Mechanical automation mechanical claw

Abstract

The utility model discloses a mechanical automation mechanical gripper, which belongs to the field of mechanical automation and comprises a casing, a connecting block capable of moving in the casing is arranged on the casing through a driving cylinder, and a driving rod is hinged to the inside of the casing through a shaft rod. A clamping mechanism capable of monitoring the pressure of the clamping face is hinged to the bottom of the driving rod, the clamping mechanism comprises a clamping jaw connected to the bottom of the driving rod, a gasket is arranged on the clamping face of the clamping jaw, and a pressure monitoring assembly matched with the gasket to monitor the pressure is arranged on the clamping jaw through a through opening; the pressure monitoring assembly comprises a pressure bearing plate matched with the through opening, and a pressure sensor is detachably installed on the pressure bearing plate through an installation piece. According to the mechanical automation mechanical claw, the clamping mechanism can adjust the angle through the adjusting assembly when monitoring the pressure of the clamping face, and therefore the grabbing force can be accurately controlled while the grabbing adaptability can be improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to mechanical automation technical field especially relates to a mechanical automation mechanical claw. BACKGROUND

[0002] In modern industrial production and various automatic operation scenes, the mechanical claw as a key executive component plays an important role. The mechanical claw can simulate human hand action, and through high-precision driving and intelligent control, accurately grasp, carry and assemble objects, and plays an important role in industrial production, logistics, medical treatment, scientific research and other fields.

[0003] At present, the traditional mechanical claw lacks real-time monitoring and precise adjustment capability, and when grasping fragile objects, it often causes damage to the objects due to the inability to sense and adjust the clamping force. When grasping heavy or rough-surface objects, the grasping force is insufficient, resulting in grasping failure. Moreover, when the working environment changes, such as temperature and humidity changes affecting the surface friction of the object, these mechanical claws are difficult to make corresponding adjustments, which seriously restricts their application in complex working conditions. UTILITY MODEL CONTENT

[0004] The utility model aims at: in order to solve the problem that the existing mechanical claw lacks real-time monitoring and precise adjustment capability, and it is difficult to make corresponding adjustment when grasping different objects, which seriously restricts its application in complex working conditions, and puts forward a kind of mechanical automation mechanical claw.

[0005] In order to achieve the above purpose, the utility model adopts the following technology: a kind of mechanical automation mechanical claw, including shell, the shell is moved in its interior by drive cylinder and is provided with connecting block, the inside of the shell is hinged with drive rod by shaft, the top of the drive rod is connected with connecting block by chain link, the bottom of the drive rod is hinged with the clamping mechanism that can monitor the pressure of clamping surface;

[0006] The clamping mechanism can be angle-adjusted by adjusting assembly when monitoring the pressure of clamping surface, so as to improve the adaptability of grasping and accurately control the grasping force.

[0007] As a further description of the above technical scheme: the clamping mechanism includes clamping jaw connected to the bottom of the drive rod, the clamping surface of the clamping jaw is provided with a gasket, and the clamping jaw is provided with a pressure monitoring assembly cooperating with the gasket for pressure monitoring through a through hole.

[0008] As a further description of the above technical scheme: the pressure monitoring assembly includes a pressure plate matched with the through hole, and a pressure sensor is detachably mounted on the pressure plate through a mounting sheet.

[0009] As a further description of the above technical solution: the clamping mechanism further comprises a guide assembly;

[0010] The guide assembly comprises a mounting frame connected with the bottom of the clamping jaw, and a guide roller is arranged on the mounting frame through a connecting shaft.

[0011] As a further description of the above technical solution: the clamping surface of the gasket is recessed to form a clamping groove, and the clamping surface of the gasket is protruded to form a protruding block at positions on both sides of the clamping groove.

[0012] As a further description of the above technical solution: the adjusting assembly comprises an adjusting cylinder, a cylinder barrel of the adjusting cylinder is hinged with the driving rod through a second hinge base, and an output end of the adjusting cylinder is hinged with a fixing frame on the clamping jaw through a first hinge base.

[0013] As a further description of the above technical solution: the connecting block is detachably connected with the threaded end head and the mounting nut on the driving cylinder.

[0014] As described above, due to the adoption of the above technical solution, the beneficial effects of the present application are:

[0015] The pressure monitoring assembly arranged on the clamping jaw can monitor the clamping surface pressure in real time, and provide a basis for accurate control. When fragile objects are grabbed, the pressure feedback allows the mechanical claw to automatically reduce the clamping force to avoid damage. When heavy objects are carried, the force is moderately increased to ensure stable grabbing. Combined with the angle adjusting function, accurate force can be applied at different angles, and the grabbing process is safe and efficient in all directions, which ensures the integrity of the objects and improves the work efficiency. BRIEF DESCRIPTION OF DRAWINGS

[0016] Figure 1 An overall structure schematic diagram is shown according to an embodiment of the present application. Figure 1 ;

[0017] Figure 2 An overall structure schematic diagram is shown according to an embodiment of the present application. Figure 2 ;

[0018] Figure 3 A structure schematic diagram of the clamping mechanism is shown according to an embodiment of the present application.

[0019] Figure 4 A local structure schematic diagram is shown according to an embodiment of the present application.

[0020] Figure 5 A structure schematic diagram of the pressure monitoring assembly is shown according to an embodiment of the present application.

[0021] Figure 6 A structure schematic diagram of the guide assembly is shown according to an embodiment of the present application.

[0022] Figure 7 A structure schematic view of the gasket is shown according to the embodiment of the utility model;

[0023] Figure 8 A structure schematic view of the adjusting assembly is shown according to the embodiment of the utility model.

[0024] Legend:

[0025] 1, casing; 2, drive cylinder; 3, connecting block; 4, shaft; 5, drive rod; 6, chain link; 7, clamping mechanism; 71, clamping jaw; 72, gasket; 721, clamping groove; 722, protruding block; 73, through opening; 74, pressure monitoring assembly; 741, pressure receiving plate; 742, pressure sensor; 743, mounting sheet; 75, guide assembly; 751, mounting frame; 752, connecting shaft; 753, guide roller; 8, adjusting assembly; 81, fixed frame; 82, first hinge seat; 83, adjusting cylinder; 84, second hinge seat. DETAILED DESCRIPTION

[0026] The technical solutions in the embodiments of the utility model will be clearly and completely described below with reference to the drawings in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, rather than all the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the utility model.

[0027] With reference to Figures 1-8 The mechanical automatic mechanical claw provided by the embodiment comprises a casing 1, a connecting block 3 capable of moving in the casing 1 is arranged on the casing 1 through a drive cylinder 2, the connecting block 3 is detachably connected to the drive cylinder 2 through cooperation of a threaded end head on the drive cylinder 2 and a mounting nut, a drive rod 5 is hingedly connected in the casing 1 through a shaft 4, the top of the drive rod 5 is connected to the connecting block 3 through a chain link 6, the bottom of the drive rod 5 is hingedly connected to a clamping mechanism 7 capable of monitoring pressure on a clamping surface, the clamping mechanism 7 comprises a clamping jaw 71 connected to the bottom of the drive rod 5, a gasket 72 is arranged on the clamping surface of the clamping jaw 71, and a pressure monitoring assembly 74 cooperating with the gasket 72 to monitor pressure is arranged on the clamping jaw 71 through a through opening 73, the pressure monitoring assembly 74 comprises a pressure receiving plate 741 matched with the through opening 73, and a pressure sensor 742 is detachably mounted on the pressure receiving plate 741 through a mounting sheet 743.

[0028] In this invention, when using a mechanical gripper to grasp, transport, and assemble objects, the housing 1 of the mechanical gripper is first installed on the robotic arm using fasteners. The drive cylinder 2 on the housing 1 is activated and extended. The piston rod of the drive cylinder 2 drives the connecting block 3 to move toward the gripper 71. At this time, with the cooperation of the chain link 6 and the shaft 4, the drive rod 5 is opened, thereby opening the two grippers 71. Then, the robotic arm drives the mechanical gripper to move to the side of the object to be grasped. When the object is between the two grippers 71, the piston rod of the drive cylinder 2 retracts, causing the connecting block 3 to move toward the position of the drive cylinder 2. With the cooperation of the chain link 6 and the shaft 4, the drive rod 5 is closed, thereby clamping the object with the two grippers 71.

[0029] A pad 72, made of rubber, is provided on the gripping surface of the gripper 71. This pad increases friction, making the grip more stable, and also acts as a buffer, protecting the surface of the gripped object from damage. Additionally, if... Figure 7 As shown, the clamping surface of the pad 72 is recessed to form a clamping groove 721, and the clamping surface of the pad 72 protrudes to form protrusions 722 on both sides of the clamping groove 721. The clamping groove 721 can fit the contour of the object, accurately position it, and reduce slippage. The protrusions 722 on both sides can increase friction and firmly grip it. Even if the object has an irregular shape, it can be adapted. The two work together to evenly distribute the pressure and prevent the object from being damaged due to excessive local force, thus comprehensively improving the stability and applicability of gripping.

[0030] like Figure 2 and Figure 3 As shown, when the gripper 71 grasps an object, the object exerts pressure on the pad 72, causing the pad 72 to deform. The pressure generated by the deformation of the pad 72 acts on the pressure sensor 742 of the pressure plate 741. At this time, the pressure sensor 742 converts the pressure on the pad 72 into measurable signals such as electrical signals, thereby accurately monitoring the actual clamping pressure of the gripper 71 on the object. The pressure sensor 742 is selected as the HBM C16i sensor. This model of pressure sensor 742 has a compact structure, is easy to install, has high sensitivity, and can accurately measure minute pressure changes.

[0031] It needs to be explained that the clamping mechanism 7 can be angle-adjusted by the adjusting assembly 8 when monitoring the clamping surface pressure, the adjusting assembly 8 comprises an adjusting cylinder 83, the cylinder barrel of the adjusting cylinder 83 is hinged with the driving rod 5 through a second hinge base 84, and the output end of the adjusting cylinder 83 is hinged with a fixed frame 81 on the clamping jaw 71 through a first hinge base 82, when the adjusting cylinder 83 is started, the extension and retraction of the piston rod thereof can make the clamping jaw 71 rotate at the bottom of the driving rod 5 through the cooperation of the first hinge base 82 and the second hinge base 84, so as to realize the angle change adjustment between the clamping jaw 71 and the driving rod 5, and the pressure monitoring assembly 74 equipped on the clamping jaw 71 can monitor the clamping surface pressure in real time, so as to provide a basis for accurate control, when fragile objects are grabbed, the pressure feedback can make the mechanical claw automatically reduce the clamping force to avoid damage, when heavy objects are carried, the force is moderately increased to ensure the stability of grabbing, combined with the angle adjustment function, accurate force can be applied at different angles, and the safety and efficiency of the grabbing process are comprehensively guaranteed, the work efficiency is improved while the objects are intact, so that the grabbing adaptability can be improved while the grabbing force is accurately controlled.

[0032] Specifically, as shown in Figure 2 and Figure 4 The clamping mechanism 7 further comprises a guide assembly 75, the guide assembly 75 comprises a mounting frame 751 connected with the bottom of the clamping jaw 71, and a guide roller 753 is arranged on the mounting frame 751 through a connecting shaft 752.

[0033] When the mechanical claw approaches the object to be grabbed, the guide roller 753 first contacts the surface of the object, since the guide roller 753 can flexibly rotate on the mounting frame 751 through the connecting shaft 752, it will roll along the surface of the object to guide the clamping jaw 71 to accurately move to the appropriate grabbing position, in the process of closing the clamping jaw 71 to grab the object, the guide roller 753 continuously contacts the surface of the object, further ensuring that the clamping jaw 71 moves along the correct direction and path, and ensuring the smooth performance of the grabbing action, when contacting the object, the rolling property of the guide roller 753 can avoid the hard collision and friction between the clamping jaw 71 and the object, reduce the damage risk to the surface of the object, and also reduce the wear of the clamping jaw 71 itself, prolonging the service life thereof.

[0034] The above is only a preferred specific implementation manner of the present application, but the protection scope of the present application is not limited thereto, any skilled person in the art can make equivalent replacement or change according to the technical scheme and the inventive concept of the present application within the technical range disclosed by the present application, which should be covered within the protection scope of the present application.

Claims

1. A mechanically automated mechanical gripper, characterized by, Including the casing (1), the casing (1) is provided with a connecting block (3) capable of moving inside it through the driving cylinder (2), the inside of the casing (1) is hinged with a driving rod (5) through a shaft (4), the top of the driving rod (5) is connected with the connecting block (3) through a chain link (6), the bottom of the driving rod (5) is hinged with a clamping mechanism (7) capable of monitoring the pressure of the clamping surface; The clamping mechanism (7) can be angle adjusted through the adjusting assembly (8) when monitoring the clamping surface pressure, so as to improve the grabbing adaptability and accurately control the grabbing strength.

2. A mechanical automated mechanical gripper according to claim 1, characterized in that, The clamping mechanism (7) includes a clamping jaw (71) connected to the bottom of the driving rod (5), the clamping surface of the clamping jaw (71) is provided with a gasket (72), and the clamping jaw (71) is provided with a pressure monitoring assembly (74) cooperating with the gasket (72) for pressure monitoring through a through hole (73).

3. A mechanically automated mechanical gripper according to claim 2, characterized in that, The pressure monitoring assembly (74) includes a pressure receiving plate (741) matched with the through hole (73), and a pressure sensor (742) is detachably mounted on the pressure receiving plate (741) through a mounting piece (743).

4. The mechanical automated mechanical gripper of claim 2, wherein, The clamping mechanism (7) further comprises a guide assembly (75); The guide assembly (75) includes a mounting frame (751) connected to the bottom of the clamping jaw (71), and a guide roller (753) is arranged on the mounting frame (751) through a connecting shaft (752).

5. A mechanical automated mechanical gripper according to claim 2 or 3 or 4, characterized in that, The clamping surface of the gasket (72) is recessed to form a clamping groove (721), and the clamping surface of the gasket (72) is protruded to form a protruding block (722) on both sides of the clamping groove (721).

6. The mechanical automated mechanical gripper of claim 2, wherein, The adjusting assembly (8) includes an adjusting cylinder (83), the cylinder of the adjusting cylinder (83) is hinged with the driving rod (5) through a second hinge base (84), and the output end of the adjusting cylinder (83) is hinged with a fixing frame (81) on the clamping jaw (71) through a first hinge base (82).

7. The mechanical automated mechanical gripper of claim 1, wherein, The connecting block (3) is detachably connected with the driving cylinder (2) through the cooperation of the threaded end and the mounting nut.

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