultimately, the entire grasping process takes a relatively long time.
[0004] To reduce the time spent on grasping, mechanical grippers can increase their grasping range to reduce the time spent on movement. Existing mechanical grippers with large grasping ranges achieve this by increasing the angles of the two grippers. However, when the two grippers move together to grasp, the material is easily thrown away or the grasp is unstable, resulting in poor grasping effect for relatively small materials.
[0005] Therefore, there is an urgent need for a fast-grasping mechanical gripper that can solve one or more of the above problems. Utility Model Content
[0006] To solve one or more problems existing in the prior art, the present invention provides a mechanical gripper for rapid grasping. The present invention adopts the following technical solutions to solve the above problems: a mechanical gripper for rapid grasping, comprising: a gripper bracket, the gripper bracket being provided with a first guide path and a second guide path, one end of the gripper bracket being connected to a drive unit, and a gripper assembly being mounted on the gripper bracket;
[0007] The gripper assembly is provided with a drive bracket, the drive bracket is connected to the push rod of the drive unit, and the drive bracket is provided with a separate third guide path and a fourth guide path;
[0008] The driving bracket is connected to the first bracket, the first bracket is provided with two first sliding grooves, a slider which moves up and down is installed in the first sliding grooves, the slider is limited in the first sliding grooves by the second bracket, and the slider is provided with a connecting rod, which moves along the first guide path;
[0009] The driving bracket is rotatably mounted with a first gripper and a second gripper, the first gripper is provided with a first limiting groove, the first limiting groove can be engaged with the first slider, the first gripper is provided with a first sliding rod, the first sliding rod moves along the second guide path and the fourth guide path, the first slider is connected to one end of a first tension spring, and the other end of the first tension spring is connected to the first gripper;
[0010] The second gripper is provided with a second limiting groove, which can be engaged with the second slider, the second gripper is provided with a second slide bar, the second slide bar moves along the third guide path, the second slider is connected to one end of a second tension spring, and the other end of the second tension spring is connected to the second gripper;
[0011] The first guide path forces the slider to perform a clamping or releasing action, and the driving unit drives the gripper assembly to clamp. During the clamping process, the second guide path forces the first gripper to rotate in the clamping direction first, and then the third guide path forces the second gripper to rotate in the clamping direction.
[0012] During the loosening process, the third guide path forces the second gripper to rotate in the loosening direction, and the fourth guide path forces the first gripper to rotate in the loosening direction.
[0013] In some embodiments, the two ends of the gripper bracket correspond to the release position and the clamping position of the gripper assembly respectively;
[0014] The path of the first guide path at the release position guides the two sliders to move upward, and the path of the first guide path at the clamping position guides the two sliders to move downward successively;
[0015] The path of the second guide path at the release position guides the first slide bar to enter the limit position, and the path of the second guide path at the clamping position guides the first slide bar out of the limit position;
[0016] After the first sliding rod enters the limiting position, the first gripper rotates in a releasing direction along the fourth guide path.
[0017] Furthermore, the first guide path forms two slope paths at the release position, and the two slope paths respectively guide the two sliders to move upward.
[0018] Furthermore, the gripper bracket is provided with a limiting platform at the clamping position, and the limiting platform is used to limit the movement of the second slide bar. After the second slide bar is limited, the second gripper will rotate in the clamping direction along the third guide path.
[0019] In some embodiments, the first tension spring pulls the first gripper toward the clamping direction, and the second tension spring pulls the second gripper toward the releasing direction.
[0020] In some embodiments, the drive bracket is provided with a first mating groove and a second mating groove, and the two connecting rods respectively pass through the first mating groove and the second mating groove to enter the first guide path, and the first mating groove and the second mating groove respectively limit the up and down movement stroke of the two connecting rods.
[0021] In some embodiments, the driving bracket is provided with a connecting seat, and the connecting seat is rotatably connected to the push rod.
[0022] Furthermore, the second guide path is provided with a locking path, the push rod drives the driving bracket to rotate along the locking path, and the first gripper will be locked in a released state after the first slide rod moves to the locking path.
[0023] In some embodiments, the driving unit is an electric push rod device.
[0024] The technical effect achieved by the utility model is: the above-mentioned mechanical gripper is used to realize fast and stable gripping of materials in a large range, so that the materials do not need to be placed in a specific clamping position, wherein, by driving the first gripper and the second gripper in turn to rotate the clamping direction, the materials are easier to be clamped and less likely to be pinched away; in terms of structure, the driving and control of the first gripper and the second gripper are simple and stable. BRIEF DESCRIPTION OF THE DRAWINGS
[0025] Figure 1 It is a schematic diagram of the utility model in the grasping state;
[0026] Figure 2 This is an exploded view of the utility model;
[0027] Figure 3 This is a schematic diagram of the gripper bracket of the present utility model;
[0028] Figure 4 is a schematic diagram of the gripper assembly of the present utility model;
[0029] Figure 5 This is an exploded view of the gripper assembly of the present invention from a first perspective;
[0030] Figure 6 This is an exploded view of the gripper assembly of the present invention from a second viewing angle;
[0031] Figure 7 It is a schematic diagram of the utility model in a released state;
[0032] Figure 8 This is a schematic diagram of the present invention in the initial capture state;
[0033] Figure 9 It is a schematic diagram of the intermediate capture state of the present invention;
[0034] Figure 10 It is a partial view of the utility model in the loosened state.
[0035] Reference numerals
[0036] 1. Gripper bracket 10, first guide path 101, limit platform 11, second guide path 110, locking path 111, limit position 12, release position 13, clamping position 2, drive unit 20, push rod 3, gripper assembly 30, drive bracket 301, connecting seat 302, third guide path 303, first matching slide 304, second matching slide 305, fourth guide path 31, first bracket 310, first slide 32, slider 320, connecting rod 33, second bracket 330, avoidance groove 34, first gripper 340, first limit groove 341, first slide rod 35, second gripper 350, second limit groove 351, second slide rod 36, first tension spring 37, second tension spring. DETAILED DESCRIPTION
[0037] To make the above-mentioned objects, features, and advantages of the present invention more readily understood, the following detailed description of specific embodiments of the present invention is provided in conjunction with the accompanying drawings. The following description sets forth many specific details to facilitate a full understanding of the present invention. However, the present invention can be implemented in many other ways than those described herein, and those skilled in the art may make similar modifications without departing from the scope of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.
[0038] The utility model discloses a mechanical gripper for rapid grasping, combined with Figure 1-Figure 3 As shown, it comprises: a gripper bracket 1, the gripper bracket 1 is provided with a first guide path 10 and a second guide path 11 which are separated, one end of the gripper bracket 1 is connected to a driving unit 2, and a gripper assembly 3 is installed on the gripper bracket 1;
[0039] The gripper assembly 3 is provided with a driving bracket 30, the driving bracket 30 is connected to the push rod 20 of the driving unit 2, and the driving bracket 30 is provided with a third guide path 302 and a fourth guide path 305 which are separated;
[0040] Recombination Figure 4-Figure 6 、 Figure 10As shown, the driving bracket 30 is connected to the first bracket 31. The first bracket 31 is provided with two first sliding grooves 310. A slider 32 is installed in the first sliding grooves 310 and moves up and down. The slider 32 is limited in the first sliding grooves 310 by the second bracket 33. The slider 32 is provided with a connecting rod 320, and the connecting rod 320 moves along the first guide path 10.
[0041] The driving bracket 30 is rotatably mounted with a first gripper 34 and a second gripper 35. The first gripper 34 is provided with a first limiting groove 340, which can be engaged with the first slider 32. The first gripper 34 is provided with a first slide bar 341, which moves along the second guide path 11 and the fourth guide path 305. The first slider 32 is connected to one end of a first tension spring 36, and the other end of the first tension spring 36 is connected to the first gripper 34.
[0042] The second gripper 35 is provided with a second limiting groove 350, which can be engaged with the second slider 32. The second gripper 35 is provided with a second slide bar 351, which moves along the third guide path 302. The second slider 32 is connected to one end of a second tension spring 37, and the other end of the second tension spring 37 is connected to the second gripper 35.
[0043] When the first slider 32 is engaged with the first limiting groove 340 , the first grip 34 is locked and limited; when the second slider 32 is engaged with the second limiting groove 350 , the second grip 35 is locked and limited.
[0044] It should be pointed out that the first guide path 10 forces the slider 32 to perform a clamping or releasing action, and the drive unit 2 drives the gripper assembly 3 to clamp. During the clamping process, the second guide path 11 forces the first gripper 34 to rotate in the clamping direction first, and then the third guide path 302 forces the second gripper 35 to rotate in the clamping direction; during the release process, the third guide path 302 forces the second gripper 35 to rotate in the release direction, and the fourth guide path 305 forces the first gripper 34 to rotate in the release direction.
[0045] It should be noted that the first tension spring 36 pulls the first gripper 34 toward the clamping direction, and the second tension spring 37 pulls the second gripper 35 toward the releasing direction, thereby enabling the first and second grippers to switch states more quickly. The driving unit 2 is an electric push rod device or a cylinder push rod device.
[0046] Again, combined Figure 5The connecting rod 320 can pass through the slider 32 , and the first and second tension springs are connected to the two connecting rods 320 respectively. At this time, the second bracket 33 is provided with an avoidance groove 330 for avoiding the connecting rod 320 .
[0047] Specifically, combined Figure 2-Figure 6 、 Figure 10 As shown, the two ends of the gripper bracket 1 correspond to the release position 12 and the clamping position 13 of the gripper assembly 3 respectively; the path of the first guide path 10 at the release position 12 guides the two sliders 32 to move upward, and the path of the first guide path 10 at the clamping position 13 guides the two sliders 32 to move downward successively; the path of the second guide path 11 at the release position 12 guides the first slide bar 341 to enter the limit position 111, and the path of the second guide path 11 at the clamping position 13 guides the first slide bar 341 to disengage from the limit position 111; after the first slide bar 341 enters the limit position 111, the first gripper 34 rotates along the fourth guide path 305 in the release direction.
[0048] Combine Figure 2 、 Figure 3 As shown, the gripper bracket 1 is provided with a limiting platform 101 at the clamping position 13, and the limiting platform 101 is used to limit the movement of the second slide bar 351. After the second slide bar 351 is limited, the second gripper 35 will rotate along the third guide path 302 in the clamping direction; the first guide path 10 forms two slope paths at the release position 12, and the two slope paths respectively guide the two sliders 32 to move upward.
[0049] Specifically, if Figure 6 As shown, the driving bracket 30 is provided with a first mating groove 303 and a second mating groove 304, and the two connecting rods 320 respectively pass through the first mating groove 303 and the second mating groove 304 to enter the first guide path 10, and the first mating groove 303 and the second mating groove 304 respectively limit the up and down movement stroke of the two connecting rods 320.
[0050] Specifically, combined Figure 2 、 Figure 3 、 Figure 6As shown, the driving bracket 30 is provided with a connecting seat 301, and the connecting seat 301 is rotatably connected to the push rod 20; the second guide path 11 is provided with a locking path 110, and the push rod 20 drives the driving bracket 30 to rotate along the locking path 110. After the first sliding bar 341 moves to the locking path 110, the first gripper 34 will be locked in a released state; the second gripper 35 is pulled back to the released state by the second tension spring 37, and as the slider 32 moves upward, the second tension spring 37 will further tighten the second gripper 35, thereby locking the second gripper 35 in a released state.
[0051] The initial state of the mechanical gripper is the loose state, that is, Figure 7 As shown, the first and second grippers are opened at a large angle and are in a locked limit state; the driving unit 2 drives the gripper assembly 3 to move, and first enters Figure 8 In the state shown, the first gripper 34 first rotates to the clamping direction, at which time it can contact the material, and then enters the Figure 9 In the state shown, the first gripper 34 rotates to the right position and can contact the material, and finally enters Figure 1 In the state shown, the second gripper 35 also rotates toward the clamping direction and rotates into position. At this time, the first gripper 34 and the second gripper 35 cooperate to clamp the material, and the first gripper 34 and the second gripper 35 are locked and limited.
[0052] In summary, the above-mentioned mechanical gripper can realize fast and stable gripping of materials in a large range, so that the materials do not need to be placed in a specific clamping position. Among them, by driving the first gripper and the second gripper to rotate the clamping direction in sequence, the materials are easier to be clamped and less likely to be pinched away. Structurally, the driving and control of the first gripper and the second gripper are simple and stable.
[0053] The embodiments described above merely represent one or more implementations of the present invention. While their descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that a person skilled in the art would be able to make various modifications and improvements without departing from the spirit of the present invention, and these modifications and improvements fall within the scope of protection of the present invention. Therefore, the scope of protection of the present invention shall be determined by the appended claims.
Claims
1. A mechanical gripper for rapid grasping, characterized in that: a gripper bracket, the gripper bracket being provided with a first guide path and a second guide path which are separated from each other, one end of the gripper bracket being connected to the drive unit, and a gripper assembly being mounted on the gripper bracket; The gripper assembly is provided with a drive bracket, the drive bracket is connected to the push rod of the drive unit, and the drive bracket is provided with a separate third guide path and a fourth guide path; The driving bracket is connected to the first bracket, the first bracket is provided with two first sliding grooves, a slider which moves up and down is installed in the first sliding grooves, the slider is limited in the first sliding grooves by the second bracket, and the slider is provided with a connecting rod, which moves along the first guide path; The driving bracket is rotatably mounted with a first gripper and a second gripper, the first gripper is provided with a first limiting groove, the first limiting groove can be engaged with the first slider, the first gripper is provided with a first sliding rod, the first sliding rod moves along the second guide path and the fourth guide path, the first slider is connected to one end of a first tension spring, and the other end of the first tension spring is connected to the first gripper; The second gripper is provided with a second limiting groove, which can be engaged with the second slider, the second gripper is provided with a second slide bar, the second slide bar moves along the third guide path, the second slider is connected to one end of a second tension spring, and the other end of the second tension spring is connected to the second gripper; The first guide path forces the slider to perform a clamping or releasing action, and the driving unit drives the gripper assembly to clamp. During the clamping process, the second guide path forces the first gripper to rotate in the clamping direction first, and then the third guide path forces the second gripper to rotate in the clamping direction. During the loosening process, the third guide path forces the second gripper to rotate in the loosening direction, and the fourth guide path forces the first gripper to rotate in the loosening direction.
2. The fast-grabbing mechanical gripper according to claim 1, characterized in that: The two ends of the gripper bracket correspond to the release position and the clamping position of the gripper assembly respectively; The path of the first guide path at the release position guides the two sliders to move upward, and the path of the first guide path at the clamping position guides the two sliders to move downward successively; The path of the second guide path at the release position guides the first slide bar to enter the limit position, and the path of the second guide path at the clamping position guides the first slide bar out of the limit position; After the first sliding rod enters the limiting position, the first gripper rotates in a releasing direction along the fourth guide path.
3. The fast-grabbing mechanical gripper according to claim 2, characterized in that: The first guide path forms two slope paths at the release position, and the two slope paths respectively guide the two sliders to move upward.
4. The fast-grabbing mechanical gripper according to claim 2, characterized in that: The gripper bracket is provided with a limiting platform at the clamping position, and the limiting platform is used to limit the movement of the second slide bar. After the second slide bar is limited, the second gripper will rotate in the clamping direction along the third guide path.
5. The fast-grabbing mechanical gripper according to claim 1, characterized in that: The first tension spring pulls the first gripper toward the clamping direction, and the second tension spring pulls the second gripper toward the releasing direction.
6. The fast-grabbing mechanical gripper according to claim 1, characterized in that: The driving bracket is provided with a first mating slot and a second mating slot, and the two connecting rods respectively pass through the first mating slot and the second mating slot to enter the first guide path, and the first mating slot and the second mating slot respectively limit the up and down movement stroke of the two connecting rods.
7. The fast-grabbing mechanical gripper according to claim 1, characterized in that: The driving bracket is provided with a connecting seat, and the connecting seat is rotatably connected to the push rod.
8. The fast-grabbing mechanical gripper according to claim 7, characterized in that: The second guide path is provided with a locking path, and the push rod drives the driving bracket to rotate along the locking path. After the first sliding rod moves to the locking path, the first gripper will be locked in a released state.
9. The fast-grabbing mechanical gripper according to claim 1, characterized in that: The driving unit is an electric push rod device.