Precise mechanical gripper mechanism

Abstract

A precise mechanical gripper mechanism comprises a clamping jaw bottom plate, a clamping jaw assembly, a roller support assembly and an extension spring, the clamping jaw assembly is connected with the clamping jaw bottom plate, the roller support assembly is connected with the lower end of the clamping jaw bottom plate, and the extension spring is connected with the clamping jaw assembly. The clamping jaw assembly comprises a left clamping belt seat, a right clamping belt seat, a right rotating arm, a left rotating arm, a left ejector rod, a right ejector rod, a left compression spring and a right compression spring. The roller support assembly comprises a right knuckle bearing installation seat, a left knuckle bearing installation seat, an installation frame, a swing block, a roller frame, a cam bearing and a roller. Compared with the prior art, a double-arm linkage clamping system is adopted, the rotating arm is matched with the belt clamping seat, and meanwhile the compression spring is carried, so that accurate force control is achieved, and stable and flexible grabbing is guaranteed; the roller support assembly is optimized, the roller and the cam bearing are combined, the attaching degree of the clamping jaw and the surface of an object during working is improved, and the grabbing quality is improved.

Description

Technical Field

[0001] This utility model relates to the field of packaging equipment technology, specifically to a precision mechanical claw mechanism. Background Technology

[0002] In today's highly automated production lines, the limitations of traditional gripper technology are becoming increasingly apparent. Firstly, this manifests in the gripping of non-standard shaped items. The traditional rigid design lacks the necessary flexibility, often leading to instability when holding such objects, which undoubtedly affects the smoothness and safety of the operation. Secondly, the force control is coarse, failing to meet the requirements of fine adjustment. Whether it's excessive force damaging delicate goods or slight insufficient support causing items to slip, both significantly reduce production efficiency. In particular, when dealing with curved or textured surfaces, the rigid structure of traditional grippers cannot guarantee good adhesion, further slowing down the operation. Therefore, when precise opening and closing of mechanical grippers is required to pick up small bags, traditional grippers cannot achieve accurate positioning and gripping, and they also cannot adjust or control the specific gripping force required.

[0003] Therefore, in order to solve the above problems, we have made a series of improvements. Utility Model Content

[0004] The purpose of this invention is to provide a precision mechanical gripper mechanism to overcome the aforementioned shortcomings and deficiencies of the existing technology.

[0005] A precision mechanical gripper mechanism includes: a gripper base plate, a gripper assembly, a roller support assembly, and a tension spring. The gripper assembly is connected to the gripper base plate, the roller support assembly is connected to the lower end of the gripper base plate, and the tension spring is connected to the gripper assembly.

[0006] The gripper assembly includes: a left gripper seat, a right gripper seat, a right rotating arm, a left rotating arm, a left push rod, a right push rod, a left compression spring, and a right compression spring. The left gripper seat is connected to the left rotating arm, one end of the left compression spring is fixed to the left rotating arm, and the left compression spring is sleeved on the left push rod. The right gripper seat is connected to the right rotating arm, one end of the right compression spring is fixed to the right rotating arm, and the right compression spring is sleeved on the right push rod.

[0007] Furthermore, the left clamping seat includes: a left clamping shell, a left clamping plate, a left upper shaft pin, a left screw, a left connecting rod, and a left lower shaft pin. The left clamping shell is connected to the left clamping plate via the left upper shaft pin. The left screw is connected to the outside of the left clamping plate. The left connecting rod is connected to the left clamping plate via the left lower shaft pin. The right clamping seat includes: a right clamping shell, a right clamping plate, a right upper shaft pin, a right screw, a right connecting rod, and a right lower shaft pin. The right clamping shell is connected to the right clamping plate via the right upper shaft pin. The right screw is connected to the outside of the right clamping plate. The right connecting rod is connected to the right clamping plate via the right lower shaft pin.

[0008] Furthermore, the right rotating arm includes: a right plate housing, a right opening clamping roller, a right rotating shaft, and a right tension spring screw. The right opening clamping roller is located at the top of the right plate housing. The right plate housing is connected to the gripper base plate via the right rotating shaft. The right plate housing is connected to a tension spring via the right tension spring screw. The left rotating arm includes: a left plate housing, a left opening clamping roller, a left rotating shaft, and a left tension spring screw. The left opening clamping roller is located at the top of the left plate housing. The left plate housing is connected to the gripper base plate via the left rotating shaft. The left plate housing is connected to a left tension spring screw.

[0009] Furthermore, the left push rod includes: a left opening clamp push-pull rod and a left opening positioning sleeve, the left opening positioning sleeve being engaged with the left opening clamp push-pull rod, and the left opening clamp push-pull rod being connected to the bottom of the left opening clamp pressure wheel; the right push rod includes: a right opening clamp push-pull rod and a right opening positioning sleeve, the right opening positioning sleeve being engaged with the right opening clamp push-pull rod, and the right opening clamp push-pull rod being connected to the bottom of the right opening clamp pressure wheel.

[0010] Furthermore, the left compression spring includes a left positioning sleeve connected to the left push rod, and the right compression spring includes a right positioning sleeve connected to the right push rod.

[0011] Furthermore, the roller support assembly includes: a right joint bearing mounting seat, a left joint bearing mounting seat, a mounting frame, a swing block, a roller frame, a cam bearing, and a roller. The top of the roller frame is connected to the bottom of the right rotating arm via the right joint bearing mounting seat, and the bottom of the roller frame is connected to the roller. The left joint bearing mounting seat is connected to the top of the swing block via the mounting frame, and the bottom of the swing block is connected to the middle of the roller frame via the cam bearing. The mounting frame includes: a left clamping nut, a right clamping nut, a left shaft, and a right shaft. The left clamping nut and the left shaft are connected to the top of the swing block, and the right clamping nut and the right shaft are connected to the top of the roller frame.

[0012] The beneficial effects of this utility model are:

[0013] Compared with traditional technologies, this utility model adopts a dual-arm linkage clamping system, which uses the rotating arm and the clamping seat to cooperate and is also equipped with a compression spring to achieve precise force control and ensure stable and flexible gripping. The roller bracket assembly is optimized by combining the roller with the cam bearing to improve the contact between the gripper and the object surface during operation and improve the gripping quality. Attached image description:

[0014] Figure 1 This is a schematic diagram of the overall structure of this utility model.

[0015] Figure 2 This is a front view of the roller support assembly of this utility model.

[0016] Figure 3 This is a top view of the roller support assembly of this utility model.

[0017] Figure 4 This is an isometric view of the roller support assembly of this utility model.

[0018] Figure 5 This is a structural diagram of the gripper assembly of this utility model.

[0019] Figure 6 This is a diagram showing the internal structure of the gripper assembly of this utility model.

[0020] Figure label:

[0021] Gripper base plate 100, gripper assembly 200, roller bracket assembly 300, tension spring 400.

[0022] Left clamp seat 210, right clamp seat 220, right rotating arm 230, left rotating arm 240, left push rod 250, right push rod 260, left compression spring 270, right compression spring 280.

[0023] Left clamping shell 211, left clamping plate 212, upper left axle pin 213, left screw 214, left connecting rod 215, lower left axle pin 216.

[0024] Right clamp 221, right clamping plate 222, upper right axle pin 223, right screw 224, right connecting rod 225, lower right axle pin 226.

[0025] Right plate 231, right opening clamping pressure roller 232, right rotating shaft 233, right tension spring screw 234.

[0026] Left plate 241, left opening clamping pressure roller 242, left rotating shaft 243, left tension spring screw 244.

[0027] Left-opening push-pull rod 251, left-opening positioning sleeve 252.

[0028] Right-opening push-pull rod 261, right-opening positioning sleeve 262.

[0029] Left positioning sleeve 271, right positioning sleeve 281.

[0030] Right joint bearing mounting base 310, left joint bearing mounting base 320, mounting bracket 330, swing block 340, roller bracket 350, cam bearing 360, roller 370.

[0031] Left clamping nut 331, right clamping nut 332, left shaft 333, right shaft 334. Detailed Implementation

[0032] The present invention will be further described below with reference to specific embodiments. It should be understood that the following embodiments are for illustrative purposes only and are not intended to limit the scope of the present invention.

[0033] Example 1

[0034] Figure 1 This is a schematic diagram of the overall structure of this utility model. Figure 2 This is a front view of the roller support assembly of this utility model. Figure 3 This is a top view of the roller support assembly of this utility model. Figure 4 This is an isometric view of the roller support assembly of this utility model. Figure 5 This is a structural diagram of the gripper assembly of this utility model. Figure 6 This is a diagram showing the internal structure of the gripper assembly of this utility model.

[0035] like Figure 1-6 As shown, a precision mechanical gripper mechanism includes: a gripper base plate 100, a gripper assembly 200, a roller support assembly 300, and a tension spring 400. The gripper assembly 200 is connected to the gripper base plate 100, the roller support assembly 300 is connected to the lower end of the gripper base plate 100, and the tension spring 400 is connected to the gripper assembly 200.

[0036] The gripper assembly 200 includes: a left gripper seat 210, a right gripper seat 220, a right rotating arm 230, a left rotating arm 240, a left push rod 250, a right push rod 260, a left compression spring 270, and a right compression spring 280. The left gripper seat 210 is connected to the left rotating arm 240. One end of the left compression spring 270 is fixed to the left rotating arm 240 and is sleeved on the left push rod 250. The right gripper seat 220 is connected to the right rotating arm 230. One end of the right compression spring 280 is fixed to the right rotating arm 230 and is sleeved on the right push rod 260.

[0037] The left clamping seat 210 includes: a left clamping shell 211, a left clamping plate 212, a left upper axle pin 213, a left screw 214, a left connecting rod 215, and a left lower axle pin 216. The left clamping shell 211 is connected to the left clamping plate 212 via the left upper axle pin 213. The left screw 214 is connected to the outside of the left clamping plate 212. The left connecting rod 215 is connected to the left clamping plate 212 via the left lower axle pin 216. The right clamping seat 220 includes: a right clamping shell 221, a right clamping plate 222, a right upper axle pin 223, a right screw 224, a right connecting rod 225, and a right lower axle pin 226. The right clamping shell 221 is connected to the right clamping plate 222 via the right upper axle pin 223. The right screw 224 is connected to the outside of the right clamping plate 222. The right connecting rod 225 is connected to the right clamping plate 222 via the right lower axle pin 226.

[0038] The right rotating arm 230 includes: a right shell 231, a right opening clamping roller 232, a right rotating shaft 233, and a right tension spring screw 234. The right opening clamping roller 232 is located on top of the right shell 231. The right shell 231 is connected to the gripper base plate 100 through the right rotating shaft 233. The right shell 231 is connected to the tension spring 400 through the right tension spring screw 234. The left rotating arm 240 includes: a left shell 241, a left opening clamping roller 242, a left rotating shaft 243, and a left tension spring screw 244. The left opening clamping roller 242 is located on top of the left shell 241. The left shell 241 is connected to the gripper base plate 100 through the left rotating shaft 243. The left shell 241 is connected to the left tension spring screw 244.

[0039] The left push rod 250 includes: a left opening clamp push-pull rod 251 and a left opening positioning sleeve 252. The left opening positioning sleeve 252 is engaged with the left opening clamp push-pull rod 251, and the left opening clamp push-pull rod 251 is connected to the bottom of the left opening clamp pressure roller 242. The right push rod 260 includes: a right opening clamp push-pull rod 261 and a right opening positioning sleeve 262. The right opening positioning sleeve 262 is engaged with the right opening clamp push-pull rod 261, and the right opening clamp push-pull rod 261 is connected to the bottom of the right opening clamp pressure roller 232.

[0040] The left compression spring 270 includes a left positioning sleeve 271, which is connected to the left push rod 250. The right compression spring 280 includes a right positioning sleeve 281, which is connected to the right push rod 260.

[0041] The roller bracket assembly 300 includes: a right joint bearing mounting seat 310, a left joint bearing mounting seat 320, a mounting bracket 330, a swing block 340, a roller frame 350, a cam bearing 360, and a roller 370. The top of the roller frame 350 is connected to the bottom of the right rotating arm 230 through the right joint bearing mounting seat 310, and the bottom of the roller frame 350 is connected to the roller 370. The left joint bearing mounting seat 320 is connected to the top of the swing block 340 through the mounting bracket 330, and the bottom of the swing block 340 is connected to the middle of the roller frame 350 through the cam bearing 360. The mounting bracket 330 includes: a left clamping nut 331, a right clamping nut 332, a left shaft 333, and a right shaft 334. The left clamping nut 331 and the left shaft 333 are connected to the top of the swing block 340, and the right clamping nut 332 and the right shaft 334 are connected to the top of the roller frame 350.

[0042] The principle of this utility model is that when the device is started, the drive system pushes the left rotating arm 240 and the right rotating arm 230 to rotate. The left opening clamping pressure wheel 242 and the right opening clamping pressure wheel 232 apply force through the left opening clamping push-pull rod 251 and the right opening clamping push-pull rod 261, so that the left rotating arm 240 and the right rotating arm 230 drive the left clamping seat 210 and the right clamping seat 220 to close, gradually approaching the object and preparing to clamp.

[0043] Once the left clamping seat 210 and the right clamping seat 220 contact the object, the force is transmitted to the object through the elastic element, completing the initial contact and gradually tightening. The left opening clamping pressure roller 242 and the right opening clamping pressure roller 232 provide additional gripping force to ensure the stable fixation of the object. At the same time, the left compression spring 270 and the right compression spring 280 provide buffering and adjustment to ensure the uniformity of the clamping force. The connection between the tension spring 400 and the left rotating arm 240 and the right rotating arm 230 provides feedback to ensure that the grippers stop closing when the required clamping force is reached.

[0044] At this time, the roller 370 in the roller bracket assembly 300 contacts the object surface and rolls according to the shape of the object. Through the adjustment of the left joint bearing mounting seat 320 and the right joint bearing mounting seat 310, and the support of the mounting frame 330, smooth contact between the roller 370 and the object is ensured, making the entire gripping action more stable. After the gripper reaches the target position with the object in its grip, the drive system reverses its operation, pushing the left rotating arm 240 and the right rotating arm 230 to rotate, causing the gripper to open. The left opening clamping pressure roller 242 and the right opening clamping pressure roller 232, through the action of the left opening clamping push-pull rod 251 and the right opening clamping push-pull rod 261, ensure that the gripper opens smoothly and the object is put down.

[0045] In summary, this utility model adopts a dual-arm linkage clamping system, which uses the rotating arm and the clamping seat to cooperate, and is also equipped with a compression spring to achieve precise force control and ensure stable and flexible gripping; the roller bracket assembly is optimized by combining the roller with the cam bearing to improve the contact between the gripper and the object surface during operation and improve the gripping quality.

[0046] The specific embodiments of this utility model have been described above, but this utility model is not limited thereto. Various changes can be made to this utility model as long as they do not depart from its spirit.

Claims

1. A precision mechanical gripper mechanism, characterized in that, include: The gripper base plate (100), gripper assembly (200), roller bracket assembly (300), and tension spring (400) are provided. The gripper assembly (200) is connected to the gripper base plate (100), the roller bracket assembly (300) is connected to the lower end of the gripper base plate (100), and the tension spring (400) is connected to the gripper assembly (200). The gripper assembly (200) includes: a left gripper seat (210), a right gripper seat (220), a right rotating arm (230), a left rotating arm (240), a left push rod (250), a right push rod (260), a left compression spring (270), and a right compression spring (280). The left gripper seat (210) is connected to the left rotating arm (240). One end of the left compression spring (270) is fixed to the left rotating arm (240) and is sleeved on the left push rod (250). The right gripper seat (220) is connected to the right rotating arm (230). One end of the right compression spring (280) is fixed to the right rotating arm (230) and is sleeved on the right push rod (260).

2. The precision mechanical gripper mechanism according to claim 1, characterized in that, The left clamping seat (210) includes: a left clamping shell (211), a left clamping plate (212), a left upper shaft pin (213), a left screw (214), a left connecting rod (215), and a left lower shaft pin (216). The left clamping shell (211) is connected to the left clamping plate (212) via the left upper shaft pin (213). The left screw (214) is connected to the outside of the left clamping plate (212). The left connecting rod (215) is connected to the left clamping plate (212) via the left lower shaft pin (216). The right clamping seat (220) includes: a right clamping shell (221), a right clamping plate (222), a right upper shaft pin (223), a right screw (224), a right connecting rod (225), and a right lower shaft pin (226). The right clamping shell (221) is connected to the right clamping plate (222) through the right upper shaft pin (223). The right screw (224) is connected to the outside of the right clamping plate (222). The right connecting rod (225) is connected to the right clamping plate (222) through the right lower shaft pin (226).

3. The precision mechanical gripper mechanism according to claim 1, characterized in that, The right rotating arm (230) includes: a right plate housing (231), a right opening clamping roller (232), a right rotating shaft (233), and a right tension spring screw (234). The right opening clamping roller (232) is located on top of the right plate housing (231). The right plate housing (231) is connected to the gripper base plate (100) via the right rotating shaft (233). The right plate housing (231) is connected to the tension spring (4) via the right tension spring screw (234). The left rotating arm (240) is connected to the left plate shell (241), the left opening clamping pressure wheel (242), the left rotating shaft (243), and the left tension spring screw (244). The left opening clamping pressure wheel (242) is located on the top of the left plate shell (241). The left plate shell (241) is connected to the gripper base plate (100) through the left rotating shaft (243). The left plate shell (241) is connected to the left tension spring screw (244).

4. The precision mechanical gripper mechanism according to claim 3, characterized in that, The left push rod (250) includes: a left opening clamp push-pull rod (251) and a left opening positioning sleeve (252). The left opening positioning sleeve (252) is engaged with the left opening clamp push-pull rod (251). The left opening clamp push-pull rod (251) is connected to the bottom of the left opening clamp pressure wheel (242). The right push rod (260) includes: a right opening clamp push-pull rod (261) and a right opening positioning sleeve (262). The right opening positioning sleeve (262) is engaged with the right opening clamp push-pull rod (261). The right opening clamp push-pull rod (261) is connected to the bottom of the right opening clamp pressure wheel (232).

5. A precision mechanical gripper mechanism according to claim 1, characterized in that, The left compression spring (270) includes a left positioning sleeve (271) connected to the left push rod (250), and the right compression spring (280) includes a right positioning sleeve (281) connected to the right push rod (260).

6. A precision mechanical gripper mechanism according to claim 1, characterized in that, The roller support assembly (300) includes: a right joint bearing mounting base (310), a left joint bearing mounting base (320), a mounting bracket (330), a swing block (340), a roller frame (350), a cam bearing (360), and a roller (370). The top of the roller frame (350) is connected to the bottom of the right rotating arm (230) via the right joint bearing mounting base (310), and the bottom of the roller frame (350) is connected to the roller (370). The left joint bearing mounting base (320) is connected to the roller (370) via the mounting bracket (310). The mounting bracket (330) is connected to the top of the swing block (340), and the bottom of the swing block (340) is connected to the middle of the roller frame (350) via a cam bearing (360). The mounting bracket (330) includes: a left clamping nut (331), a right clamping nut (332), a left shaft (333), and a right shaft (334). The left clamping nut (331) and the left shaft (333) are connected to the top of the swing block (340), and the right clamping nut (332) and the right shaft (334) are connected to the top of the roller frame (350).

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