Self-adaptive universal two-finger clamping jaw
By adopting an adaptive, universal two-finger gripper design, and utilizing trapezoidal screw drive and adaptive joints, the problem of weak envelopment of existing two-finger grippers is solved, achieving stable grasping and low-cost object manipulation.
Patent Information
- Application Number
- CN202520056516.1
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-01-09
- Publication Date
- 2025-12-23
- Estimated Expiration
- 2035-01-09
AI Technical Summary
The existing two-finger gripper has weak envelopment when grasping objects, making it unable to grasp objects close to the table and prone to collisions, which is inconvenient.
It adopts an adaptive universal two-finger gripper design, including a gripper assembly driven by a trapezoidal screw and an adaptive joint. It utilizes a parallelogram structure and a torsion spring mechanism to achieve adaptive envelope gripping, and avoids impact through a rubber layer and anti-slip structure.
It improves the reliability and fault tolerance of gripping, ensures the stable gripping of objects, reduces the risk of impact, and has a simple structure and low cost.
Smart Images
Figure CN223700869U_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The utility model relates to robot executor technical field especially is related to a self -adaptation general two -fingered gripper. BACKGROUND
[0002] In mechanical automation equipment, the mechanical gripper is a common mechanical component, usually installed at the end of the mechanical arm, replaces the human hand to complete sorting and moving work, it plays an important role in the automation field, and has characteristics of accuracy, stability and high efficiency.
[0003] In the present use place of object grabbing by robot, generally adopt two -fingered gripper, especially the two -fingered gripper of connecting rod type, when grabbing object, the enveloping property is not strong, cannot well envelop object, or when grabbing object is close to desktop, cannot grab, is inconvenient to grab. UTILITY MODEL CONTENTS
[0004] The utility model is provided with a self -adaptation general two -fingered gripper, which can solve the above technical problems.
[0005] The utility model provides a self -adaptation general two -fingered gripper, including the shell, the inside of shell is equipped with drive motor, the output shaft of drive motor is fixedly connected with trapezoidal screw, is connected with screw nut on trapezoidal screw, screw nut is installed on trapezoidal screw and with the rotation of trapezoidal screw up and down linear motion;The axis of trapezoidal screw is symmetrically equipped with a pair of gripper assembly on both sides, the gripper assembly includes inner swing arm, main swing arm, vice swing arm and oblique bend swing arm, one end of inner swing arm is hinged with screw nut, the other end is hinged with the end of main swing arm, the middle part of main swing arm is rotatably connected with the inner wall of shell, the first end of main swing arm is hinged with the bending part of oblique bend swing arm, the end of vice swing arm is rotatably connected with the shell, and the first end is hinged with the end of oblique bend swing arm, the first end of oblique bend swing arm is hinged with support rod, support rod is hinged with split fingertip, the end of split fingertip is hinged with finger knuckle connecting rod, the end of finger knuckle connecting rod is respectively hinged with the end of oblique bend swing arm and the first end of vice swing arm, and the top of split fingertip is hinged with fingertip.
[0006] Main swing arm, vice swing arm and oblique bend swing arm form a parallelogram, according to the characteristics of parallelogram, the oblique bend swing arm will keep the same posture, the finger part will also keep the same posture without additional external force, and the left and right fingers will keep parallel posture, with the rotation of the motor, the left and right fingers keep parallel posture, and the distance between the fingertips changes.
[0007] Further, the finger pad link and the split finger tip are hinged together through a first stepped shaft, the first stepped shaft is provided with a first torsional spring, one end of the first torsional spring is arranged on the finger pad link, and the other end is arranged on the split finger tip. When the joint is subjected to external force, the finger pad link and the split finger tip adaptively envelop and grasp the object, and when the object is removed, the torsional spring can reset the joint.
[0008] Further, the finger tip and the split finger tip are hinged together through a second stepped shaft, the second stepped shaft is provided with a second torsional spring, one end of the second torsional spring is arranged on the split finger tip, and the other end is arranged on the finger tip. When the finger tip tip touches the object, the finger tip can bend inward to avoid the clamping jaw directly impacting the object, thereby increasing the fault tolerance of the robot operation.
[0009] Further, the support rod is hinged at one end of the third stepped shaft to the oblique bending swing arm and at the other end to the split finger tip. The movement range of the split finger tip can be limited to adaptively grasp the object.
[0010] Further, the finger tip surface is provided with a glue layer.
[0011] Further, the inner sides of the split finger tip and the finger pad link are provided with anti-skid rubber pads.
[0012] Further, the surface of the glue layer on the finger tip protrudes from the surface of the anti-skid rubber pad. When the finger tip is used to clamp small objects, the finger pad is prevented from first contacting the small objects, thereby stabilizing the gripping of the small objects by the finger tip.
[0013] Further, the opposite sides of the glue layer are provided with anti-skid lines.
[0014] Further, the finger tip and the split finger tip are limited by inclined surfaces on the outer sides, so that the finger tip tip can only rotate inward when touching the object, thereby ensuring that the finger tip does not deflect outward when gripping the object, thereby affecting the gripping effect.
[0015] Further, the bottom of the shell is provided with a connecting flange for fixing with a mechanical arm, the circumferential surface of the connecting flange is fixedly connected with the shell, and the driving motor is mounted on the connecting flange.
[0016] Beneficial effects:
[0017] The utility model discloses a finger palm part adopts under -actuated joint, can when using the joint to snatch object, carry out envelope snatch, the under -actuated joint of finger palm adopts reverse self -locking structure, can only carry out envelope snatch under the condition of touching the under -actuated joint, can only be the anti -collision self -adaptive joint of finger tip to move under the condition of touching the finger tip, cannot drive the joint, guarantee the reliability of snatching object, driving power source adopts the form of motor direct -drive form plus lead screw, no reduction structure, motor current feedback sensitivity can utilize current to carry out feedback, simple structure, low in cost. BRIEF DESCRIPTION OF DRAWINGS
[0018] In order to more clearly illustrate the specific embodiment of the utility model or the technical scheme in prior art, the following will briefly introduce the drawing needed to be used in the specific embodiment or prior art description, obviously, the drawing in the following description is some embodiments of the utility model, and for those skilled in the art, other drawings can also be obtained according to these drawings without creative labor.
[0019] Figure 1 It is internal structure schematic view of the utility model;
[0020] Figure 2 It is three-dimensional structure schematic view of the utility model;
[0021] Figure 3 It is side view of the structure of the utility model;
[0022] Figure 4 It is structure schematic view when the utility model clamps object;
[0023] Figure 5 It is three-dimensional structure schematic view of the top angle of the utility model.
[0024] Explanations of reference numerals: 1 - shell, 2 - driving motor, 3 - trapezoidal lead screw, 4 - lead screw nut, 5 - inner swing arm, 6 - main swing arm, 7 - auxiliary swing arm, 8 - oblique curved swing arm, 9 - support rod, 10 - split finger tip, 11 - finger palm connecting rod, 12 - finger tip, 13 - rubber layer, 14 - antiskid rubber pad, 15 - connecting flange, 16 - motor output flange, 17 - bearing. DETAILED DESCRIPTION
[0025] The technical scheme of the utility model will be described below in conjunction with examples, obviously, the described examples are a part of the embodiments of the utility model, not all the embodiments. Based on the examples in the utility model, all other examples obtained by those skilled in the art without creative labor belong to the protection scope of the utility model.
[0026] In the description of the utility model, need understanding is, the term "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise" and so on indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawing, just for the convenience of describing the utility model and simplifying the description, and not indicate or imply the device or element indicated must have a particular orientation, with a particular orientation configuration and operation, therefore can not be understood as the restriction of the utility model.
[0027] In addition, the terms "first", "second" are only for the purpose of description, and can not be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features. Therefore, the features defined with "first", "second" can explicitly or implicitly include one or more of the features. In the description of the utility model, the meaning of "multiple" is two or more than two, unless otherwise expressly specifically limited. In addition, the terms "mounting", "connected", "connected" should be broadly understood, for example, can be fixedly connected, can also be detachably connected, or integrally connected, can be mechanically connected, can also be electrically connected, can be directly connected, can be indirectly connected through an intermediate medium, can be the communication inside two elements. For ordinary skilled in the art, the specific meaning of the above terms in the utility model can be understood according to the specific circumstances.
[0028] Example 1
[0029] A self-adapting universal two-finger clamp jaw, such as Figures 1-5As shown, including the shell 1, the shell 1 inside is provided with driving motor 2, the bottom of the shell 1 is provided with the connecting flange 15 for fixing with the mechanical arm, the circumference of the connecting flange 15 is fixedly connected with the shell 1, and the driving motor 2 is installed on the connecting flange. The output shaft of the driving motor 2 is fixedly connected with the trapezoidal screw 3. Specifically, the motor output flange 16 is installed on the driving motor 2, the motor output flange shaft is connected with the trapezoidal screw 3 by using fixed pin and jack, the top end of the trapezoidal screw 3 is sleeved in the bearing 17, the trapezoidal screw nut 4 is threadedly connected with the trapezoidal screw 3, the trapezoidal screw nut 4 is installed on the trapezoidal screw 3 and moves linearly up and down with the rotation of the trapezoidal screw 3; a pair of clamping jaw assemblies are symmetrically arranged on both sides of the axis of the trapezoidal screw 3, the clamping jaw assemblies comprise an inner swing arm 5, a main swing arm 6, an auxiliary swing arm 7 and an oblique curved swing arm 8, one end of the inner swing arm 5 is hinged with the trapezoidal screw nut 4, the other end is hinged with the tail end of the main swing arm 6, the middle part of the main swing arm 6 is rotatably connected with the inner wall of the shell 1, the head end of the main swing arm 6 is hinged with the bending part of the oblique curved swing arm 8, the tail end of the auxiliary swing arm 7 is rotatably connected with the shell 1, the head end is hinged with the tail end of the oblique curved swing arm 8, the head end of the oblique curved swing arm 8 is hinged with the support rod 9, the support rod 9 is hinged with the split fingertips 10, the tail end of the split fingertips 10 is hinged with the finger tip connecting rod 11, the tail end of the finger tip connecting rod 11 is respectively hinged with the tail end of the oblique curved swing arm 8 and the head end of the auxiliary swing arm 7, and the top of the split fingertips 10 is hinged with the fingertips 12. Because the hinged parts of the plurality of components are not on the same section of the section view, Figure 1 The connection relationship between the displayed components has a slight difference from the actual situation, and the specific component connection relationship please refer to Figure 5 Reference.
[0030] The main swing arm 6, the auxiliary swing arm 7 and the oblique curved swing arm 8 form a parallelogram, according to the characteristics of the parallelogram, the oblique curved swing arm 8 will keep the same posture, and the fingers will also keep the same posture without additional external force, and the left and right fingers will keep the parallel posture, and the distance between the fingertips will change with the rotation of the motor.
[0031] The finger web link 11 and the split finger tip 10 are hinged together through a first stepped shaft, the first stepped shaft is provided with a first torsion spring, one end of the first torsion spring is arranged on the finger web link, and the other end is arranged on the split finger tip. When the joint is subjected to external force, the finger web link 11 and the split finger tip 10 adaptively envelop and grasp the object, and when the object is removed, the torsion spring can reset the joint. The finger tip 12 and the split finger tip 10 are hinged together through a second stepped shaft, the second stepped shaft is provided with a second torsion spring, one end of the second torsion spring is arranged on the split finger tip, and the other end is arranged on the finger tip. When the finger tip 12 contacts the object at the tip, the finger tip 12 can be bent inward to avoid the clamping jaw directly impacting the object, thereby increasing the fault tolerance of the robot operation. The support rod 9 is hinged at one end of the third stepped shaft to the oblique bending swing arm 8 and at the other end to the split finger tip 10. The movement range of the split finger tip 10 can be limited to adaptively grasp the object.
[0032] The finger tip 12 is provided with a glue layer 13, the opposite sides of the glue layer 13 are provided with anti-skid lines, the inner sides of the split finger tip 10 and the finger web link 11 are provided with anti-skid rubber pads 14, and the surface of the glue layer 13 on the finger tip 12 protrudes from the surface of the anti-skid rubber pad 14. When the finger tip 12 is used to clamp small objects, the finger web is prevented from contacting the small objects first to make the finger tip 12 unstable in grasping the small objects.
[0033] The outer sides of the finger tip 12 and the split finger tip 10 are limited by bevels, so that the tip of the finger tip 12 can only rotate inward when contacting the object, and the finger tip 12 is prevented from deflecting outward when grasping the object, thereby affecting the grasping effect.
[0034] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for part or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application.
Claims
1. An adaptive, universal two-fingered pincer, characterized by, The utility model provides a kind of mechanical arm, including shell, the drive motor is equipped inside the shell, the output shaft of the drive motor is fixedly connected with trapezoidal screw rod, trapezoidal screw rod is threadedly connected with screw nut, and the screw nut is installed on trapezoidal screw rod and makes linear motion up and down along with the rotation of trapezoidal screw rod;A pair of jaw assemblies are symmetrically arranged on the axis of the trapezoidal screw rod, and the jaw assembly includes inner swing arm, main swing arm, auxiliary swing arm and oblique curved swing arm, one end of the inner swing arm is hinged with the screw nut, the other end is hinged with the tail end of the main swing arm, the middle part of the main swing arm is rotatably connected with the inner wall of the shell, the head end of the main swing arm is hinged with the bending of the oblique curved swing arm, the tail end of the auxiliary swing arm is rotatably connected with the shell, and the head end is hinged with the tail end of the oblique curved swing arm, the head end of the oblique curved swing arm is hinged with support rod, the support rod is hinged with split fingertip, the tail end of the split fingertip is hinged with finger tip link, the tail end of the finger tip link is respectively hinged with the tail end of the oblique curved swing arm and the head end of the auxiliary swing arm, and the top of the split fingertip is hinged with fingertip.
2. The self-adapting universal two-finger clamp jaw of claim 1, wherein, The finger tip link and the split fingertip are hinged together through a first stepped shaft, a first torsional spring is arranged on the first stepped shaft, one end of the first torsional spring is arranged on the finger tip link, and the other end is arranged on the split fingertip.
3. The self-adapting universal two-finger clamp jaw of claim 1, wherein, The fingertip and the split fingertip are hinged together through a second stepped shaft, a second torsional spring is arranged on the second stepped shaft, one end of the second torsional spring is arranged on the split fingertip, and the other end is arranged on the fingertip.
4. The self-adapting universal two-finger clamp jaw of claim 1, wherein, The support rod is hinged on the oblique curved swing arm through a third stepped shaft at one end and on the split fingertip at the other end.
5. The self-adapting universal two-finger clamp jaw of claim 1, wherein, A rubber layer is arranged on the surface of the fingertip.
6. The self-adapting universal two-finger clamp jaw of claim 5, wherein, Antiskid rubber pads are arranged on the inner sides of the split fingertip and the finger tip link.
7. The self-adapting universal two-finger clamp jaw of claim 6, wherein, The surface of the rubber layer on the fingertip protrudes from the surface of the antiskid rubber pad.
8. The self-adapting universal two-finger clamp jaw of claim 5, wherein, Antiskid lines are arranged on opposite sides of the rubber layer.
9. The self-adapting universal two-finger clamp jaw of claim 1, wherein, The outer sides of the fingertip and the split fingertip are limited by bevels.
10. The self-adapting universal two-finger clamp jaw of claim 1, wherein, A connecting flange for fixing with a mechanical arm is arranged at the bottom of the shell, the circumferential direction of the connecting flange is fixedly connected with the shell, and the drive motor is installed on the connecting flange.