Mechanical gripper driven by screw mechanism

Abstract

The utility model discloses a mechanical gripper driven by a screw mechanism and aims to solve the problems that an existing mechanical gripper driven by an air cylinder is complex in structure, difficult to deploy and insufficient in reliability. The mechanical gripper comprises a main shell, a lead screw, a nut table and a pair of clamping jaws, the lead screw is installed in a base at the bottom of the main shell, the nut table is arranged on the lead screw in a sleeving mode and moves up and down through threaded connection, the clamping jaws are connected with the nut table through connecting rods and rocker arms, and expansion and contraction of the clamping jaws are achieved. The stability is improved by adopting the self-locking lead screw, the control accuracy of the clamping jaw is enhanced through the ingenious design of the connecting rod and the rocker arm, and the clamping jaw is connected with the rocker arm through the pin, so that quick replacement is facilitated. The system has the advantages of being simple in structure, easy to deploy, stable, reliable, high in applicability and the like, and is particularly suitable for application scenes of small equipment and limited space.

Description

Technical Field

[0001] This utility model relates to the field of robotic arm grippers, and more particularly to a robotic gripper driven by a screw mechanism. Background Technology

[0002] In automated equipment and production lines, robotic grippers, as crucial actuators, are widely used in material handling, precision assembly, product inspection, and many other fields. Traditionally, these robotic grippers mostly use cylinders as their drive source, controlling the opening and closing of the gripper through pneumatic pressure. Cylinder-driven technology has been widely adopted in many applications due to its fast response speed and high output force.

[0003] As automated equipment evolves towards miniaturization and precision, existing cylinder-driven robotic grippers are revealing several shortcomings. Firstly, cylinder-driven grippers are relatively complex, comprising multiple components such as the cylinder body, air circuit control system, and corresponding valves and sensors. This not only increases manufacturing costs but also makes deployment on smaller devices difficult. Especially in space-constrained environments, such as micro-robots and portable automated equipment, cylinder-driven solutions are often too bulky to be practical. Secondly, cylinder-driven systems rely on a stable air supply and precise air pressure control. If the air circuit malfunctions, such as unstable air pressure or cylinder seal failure, the gripper's clamping force will be affected, potentially causing the gripper to accidentally fall during operation, severely impacting production safety and efficiency. Furthermore, cylinder maintenance is relatively cumbersome, requiring regular checks of airtightness and replacement of worn parts, increasing operational costs.

[0004] In summary, existing cylinder-driven robotic grippers have significant limitations in terms of miniaturization, structural simplification, and system reliability. Developing a simple, easy-to-deploy, and more reliable drive solution to meet the growing demand for automation is a technical problem that urgently needs to be solved by those skilled in the art.

[0005] Therefore, developing a robotic gripper driven by a helical mechanism to overcome the above-mentioned defects and improve the applicability and stability of the robotic gripper has become an urgent need for current technological development. Utility Model Content

[0006] To address the problems existing in the background technology, this utility model provides a mechanical gripper driven by a screw mechanism, improving the applicability and stability of existing mechanical grippers. The device includes a main housing, a lead screw, a nut platform, and a pair of grippers. A base is provided at the bottom of the main housing, and the lower end of the lead screw is located inside the base, allowing the lead screw to rotate freely inside the base. The nut platform is a plate-shaped part with a threaded through hole in the middle. The nut platform is sleeved on the upper part of the lead screw, and the rotation of the lead screw can cause the nut platform to move up and down. The grippers are respectively arranged on both sides of the nut platform, and the up and down movement of the nut platform causes the grippers to expand inward and outward.

[0007] Furthermore, the device also includes a connecting rod and a first rocker arm. One end of the connecting rod is rotatably connected to one side of the nut platform, and the other end of the connecting rod is provided with the first rocker arm. The other end of the first rocker arm is rotatably connected to the gripper. The nut platform drives the connecting rod and the first rocker arm to control the gripper.

[0008] Furthermore, the device also includes a second rocker arm, one side of which is disposed on the outside of the main housing and rotatably connected to the outside of the main housing, and the other side of which is rotatably connected to the gripper, thereby improving the control accuracy of the gripper.

[0009] Preferably, the lead screw is a self-locking lead screw.

[0010] Preferably, the first rocker arm is L-shaped.

[0011] Preferably, the gripper is connected to the first rocker arm and the second rocker arm by a pin, allowing for quick replacement of different grippers depending on the specific application.

[0012] The advantages and beneficial effects of this utility model are as follows: This utility model uses a helical mechanism composed of a lead screw and a nut as the drive core, replacing the traditional cylinder drive method. This design greatly simplifies the overall structure of the robotic gripper, reduces the number of components, and makes the robotic gripper more compact and lightweight, making it particularly suitable for small equipment and space-constrained applications. Compared with cylinder drives, the helical mechanism has a lower failure rate and a longer service life, reducing the frequency of daily maintenance and component replacement, thereby lowering overall operation and maintenance costs. The lead screw drive mechanism has a self-locking characteristic, which can maintain its current position without external force, effectively avoiding the problem of accidental drop of the gripper due to drive system failure, and significantly improving the stability and safety during operation. At the same time, the high motion precision of the helical mechanism can ensure the precise positioning and control of the gripper. Attached Figure Description

[0013] To more clearly illustrate the technical solutions in 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.

[0014] Figure 1 This is the front view of the present invention.

[0015] Figure 2 This is a side view of the present invention.

[0016] Among them, 1-main housing, 2-lead screw, 3-nut platform, 4-gripper, 5-base, 6-connecting rod, 7-first rocker arm, 8-second rocker arm. Detailed Implementation

[0017] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present utility model. In addition, it should be understood that the specific embodiments described herein are only for illustration and explanation of the present utility model and are not intended to limit the present utility model. In the present utility model, unless otherwise stated, directional terms such as "upper" and "lower" generally refer to the upper and lower positions of the device in actual use or operation, specifically the drawing directions in the accompanying drawings; while "inner" and "outer" refer to the outline of the device.

[0018] like Figure 1 , Figure 2 As shown, the mechanical gripper mainly includes a main housing 1, a lead screw 2, a nut platform 3, and a pair of grippers 4.

[0019] The core support structure of this robotic gripper is the main housing 1. The bottom of the main housing 1 is fixedly connected to the base 5. The base 5 has a bearing seat inside, which supports and allows the lower end of the lead screw 2 to rotate freely therein.

[0020] The lead screw 2 is vertically mounted inside the base 5, with its upper end passing through the main housing 1 and extending a certain length. The nut stand 3 is a plate-shaped part with a central threaded hole that matches the external thread of the lead screw 2. The nut stand 3 is threadedly fitted onto the upper part of the lead screw 2. When the lead screw 2 rotates, the nut stand 3 can move up and down along the axis of the lead screw 2.

[0021] A pair of grippers 4 are respectively mounted on both sides of the nut platform 3 and connected to the nut platform 3 via a connecting rod 6 and a first rocker arm 7. One end of the connecting rod 6 is connected to one side of the nut platform 3 via a rotating shaft, and the other end is connected to one end of the first rocker arm 7. The first rocker arm 7 is L-shaped, and its other end is rotatably connected to one side of the gripper 4 via a pin. In addition, one side of the second rocker arm 8 is connected to the outside of the main housing 1 via a rotating shaft, and the other side is also rotatably connected to the other side of the gripper 4 via a pin, forming a dual drive and control for the gripper 4, improving the stability and accuracy of the gripper's movement.

[0022] In this embodiment, in order to improve the stability and safety of the robotic gripper, a self-locking screw is selected for the lead screw 2. When the lead screw 2 stops rotating, it can automatically lock the current position to prevent the nut platform 3 and the gripper 4 from moving accidentally due to external forces.

[0023] The connection between the gripper 4 and the first rocker arm 7 and the second rocker arm 8 is a pin connection. This connection method facilitates the quick replacement of different grippers 4 according to specific usage requirements, thereby improving the flexibility and applicability of the robotic gripper.

[0024] Specific usage steps:

[0025] In operation, an external drive device (a motor in this embodiment) drives the lead screw 2 to rotate. The rotational motion of the lead screw 2 is converted into the vertical linear motion of the nut platform 3 via its threads. The vertical movement of the nut platform 3 is further converted into the expansion or contraction of the gripper 4 through the transmission of the connecting rod 6 and the first rocker arm 7. When the nut platform 3 moves upward, the connecting rod 6 pushes the first rocker arm 7, causing the gripper 4 to contract inward; conversely, when the nut platform 3 moves downward, the connecting rod 6 pulls the first rocker arm 7, causing the gripper 4 to expand outward, thus achieving the grasping or release of objects. The second rocker arm 8 enhances the stability and precision of the gripper 4's movement, enabling the robotic gripper to better adapt to the grasping needs of objects of different shapes and sizes.

[0026] By selecting a self-locking screw as the drive mechanism, the positional stability of the robotic gripper is ensured under no external force, thus improving the safety and reliability of the operation.

[0027] The foregoing has provided a detailed description of a mechanical gripper driven by a helical mechanism according to this utility model. Specific examples have been used to illustrate the principles and implementation methods of this invention. The descriptions of the embodiments above are merely for the purpose of helping to understand the method and core ideas of this utility model. It should be noted that those skilled in the art can make various improvements and modifications to this invention without departing from its principles, and these improvements and modifications also fall within the protection scope of the claims of this utility model.

Claims

1. A mechanical gripper driven by a screw mechanism, comprising a main housing (1), a lead screw (2), a nut platform (3), and a pair of grippers (4), characterized in that, The main housing (1) is provided with a base (5) at the bottom. The lower end of the lead screw (2) is located inside the base (5). The lead screw (2) can rotate freely inside the base (5). The nut platform (3) is a plate-shaped part with a threaded through hole in the middle. The nut platform (3) is sleeved on the upper part of the lead screw (2). The rotation of the lead screw (2) can move the nut platform (3) up and down. The grippers (4) are respectively located on both sides of the nut platform (3).

2. A mechanical gripper driven by a screw mechanism according to claim 1, characterized in that, The mechanical gripper also includes a connecting rod (6) and a first rocker arm (7). One end of the connecting rod (6) is rotatably connected to one side of the nut platform (3), and the other end of the connecting rod (6) is provided with the first rocker arm (7). The other end of the first rocker arm (7) is rotatably connected to the gripper (4). The nut platform (3) drives the connecting rod (6) and the first rocker arm (7) to control the gripper (4).

3. A mechanical gripper driven by a screw mechanism according to claim 2, characterized in that, The mechanical gripper also includes a second rocker arm (8), one side of which is disposed on the outside of the main housing (1) and rotatably connected to the outside of the main housing (1), and the other side of which is rotatably connected to the gripper (4).

4. A mechanical gripper driven by a screw mechanism according to claim 3, characterized in that, The lead screw (2) is a self-locking lead screw.

5. A mechanical gripper driven by a screw mechanism according to claim 4, characterized in that, The first rocker arm (7) is L-shaped.

6. A mechanical gripper driven by a screw mechanism according to claim 4, characterized in that, The gripper (4) is connected to the first rocker arm (7) and the second rocker arm (8) by a pin.

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