Mechanical clamping jaw stable in clamping

Abstract

The utility model discloses a mechanical clamping jaw stable in clamping, which comprises a driving unit and a clamping unit, the driving unit comprises a mechanical arm and a supporting plate fixedly connected to the end part of the mechanical arm, a servo motor is fixedly mounted at the top of the supporting plate, and the output end of the servo motor penetrates through the supporting plate and is fixedly connected with a gear; the device comprises two first toothed plates and two second toothed plates which are arranged at the bottom of the supporting plate in a sliding mode, each first toothed plate and each second toothed plate are meshed with a gear, the bottom of each first toothed plate and the bottom of each second toothed plate are fixedly connected with mechanical claws, and a limiting rod penetrates through one side of each mechanical claw in a sliding mode. When an object with an irregular shape is clamped, the gap of the mechanical claw can be made up through the clamping plate, and the clamping plate is matched with the mechanical claw to clamp the object, so that the clamping stability of the mechanical claw is improved.

Description

Technical Field

[0001] This utility model relates to the field of mechanical gripper technology, and in particular to a mechanical gripper that provides stable clamping. Background Technology

[0002] Mechanical grippers are mechanical devices primarily used to combine machine and manual action to handle heavy objects or operate in harsh environments. They have workpiece capture and movement functions and are a new type of device developed in mechanized and automated production processes. Mechanical grippers consist of multiple precision components such as a frame, grippers, drive unit, and sensors. They are powered by a motor or pneumatic system to clamp objects. With the advancement of technology, mechanical grippers are constantly developing towards intelligence and automation. They can automatically identify objects and perform corresponding actions, further improving production efficiency, product quality, and the stability and reliability of clamping force.

[0003] Mechanical grippers are used in conjunction with robotic arms. There are two or more mechanical grippers used to hold objects. To ensure gripping stability, existing mechanical grippers use three or four mechanical grippers to hold objects in a three-point or four-point manner. The three-point and four-point manner uses multiple grippers to expand or contract with each other to simulate human hands for gripping and releasing objects. However, when dealing with irregularly shaped objects, it is difficult for multiple grippers to make complete contact with the object, resulting in gaps between the object and the mechanical grippers. This may make the gripping of the mechanical gripper unstable. Therefore, a mechanical gripper with stable gripping is proposed. Utility Model Content

[0004] The purpose of this section is to outline some aspects of embodiments of the present invention and to briefly describe some preferred embodiments. Simplifications or omissions may be made in this section, as well as in the abstract and title of this application, to avoid obscuring the purpose of these documents; however, such simplifications or omissions should not be construed as limiting the scope of the present invention.

[0005] In view of the problems existing in the current mechanical gripper that provides stable clamping, this utility model is proposed.

[0006] Therefore, the purpose of this utility model is to provide a mechanical gripper with stable clamping, which is applicable to solving the problem that when existing mechanical grippers face irregularly shaped objects, the gripper is difficult to make complete contact with the object, resulting in a gap between the object and the mechanical gripper, which may cause the mechanical gripper to lack clamping stability.

[0007] To solve the above-mentioned technical problems, this utility model provides the following technical solution: a mechanical gripper with stable clamping capabilities, comprising:

[0008] A drive unit includes a robotic arm and a support plate fixedly connected to the end of the robotic arm. A servo motor is fixedly mounted on the top of the support plate, and the output end of the servo motor passes through the support plate and is fixedly connected to a gear.

[0009] The clamping unit includes two first toothed plates and two second toothed plates slidably disposed at the bottom of the support plate. Each first toothed plate and each second toothed plate meshes with a gear. A mechanical claw is fixedly connected to the bottom of each first toothed plate and each second toothed plate. A limit rod slides through one side of each mechanical claw. A threaded rod is threadedly connected to one side of each mechanical claw. A clamping plate is fixedly connected to the end of each limit rod. Each threaded rod passes through the corresponding mechanical claw and is rotatably connected to the clamping plate. A storage groove for fitting the clamping plate is opened on the side wall of each mechanical claw.

[0010] As a preferred embodiment of the mechanical gripper with stable clamping described in this utility model, each mechanical gripper has two sets of trapezoidal blocks fixedly connected to one side, and each clamping plate has a rubber pad fixedly connected to one side.

[0011] As a preferred embodiment of the mechanical gripper with stable clamping described in this utility model, each mechanical gripper has a rotatably connected pawl at its bottom, an adjusting rod is threadedly connected to one side of each mechanical gripper, an adjusting hole for the adjusting rod is formed on one side of each pawl, and one end of each adjusting rod passes through the mechanical gripper and is located in the corresponding adjusting hole.

[0012] As a preferred embodiment of the mechanical gripper with stable clamping described in this utility model, each of the inclined claws has a clamping block threadedly connected to its lower surface, and each clamping block has a row of anti-slip grooves on one side.

[0013] As a preferred embodiment of the mechanical gripper with stable clamping described in this utility model, each mechanical gripper has a rotating rod rotatably connected to one side, baffles are hinged to both sides of each mechanical gripper, a connecting plate is threaded onto each rotating rod, and two folding plates are hinged between each connecting plate and two adjacent baffles.

[0014] As a preferred embodiment of the mechanical gripper with stable clamping described in this utility model, each of the baffles is fixedly connected to one side with an annular airbag, and each of the baffles is embedded with a magnetic sheet on one side.

[0015] The beneficial effects of this utility model are as follows: the servo motor drives the gear to rotate, so that each mechanical claw smoothly approaches and comes into close contact with the object, thereby clamping the object. By rotating the threaded rod, the clamping plate can be moved away from the mechanical claw. When clamping irregularly shaped objects, the clamping plate can fill the gaps of the mechanical claw, and the clamping plate works in conjunction with the mechanical claw to clamp the object, thereby improving the stability of the mechanical claw clamping. Attached Figure Description

[0016] To more clearly illustrate the technical solutions of the embodiments of this utility model, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. Wherein:

[0017] Figure 1 This is a schematic diagram of the overall structure of the mechanical gripper that provides stable clamping according to this utility model;

[0018] Figure 2 This is a schematic diagram showing the positional distribution of the first and second toothed plates proposed in this utility model.

[0019] Figure 3 This is a schematic diagram of the clamping unit structure proposed in this utility model;

[0020] Figure 4 This is a schematic diagram of the connection relationship between the rotating rod and the connecting plate proposed in this utility model. Attached image description:

[0022] 100. Drive unit; 101. Robotic arm; 102. Support plate; 103. Servo motor; 104. Gear; 200. Clamping unit; 201. First toothed plate; 202. Second toothed plate; 203. Mechanical claw; 204. Limiting rod; 205. Threaded rod; 206. Clamping plate; 207. Trapezoidal block; 208. Rubber pad; 209. Angled claw; 210. Adjusting rod; 211. Clamping block; 212. Rotating rod; 213. Baffle; 214. Connecting plate; 215. Folding plate; 216. Annular airbag; 217. Magnetic sheet. Detailed Implementation

[0023] To make the above-mentioned objectives, features and advantages of this utility model more apparent and understandable, the specific embodiments of this utility model will be described in detail below with reference to the accompanying drawings.

[0024] Many specific details are set forth in the following description in order to provide a full understanding of the present invention. However, the present invention may also be implemented in other ways different from those described herein. Those skilled in the art can make similar extensions without departing from the spirit of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0025] Secondly, the term "an embodiment" or "embodiment" as used herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The phrase "in one embodiment" appearing in different places in this specification does not necessarily refer to the same embodiment, nor is it a single embodiment or an embodiment selectively excluded from other embodiments.

[0026] Secondly, this utility model is described in detail with reference to the schematic diagrams. When describing the embodiments of this utility model, for ease of explanation, the cross-sectional views illustrating the device structure may be partially enlarged, not adhering to the usual scale. Furthermore, the schematic diagrams are merely examples and should not limit the scope of protection of this utility model. In addition, actual manufacturing should include the three-dimensional spatial dimensions of length, width, and depth.

[0027] Example

[0028] Reference Figures 1-4 As one embodiment of the present invention, a mechanical gripper with stable clamping is provided, comprising: a drive unit 100 and a clamping unit 200;

[0029] The drive unit 100 includes a robotic arm 101 and a support plate 102 fixedly connected to the end of the robotic arm 101. A servo motor 103 is fixedly installed on the top of the support plate 102. The output end of the servo motor 103 passes through the support plate 102 and is fixedly connected to a gear 104.

[0030] The clamping unit 200 includes two first toothed plates 201 and two second toothed plates 202 slidably disposed at the bottom of the support plate 102. Each first toothed plate 201 and each second toothed plate 202 meshes with a gear 104. A mechanical claw 203 is fixedly connected to the bottom of each first toothed plate 201 and each second toothed plate 202. A limit rod 204 slides through one side of each mechanical claw 203. A threaded rod 205 is threadedly connected to one side of each mechanical claw 203. A clamping plate 206 is fixedly connected to the end of each limit rod 204. Each threaded rod 205 passes through the corresponding mechanical claw 203 and is rotatably connected to the clamping plate 206. A storage groove that fits the clamping plate 206 is opened on the side wall of each mechanical claw 203.

[0031] The robotic arm 101 can drive the robotic claws 203 to grip objects at multiple angles and heights. The robotic arm 101 is equipped with a camera to capture image information for gripping objects. The two first toothed plates 201 are rotationally symmetrically distributed, and the two second toothed plates 202 are also rotationally symmetrically distributed. The second toothed plates 202 are located below the first toothed plates 201. When the servo motor 103 drives the gear 104 to rotate, the two first toothed plates 201 and the two second toothed plates 202 can move away from each other and move closer to each other in relative directions. Thus, the four robotic claws 203 can move closer to each other to grip the object. When the support plate 102 is in a horizontal state, the height of each robotic claw 203 is the same to ensure stable gripping of the object. When the servo motor 103 rotates in the opposite direction, the four robotic claws 203 move synchronously and move away from each other, thus no longer gripping the object. The distance that the four robotic claws 203 move each time is the same.

[0032] The storage slot of the mechanical gripper 203 can fully accommodate the clamping plate 206. When clamping a cuboid, the two threaded rods 205 in opposite directions are manually rotated, causing the clamping plate 206 to move out of the storage slot of the mechanical gripper 203 through the guide of the limiting rod 204. At this time, the distance between the two clamping plates 206 in opposite directions is less than the distance between the other two clamping plates 206 in opposite directions. Thus, when the mechanical gripper 203 clamps the cuboid, it can clamp the cuboid with two mechanical grippers 203 and two clamping plates 206 to ensure stable clamping of the cuboid. When clamping an irregularly shaped object, the clamping plates 206 of each mechanical gripper 203 are adjusted according to the shape of the object, so that the clamping plates 206 cooperate with the mechanical gripper 203 to clamp the irregularly shaped object. The clamping plates 206 can fill the gaps of the mechanical gripper 203, thereby improving the clamping stability of the mechanical gripper 203.

[0033] In addition, two sets of trapezoidal blocks 207 are fixedly connected to one side of each mechanical claw 203, and a rubber pad 208 is fixedly connected to one side of each clamping plate 206.

[0034] Two sets of trapezoidal blocks 207 on the mechanical gripper 203 are located on both sides of the storage slot. When the mechanical gripper 203 clamps an object, the trapezoidal blocks 207 will come into contact with the object. The trapezoidal blocks 207 enable the mechanical gripper 203 to firmly clamp the object. The rubber pad 208 is used to increase the friction of the clamping plate 206. When the clamping plate 206 clamps an object, the rubber pad 208 can prevent the object from slipping off the clamping plate 206.

[0035] Furthermore, each mechanical claw 203 has a rotatably connected pawl 209 at its bottom, an adjusting rod 210 is threadedly connected to one side of each mechanical claw 203, an adjusting hole that fits the adjusting rod 210 is opened on one side of each pawl 209, one end of each adjusting rod 210 passes through the mechanical claw 203 and is located in the corresponding adjusting hole, a clamping block 211 is threadedly connected to the lower surface of each pawl 209, and a row of anti-slip grooves is opened on one side of each clamping block 211.

[0036] The angle of the pawl 209 can be adjusted by the adjusting rod 210. When the pawl 209 is not in use, the adjusting rod 210 is rotated so that it is no longer inserted into the adjusting hole of the pawl 209. Then the pawl 209 can be deflected away from the gear 104. After deflection, the adjusting rod 210 is rotated again so that it is inserted into the corresponding adjusting hole to fix the angle of the pawl 209. This ensures that the pawl 209 will not affect the gripping of the mechanical gripper 203. When it is necessary to rotate objects that are wider at the top and narrower at the bottom, such as inverted pyramids, the angle of the pawl 209 is adjusted by the adjusting rod 210 so that the pawl 209 tilts towards the gear 104. At this time, the pawl 209 is in a tilted and bent state. The bent structure can reduce the slippage of the object during the gripping process and improve the gripping stability of the mechanical gripper 203.

[0037] When the clamping block 211 can be rotated out from the bottom of the inclined claw 209 for easy storage, the clamping block 211 is used to clamp small objects. With four clamping blocks 211, objects smaller than the mechanical claw 203 can be clamped. The clamping block 211 can increase the friction between the clamping block 211 and the object through the anti-slip groove, so as to stably clamp the small objects.

[0038] Furthermore, each mechanical claw 203 has a rotating rod 212 rotatably connected to one side, and baffles 213 are hinged to both sides of each mechanical claw 203. Each rotating rod 212 has a connecting plate 214 threaded onto it. Each connecting plate 214 is hinged to two adjacent baffles 213 with two folding plates 215. Each baffle 213 has an annular airbag 216 fixedly connected to one side, and a magnetic sheet 217 is embedded in one side of each baffle 213.

[0039] The folding plate 215 is composed of two straight plates hinged together. The two straight plates are respectively hinged to the baffle 213 and the connecting plate 214. The folding plate 215 can be folded. When the rotating rod 212 is rotated, the connecting plate 214 is restricted by the two folding plates 215 and moves on the rotating rod 212. At the same time, the connecting plate 214 can pull the two baffles 213 to deflect on the mechanical claw 203 through the two folding plates 215. When the baffles 213 are not in use, the rotating rod 212 is rotated to move the connecting plate 214 away from the mechanical claw 203. Then the baffles 213 deflect away from the gear 104 through the folding plates 215. Thus, the baffles 213 will not obstruct the clamping of the mechanical claw 203.

[0040] When it is necessary to clamp a large object or an object whose shape matches the baffle 213, the rotating rod 212 is rotated so that its connecting plate 214 is close to the mechanical claw 203. Then the baffle 213 deflects towards the gear 104. The angle between the two baffles 213 can be adjusted according to the shape of the object to accommodate objects of different shapes. When the four mechanical claws 203 approach each other and clamp a large object, the baffle 213 will also come into contact with the object. The baffle 213 can clamp the large object, thereby assisting the mechanical claw 203 in clamping and improving its clamping stability.

[0041] When the baffle 213 clamps an object, the annular airbag 216 comes into contact with the object and deforms under pressure. The annular airbag 216 fills the gap between the baffle 213 and the object, thereby increasing the contact surface between the baffle 213 and the object and improving the clamping stability of the baffle 213. The magnetic sheet 217 is flush with the surface of the baffle 213. When a magnetic object is clamped, the magnetic sheet 217 will attract the magnetic object to prevent the object from slipping off the baffle 213.

[0042] During use, when it is necessary to clamp an object, the robotic arm 101 controls the support plate 102 to move and starts the servo motor 103 to drive the gear 104 to rotate. The two first toothed plates 201 and the two second toothed plates 202 can move away from each other and move closer to each other in relative directions. Thus, the four mechanical claws 203 can move closer to each other to clamp the object. By rotating the servo motor 103 in the opposite direction, the four mechanical claws 203 move away from each other synchronously, so that the object is no longer clamped. When clamping cuboids and irregularly shaped objects, the threaded rods 205 on each mechanical claw 203 are manually rotated. The clamping plate 206 can fill the gaps of the mechanical claws 203, so that the clamping plate 206 and the mechanical claws 203 can clamp irregularly shaped objects, thereby improving the clamping stability of the mechanical claws 203.

[0043] When rotating objects that are wider at the top and narrower at the bottom, such as inverted pyramids, the pawl 209 is tilted toward the gear 104 by adjusting the lever 210. The pawl 209 reduces the slippage of the object during the gripping process. The clamping block 211 can hold small objects. When gripping large objects or objects whose shape matches the baffle 213, the rotating lever 212 is rotated so that the connecting plate 214 is close to the mechanical claw 203. Then the baffle 213 deflects toward the gear 104. The baffle 213 assists the mechanical claw 203 in gripping large objects and improves the stability of the gripping.

[0044] It should be noted that the above embodiments are only used to illustrate the technical solution of this utility model and are not intended to limit it. Although this utility model has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solution of this utility model without departing from the spirit and scope of the technical solution of this utility model, and all such modifications or substitutions should be covered within the scope of the claims of this utility model.

Claims

1. A mechanical gripper for stable clamping, characterized in that, include: The drive unit (100) includes a robotic arm (101) and a support plate (102) fixedly connected to the end of the robotic arm (101). A servo motor (103) is fixedly installed on the top of the support plate (102). The output end of the servo motor (103) passes through the support plate (102) and is fixedly connected to a gear (104). The clamping unit (200) includes two first toothed plates (201) and two second toothed plates (202) slidably disposed at the bottom of the support plate (102). Each first toothed plate (201) and each second toothed plate (202) meshes with a gear (104). A mechanical claw (203) is fixedly connected to the bottom of each first toothed plate (201) and each second toothed plate (202). A limit rod (204) slides through one side of each mechanical claw (203). A threaded rod (205) is threadedly connected to one side of each mechanical claw (203). A clamping plate (206) is fixedly connected to the end of each limit rod (204). Each threaded rod (205) passes through the corresponding mechanical claw (203) and is rotatably connected to the clamping plate (206). A receiving groove for fitting the clamping plate (206) is opened on the side wall of each mechanical claw (203).

2. The mechanical gripper with stable clamping as described in claim 1, characterized in that: Two sets of trapezoidal blocks (207) are fixedly connected to one side of each of the mechanical claws (203), and a rubber pad (208) is fixedly connected to one side of each of the clamps (206).

3. The mechanical gripper with stable clamping according to claim 2, characterized in that: Each of the mechanical claws (203) has a rotatably connected pawl (209) at its bottom. Each of the mechanical claws (203) has an adjusting rod (210) threadedly connected to one side. Each of the pawls (209) has an adjusting hole on one side that fits the adjusting rod (210). One end of each adjusting rod (210) passes through the mechanical claw (203) and is located in the corresponding adjusting hole.

4. The mechanical gripper with stable clamping according to claim 3, characterized in that: Each of the helical claws (209) has a clamping block (211) threadedly connected to its lower surface, and each clamping block (211) has a row of anti-slip grooves on one side.

5. A mechanical gripper with stable clamping according to claim 1, characterized in that: Each of the mechanical claws (203) has a rotating rod (212) rotatably connected to one side, and each of the mechanical claws (203) has a baffle (213) hinged to both sides. Each rotating rod (212) has a connecting plate (214) threaded onto it, and each connecting plate (214) has two folding plates (215) hinged between it and two adjacent baffles (213).

6. A mechanical gripper with stable clamping according to claim 5, characterized in that: Each of the baffles (213) has an annular airbag (216) fixedly connected to one side, and each of the baffles (213) has a magnetic sheet (217) embedded in one side.

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