Double-degree-of-freedom composite clamping jaw

Abstract

The utility model relates to a double-degree-of-freedom composite clamping jaw, and belongs to the technical field of clamping jaw devices. A double-degree-of-freedom combined type clamping jaw comprises a clamping jaw body and is characterized in that the clamping jaw body comprises an outer clamping jaw set, an inner clamping jaw set, a connecting arm and a lifting electromagnetic push rod; the connecting arm comprises a main supporting arm, the main supporting arm is of a hollow structure, at least two sliding way grooves are formed in the wall of an inner cavity of the main supporting arm, and at least two transverse supporting arms perpendicular to the main supporting arm are arranged on the outer side wall of the lower end of the main supporting arm. The lifting electromagnetic push rod is fixed to the top of the main supporting arm, a piston rod of the lifting electromagnetic push rod extends into an inner cavity of the main supporting arm, and the inner clamping jaw set is installed at the end of the piston rod of the lifting electromagnetic push rod through a shaft. The outer clamping jaw set is installed on the transverse supporting arm.

Description

Technical Field

[0001] This utility model relates to a dual-degree-of-freedom composite gripper, belonging to the technical field of gripper devices. Background Technology

[0002] The mushroom caps play a crucial role in the growth of enoki mushrooms, constraining their growth and ensuring their quality. However, due to the limited space between the caps and the mushrooms, the fact that both are flexible, and the close arrangement of the caps, even large-scale enoki mushroom farms currently rely on manual removal of the caps for harvesting. While many companies and research institutions have attempted to automate the harvesting process using flexible grippers to mimic human hand movements, these methods have proven inefficient. The high cost of such grippers, the complexity of designing the mechanical system and control system for various sensors and visual recognition, the difficulty of operation in confined spaces, and the high precision requirements of the sensors all contribute to the problem. Furthermore, the high damage rate to the mushrooms makes these flexible grippers unsuitable for production. Therefore, researchers in this field have been continuously exploring mechanized methods for removing the mushroom caps. Utility Model Content

[0003] In order to achieve mechanized removal of mushroom slices, this application provides a two-degree-of-freedom composite gripper.

[0004] This utility model solves the above-mentioned technical problems through the following technical solution:

[0005] A dual-degree-of-freedom composite gripper includes a gripper, characterized in that the gripper comprises an outer gripper assembly, an inner gripper assembly, a connecting arm, and a lifting electromagnetic push rod; the connecting arm includes a main support arm, which is a hollow structure, and at least two slide grooves are provided on the wall of the inner cavity of the main support arm, and at least two horizontal support arms perpendicular to the main support arm are provided on the lower outer wall of the main support arm; the lifting electromagnetic push rod is fixed to the top of the main support arm, and the piston rod of the lifting electromagnetic push rod extends into the inner cavity of the main support arm, with the inner gripper assembly mounted on the end of the piston rod of the lifting electromagnetic push rod via a shaft; the outer gripper assembly is mounted on the horizontal support arm.

[0006] The advantages of the above technical solution are: it has two clamping parts, an outer one and an inner one. The main responsibility of the outer clamping jaws is to handle the mushroom bottles, ensuring that they are stably and safely transferred from the mushroom bottle stacking area to the enoki mushroom extraction stage during processing. The inner clamping jaws, on the other hand, are responsible for the more delicate task of removing the mushroom wrappers. During the growth of enoki mushrooms, the mushroom wrappers tightly encase the mushrooms, posing a significant challenge to the production line. The inner clamping jaws, through precise control and clamping force, can easily peel the mushroom wrappers from the enoki mushrooms, ensuring both the integrity and texture of the mushrooms and greatly improving the efficiency of the production line. This composite design of inner and outer clamps not only achieves complex functions but also reduces production costs through optimized design and material selection, making the entire mechanism more economical and practical.

[0007] Based on the above technical solution, this application makes the following improvements and enhancements to the above technical solution:

[0008] Furthermore, the inner gripper assembly includes an inner gripper and an inner gripper seat. The side wall of the inner gripper seat is provided with a bearing seat for mounting the inner gripper. The inner gripper is provided with a gripper key that mates with the slide groove.

[0009] The beneficial effects of the above-mentioned technical features in this application are as follows: the inner gripper seat is used to connect with the piston rod of the lifting electromagnetic push rod and to install the gripper. The inner gripper seat adopts a cylindrical structure. A connecting groove that mates with the piston rod is provided on the end face of one end of the inner gripper seat. A shaft seat is provided on the circumference of the inner gripper seat. A groove that mates with the shaft seat is provided at one end of the gripper. After the shaft seat is inserted into the groove, the gripper is connected to the inner gripper seat by a pin.

[0010] Furthermore, the end of the inner gripper is bent.

[0011] The beneficial effect of the above-mentioned technical features in this application is that the end of the inner claw is bent and the entire claw is L-shaped, which facilitates the claw to grasp the mushroom slices.

[0012] Furthermore, the inner cavity of the main support arm is flared or the slide groove is inclined.

[0013] The beneficial effects of the above-mentioned technical features in this application are as follows: the gripper is retracted inside the main support arm, the inner cavity of the support arm is flared or the slide groove is inclined, when the piston rod of the lifting electromagnetic push rod moves downward, the gripper extends outward and will be in an open state, and when the piston rod of the lifting electromagnetic push rod retracts, the gripper will be in a closed state, thereby realizing the gripping of the mushroom slices.

[0014] Furthermore, the inner gripper assembly also includes a pad, which is fixedly connected to the inner gripper seat via a connecting rod.

[0015] The beneficial effect of the above-mentioned technical features in this application is that the pad is also a limiting structure. When the pad moves downward, it presses on the enoki mushrooms and the mushroom slices. This design is to prevent the enoki mushrooms from being damaged when the claws directly grasp them.

[0016] Furthermore, the outer gripper assembly includes an outer gripper frame, the top of which is provided with a groove plate, and the outer gripper frame is mounted on the horizontal support arm through the groove plate; the groove plate is also mounted on the piston rod end of the transverse electromagnetic push rod; the transverse electromagnetic push rod is fixed on the horizontal support arm.

[0017] The beneficial effect of the above-mentioned technical features in this application is that the outer gripper frame is driven by the transverse electromagnetic push rod to move back and forth along the transverse support arm, so that the width can be adjusted according to different mushroom bottles.

[0018] Furthermore, a rubber pad is provided on the clamping side of the outer gripper frame.

[0019] The beneficial effects of the above-mentioned technical features in this application are: avoiding possible slippage or falling when gripping mushroom bottles; the rubber layer has good friction properties, which can significantly increase the coefficient of friction between the gripper and the mushroom bottle. Attached Figure Description

[0020] Figure 1 This is a three-dimensional structural diagram of a dual-degree-of-freedom composite gripper according to this application;

[0021] Figure 2 A schematic diagram of the installation structure of the lifting electromagnetic push rod and the inner gripper assembly;

[0022] Figure 3 This is a three-dimensional structural diagram of the connecting arm;

[0023] Figure 4 This is a cross-sectional view of the connecting arm.

[0024] Figure 5 This is a schematic diagram of the external gripper assembly;

[0025] Figure 6 This is a schematic diagram of the internal gripper assembly;

[0026] Figure 7 This is a schematic diagram of the internal clamping claw seat and the pad block;

[0027] Figure 8 This is a schematic diagram showing the position and structure of the inner gripper and gripper key.

[0028] The attached diagram is labeled as follows: 1. Lifting electromagnetic push rod, 2. Connecting arm, 3. Outer gripper assembly, 4. Inner gripper assembly;

[0029] 2.1 Main support arm; 2.2 Horizontal support arm; 2.3 Slide groove; 2.4 Reinforcing ring;

[0030] 3.1 Horizontal electromagnetic push rod; 3.2 Outer clamping plate frame; 3.3 Slot plate; 3.4 Rubber pad;

[0031] 4.1 Inner jaw, 4.2 Inner jaw seat, 4.3 Shaft seat, 4.4 Jaw key, 4.5 Spacer block, 4.6 Connecting rod. Detailed Implementation

[0032] The following embodiments, in conjunction with the accompanying drawings, are merely for illustrating the technical solutions described in the claims and are not intended to limit the scope of protection of the claims. In this application, "upper and lower," "top," and "bottom" are based on the vertical state of the connecting arm during operation.

[0033] Combination Figure 1-4 A dual-degree-of-freedom composite gripper includes a gripper, which includes an outer gripper group 3, an inner gripper group 4, a connecting arm 2, and a lifting electromagnetic push rod 1.

[0034] The connecting arm 2 includes a main support arm 2.1, which is a hollow structure. At least two slide grooves 2.3 are provided on the inner wall of the main support arm 2.1. In this embodiment, four slide grooves are provided, evenly distributed in the inner cavity of the main support arm. At least two horizontal support arms 2.2 perpendicular to the main support arm 2.1 are provided on the lower outer wall of the main support arm 2.1. In this embodiment, four horizontal support arms are designed. The lifting electromagnetic push rod 1 is fixed to the top of the main support arm 2.1. The piston rod of the lifting electromagnetic push rod 1 extends into the inner cavity of the main support arm 2.1. The piston rod end of the lifting electromagnetic push rod 1 is mounted with an inner gripper assembly 4 via a shaft. The outer gripper assembly 3 is mounted on the horizontal support arm 2.2. A reinforcing ring 2.4 is also provided on the bottom outer wall of the main support arm 2.1. The reinforcing ring has a reinforcing function and can also provide a fixed position for the horizontal electromagnetic push rod.

[0035] Based on the above technical solution, this application makes the following improvements and enhancements to the above technical solution:

[0036] Combination Figure 3 , 6 8. The inner gripper assembly 4 includes an inner gripper 4.1 and an inner gripper seat 4.2. The side wall of the inner gripper seat 4.2 is provided with a bearing seat 4.3 for mounting the inner gripper. The inner gripper 4.1 is provided with a gripper key 4.4 that cooperates with the slide groove 2.3. The gripper key has a T-shaped structure, a rod part that connects to the inner gripper and a sliding part that slides in the slide groove. The sliding part adopts a semi-circular rod design. The end of the inner gripper 4.1 is bent.

[0037] Combination Figure 4 The inner cavity of the main support arm 2.1 is flared or the slide groove 2.3 is inclined.

[0038] Combination Figure 6 , 7 The inner gripper assembly 4 also includes a pad 4.5, which is fixedly connected to the inner gripper seat 4.2 via a connecting rod 4.6.

[0039] Combination Figure 5 The outer gripper assembly 3 includes an outer gripper frame 3.2, with a groove plate 3.3 on the top of the outer gripper frame 3.2. The outer gripper frame 3.2 is mounted on the horizontal support arm 2.2 via the groove plate 3.3. The groove plate 3.3 is also mounted on the piston rod end of the transverse electromagnetic push rod 3.1. The transverse electromagnetic push rod 3.1 is fixed on the horizontal support arm 2.2. A rubber pad 3.4 is provided on the gripping side of the outer gripper frame 3.2.

[0040] The inner gripper assembly 4 and the connecting arm utilize a keyway design for their engagement. This keyway design ensures a tight fit between the inner gripper assembly and the connecting arm, guaranteeing stable movement of the gripper on the connecting arm.

[0041] When the mechanism moves up and down, the movement of the gripper key changes accordingly. This change is achieved by altering the relative position of the gripper key within the keyway. Specifically, when the mechanism moves upward, the gripper key moves upward, narrowing the opening of the gripper and facilitating the gripping of the mushroom slices; conversely, when the mechanism moves downward, the gripper key moves downward, widening the opening of the gripper and releasing the mushroom slices. This change in movement is achieved through precise control of the mechanism's motion, ensuring the accuracy and stability of the gripper when gripping and releasing the mushroom bottles.

[0042] The outer gripper assembly moves along the horizontal support arm, a design that ensures stable and efficient operation. The movement of the outer gripper assembly is powered by a transverse electromagnetic actuator. Driven by electromagnetic force, the actuator offers advantages such as fast response and stable thrust. During operation, the actuator responds quickly and accurately to control signals, driving the outer gripper assembly to move precisely along the horizontal support arm. A rubber layer is attached to the inner surface of the outer gripper assembly. This design cleverly solves the problem of slippage or dropping when gripping mushroom bottles. The rubber layer has excellent frictional properties, significantly increasing the coefficient of friction between the gripper and the mushroom bottle. This allows the gripper to hold the mushroom bottle more stably, preventing it from slipping or being damaged during movement.

[0043] Furthermore, the addition of the rubber layer reduces the size requirements of the electromagnetic actuator. Because the rubber layer increases the coefficient of friction, the gripper requires relatively less force to grasp the mushroom jars. Therefore, a smaller electromagnetic actuator can be selected to drive the gripper's movement, which not only reduces production costs but also makes the entire gripper system more compact and lightweight.

[0044] The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A dual-degree-of-freedom composite gripper, comprising grippers, characterized in that, The gripper includes an outer gripper assembly (3), an inner gripper assembly (4), a connecting arm (2), and a lifting electromagnetic push rod (1); the connecting arm (2) includes a main support arm (2.1), which is a hollow structure, and at least two slide grooves (2.3) are provided on the wall of the inner cavity of the main support arm (2.1), and at least two horizontal support arms (2.2) perpendicular to the main support arm (2.1) are provided on the lower outer wall of the main support arm (2.1); the lifting electromagnetic push rod (1) is fixed on the top of the main support arm (2.1), and the piston rod of the lifting electromagnetic push rod (1) extends into the inner cavity of the main support arm (2.1), and the piston rod end of the lifting electromagnetic push rod (1) is mounted on the inner gripper assembly (4) through a shaft; the outer gripper assembly (3) is mounted on the horizontal support arm (2.2).

2. The dual-degree-of-freedom composite gripper according to claim 1, characterized in that, The inner gripper assembly (4) includes an inner gripper (4.1) and an inner gripper seat (4.2). The side wall of the inner gripper seat (4.2) is provided with a bearing seat (4.3) for installing the inner gripper. The inner gripper (4.1) is provided with a gripper key (4.4) that cooperates with the slide groove (2.3).

3. The dual-degree-of-freedom composite gripper according to claim 2, characterized in that, The end of the inner gripper (4.1) is bent.

4. The dual-degree-of-freedom composite gripper according to claim 2 or 3, characterized in that, The inner cavity of the main support arm (2.1) is flared or the slide groove (2.3) is inclined.

5. The dual-degree-of-freedom composite gripper according to claim 4, characterized in that, The inner gripper assembly (4) also includes a pad (4.5), which is fixedly connected to the inner gripper seat (4.2) via a connecting rod (4.6).

6. The dual-degree-of-freedom composite gripper according to claim 1, characterized in that, The outer gripper assembly (3) includes an outer gripper frame (3.2), and a groove plate (3.3) is provided on the top of the outer gripper frame (3.2). The outer gripper frame (3.2) is installed on the horizontal support arm (2.2) through the groove plate (3.3). The groove plate (3.3) is also installed on the piston rod end of the transverse electromagnetic push rod (3.1). The transverse electromagnetic push rod (3.1) is fixed on the horizontal support arm (2.2).

7. The dual-degree-of-freedom composite gripper according to claim 6, characterized in that, The clamping side of the outer gripper frame (3.2) is provided with a rubber pad (3.4).

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