Clamping jaw mechanism and mechanical arm

Abstract

The utility model relates to the technical field of intelligent manufacturing, and discloses a clamping jaw mechanism and a mechanical arm. The clamping jaw mechanism comprises a fixing base, a driving assembly and two clamping jaws, two sliding grooves are formed in the fixing base in the first direction at intervals, and the sliding grooves extend in the second direction; the driving assembly comprises a driving part, a rotating seat, a plurality of meshing parts and two racks, the driving part is used for driving the rotating seat to rotate, the meshing parts are evenly arranged on the side, away from the driving part, of the rotating seat at intervals in the circumferential direction, the two racks are slidably connected to the sliding groove, and the sides, close to each other, of the racks are provided with a plurality of driving grooves at intervals in the second direction; the meshing pieces on the two sides in the first direction are meshed with the driving grooves of the two racks correspondingly. The two clamping jaws are connected to the rack so that the two clamping jaws can be driven to be close to or away from each other in the second direction when the rotating base rotates. The size of the clamping jaw mechanism along the radial direction of the rotating seat is reduced, so that the structure is more compact.

Description

Technical Field

[0001] This utility model relates to the field of intelligent manufacturing technology, and in particular to a gripper mechanism and a robotic arm. Background Technology

[0002] In the field of industrial automation, robots and robotic arms are increasingly widely used. Among them, the end effector, installed at the end of the robot / robotic arm, controls the opening and closing of the gripper by rotating a motor to drive a gear rack, thus achieving the gripping of objects. However, this end effector also has some significant drawbacks.

[0003] First, although the gear and rack transmission mechanism has a relatively simple structure, the radial dimension of the gear is relatively large, which means that the gear and rack transmission mechanism requires a large space in the radial direction of the gear, thus increasing the size of the end effector unit.

[0004] Therefore, there is an urgent need for a gripper mechanism and a robotic arm to solve the aforementioned problems. Utility Model Content

[0005] Based on the above, the purpose of this utility model is to provide a gripper mechanism and a robotic arm, in which the meshing component, rotating seat and driving component are stacked along the axial direction of the rotating seat, reducing the radial dimension of the gripper mechanism along the rotating seat and making the structure more compact.

[0006] To achieve the above objectives, the present invention adopts the following technical solution:

[0007] On the one hand, a gripper mechanism is provided, comprising:

[0008] A fixed base having two sliding grooves spaced apart along a first direction, the sliding grooves extending along a second direction;

[0009] A drive assembly includes a drive member, a rotating seat, multiple meshing members, and two racks. The drive member drives the rotating seat to rotate. The multiple meshing members are evenly spaced circumferentially on the side of the rotating seat opposite to the drive member. The two racks are slidably connected to the slide groove. Multiple drive grooves are spaced along the second direction on the side of the racks that are close to each other. The meshing members on both sides along the first direction respectively mesh with the drive grooves of the two racks.

[0010] Two grippers are connected to the rack, so that when the rotating seat rotates, the two grippers can be driven to move closer or further apart from each other in the second direction.

[0011] As a preferred technical solution for a gripper mechanism, the meshing element is a follower bearing, which is detachably connected to the rotating seat and is rolledly engaged with the inner wall of the drive groove.

[0012] As a preferred technical solution of the gripper mechanism, the gripper mechanism further includes two adapter blocks, and the grippers are connected to the rack through the adapter blocks; the adapter blocks include a first connecting portion and a second connecting portion spaced apart along the first direction, the first connecting portion is connected to the middle position of the gripper along the first direction, and the second connecting portion is connected to the rack, so that the two grippers are arranged facing each other along the second direction.

[0013] As a preferred technical solution of the gripper mechanism, one of the rack and the second connecting part is provided with a positioning groove, and the other is provided with a positioning protrusion, wherein the positioning protrusion can be embedded in the positioning groove.

[0014] As a preferred technical solution of the gripper mechanism, the gripper mechanism further includes a cover plate, which is detachably connected to the fixed base. The side wall of the rack is provided with a flange, the bottom of the slide groove is provided with a first clearance hole, the cover plate is provided with a second clearance hole, the flange is located between the bottom of the slide groove and the end face of the second clearance hole, one end of the rack with the drive groove passes through the first clearance hole, and the other end of the rack away from the drive groove passes through the second clearance hole.

[0015] As a preferred technical solution of the gripper mechanism, the fixed seat is provided with a receiving cavity on the side away from the cover plate, the rack with the drive groove at one end passes through the first clearance hole and is located in the receiving cavity, the rotating seat and the meshing member are located in the receiving cavity, and the drive member is connected to the side of the fixed seat away from the cover plate.

[0016] As a preferred technical solution of the gripper mechanism, the fixed base is provided with an edge groove extending in the circumferential direction, and the cover plate is provided with an edge boss corresponding to the edge groove, the edge boss being able to be embedded in the edge groove.

[0017] As a preferred technical solution for a gripper mechanism, the end of the drive component facing away from the rotating seat is detachably fitted with a flange.

[0018] As a preferred technical solution for a gripper mechanism, the driving component is a motor, and the rotating base is connected to the output shaft of the motor by screws;

[0019] The output shaft of the motor is provided with a first positioning hole, the rotating seat is provided with a second positioning hole, and the pin passes through the first positioning hole and the second positioning hole.

[0020] On the other hand, a robotic arm is provided, including a robotic arm body and a gripper mechanism as described in any of the above embodiments, wherein the gripper mechanism is disposed at the end of the robotic arm body.

[0021] The beneficial effects of this utility model are as follows:

[0022] This invention provides a gripper mechanism and a robotic arm. During operation, a drive unit rotates a rotating base, which in turn rotates multiple meshing components. These meshing components engage with two racks, causing the two racks to move closer or further apart within a groove along a second direction, thus enabling the two grippers to grasp or release objects. In this invention, the meshing components, rotating base, and drive unit are stacked along the axial direction of the rotating base, reducing the radial dimension of the gripper mechanism and making the structure more compact. Attached Figure Description

[0023] To more clearly illustrate the technical solutions in the embodiments of this utility model, the drawings used in the description of the embodiments of this utility model 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 the content of the embodiments of this utility model and these drawings without creative effort.

[0024] Figure 1 This is a schematic diagram of the gripper mechanism provided in a specific embodiment of the present utility model;

[0025] Figure 2 This is an exploded view of the gripper mechanism provided in a specific embodiment of this utility model;

[0026] Figure 3 This is a structural schematic diagram of the fixing base provided in a specific embodiment of the present utility model;

[0027] Figure 4 This is a schematic diagram of the structure of the driving component provided in a specific embodiment of this utility model;

[0028] Figure 5 This is an exploded view of the drive component provided in a specific embodiment of this utility model.

[0029] The markings in the image are as follows:

[0030] 1. Fixed base; 11. Slide groove; 12. Receiving cavity; 13. First clearance hole; 14. Edge groove; 15. Third threaded hole;

[0031] 2. Drive assembly; 21. Drive component; 211. First positioning hole; 22. Rotary seat; 221. Second positioning hole; 23. Engaging component; 24. Rack; 241. Positioning groove; 242. Flange; 243. Drive groove; 244. First threaded hole; 25. Adapter block; 251. First connecting part; 2511. Second threaded hole; 252. Second connecting part; 2521. Positioning protrusion; 2522. First through hole;

[0032] 3. Gripper;

[0033] 4. Cover plate; 41. Second clearance hole; 42. Edge boss; 43. Countersunk hole;

[0034] 5. Flange; 51. Connecting groove. Detailed Implementation

[0035] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, the accompanying drawings show only the parts relevant to the present invention, not the entire structure.

[0036] In the description of this utility model, unless otherwise explicitly specified and limited, the terms "connected," "linked," and "fixed" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0037] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0038] In the description of this embodiment, the terms "upper," "lower," "left," and "right," etc., refer to the orientation or positional relationship shown in the accompanying drawings. They are used only for ease of description and simplification of operation, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model. In addition, the terms "first" and "second" are only used for distinction in description and have no special meaning.

[0039] like Figures 1-3As shown, this embodiment provides a robotic arm, which includes a robotic arm body and a gripper mechanism, with the gripper mechanism located at the end of the robotic arm body. The gripper mechanism includes a fixed base 1, a drive assembly 2, and two grippers 3. The fixed base 1 has two sliding grooves 11 spaced apart along a first direction, and the sliding grooves 11 extend along a second direction. The drive assembly 2 includes a drive member 21, a rotating base 22, multiple meshing members 23, and two racks 24. The drive member 21 drives the rotating base 22 to rotate. The multiple meshing members 23 are evenly spaced circumferentially on the side of the rotating base 22 opposite to the drive member 21. The two racks 24 are slidably connected to the sliding grooves 11. Multiple drive grooves 243 are spaced apart along the second direction on the side of the racks 24 that are close to each other. The meshing members 23 on both sides along the first direction respectively mesh with the drive grooves 243 of the two racks 24. The two grippers 3 are respectively connected to the racks 24, so that when the rotating base 22 rotates, it can drive the two grippers 3 to move closer or further apart along the second direction. In this embodiment, the first direction is X, the second direction is Y, and the third direction is Z. The first direction, the second direction, and the third direction are perpendicular to each other.

[0040] During operation, the drive unit 21 drives the rotating seat 22 to rotate, which in turn drives multiple meshing elements 23 to rotate. The meshing elements 23 engage with two racks 24, causing the two racks 24 to move closer or further apart in the slide groove 11 along the second direction, thereby enabling the two grippers 3 to grip or release objects. In this embodiment, the meshing elements 23, the rotating seat 22, and the drive unit 21 are stacked along the axial direction of the rotating seat 22, reducing the radial dimension of the gripper mechanism along the rotating seat 22 and making the structure more compact.

[0041] In existing technologies, traditional gripper mechanisms, under long-term high-load operation, may experience a decrease in transmission accuracy due to gear wear and rack 24 deformation, thereby affecting the gripping stability and accuracy of the gripper 3. Preferably, the meshing element 23 is a follower bearing, detachably connected to the rotating seat 22, and rollingly engaged with the inner wall of the drive groove 243. The follower bearing's rolling engagement with the drive groove 243 allows for higher load capacity and less friction, significantly reducing friction loss, improving transmission efficiency, extending the service life of the gripper mechanism, and enhancing stability.

[0042] Preferably, the rotating seat 22 has a centrally symmetrical structure, and the number of rolling bearings is even, evenly distributed along the circumference. During the rotation of the rotating seat 22, the two racks 24 will move at the same speed in opposite or opposite directions, achieving the effect of parallel movement. In this embodiment, there are eight rolling bearings, which are threadedly connected to the rotating seat 22. Four rolling bearings drive one rack 24, and the other four rolling bearings drive the other rack 24.

[0043] Since the two racks 24 are located on both sides of the rotating seat 22 along the first direction, preferably, the gripper mechanism also includes two adapter blocks 25, and the grippers 3 are connected to the racks 24 through the adapter blocks 25. The adapter block 25 includes a first connecting portion 251 and a second connecting portion 252 spaced apart along the first direction. The first connecting portion 251 is connected to the middle position of the gripper 3 along the first direction, and the second connecting portion 252 is connected to the rack 24, so that the two grippers 3 are arranged facing each other along the second direction. By setting the adapter block 25, the force-bearing point of the gripper 3 is located at the middle position of the gripper 3 along the first direction, and the force-bearing points of the two grippers 3 are arranged facing each other along the second direction, so that the clamping force acts on the object to the maximum extent, ensuring the reliability of the object clamping. In this embodiment, the first connecting portion 251 extends along a third direction, the second connecting portion 252 extends along the second direction, and a connecting portion extending along the first direction is provided between the first connecting portion 251 and the second connecting portion 252. The projections of the adapter block 25 along the first, second, and third directions are all L-shaped.

[0044] like Figure 2 and Figure 5 As shown, in this embodiment, one of the rack 24 and the second connecting part 252 is provided with a positioning groove 241, and the other is provided with a positioning protrusion 2521. The positioning protrusion 2521 can be embedded in the positioning groove 241, improving the installation accuracy of the rack 24 and the adapter block 25. In this embodiment, the second connecting part 252 is provided with a positioning protrusion 2521, and the rack 24 is provided with a positioning groove 241. Further, the second connecting part 252 is provided with two first through holes 2522, which are located on both sides of the positioning groove 241. The rack 24 is provided with two first threaded holes 244. A first screw passes through the first through hole 2522 and is threaded into the first threaded hole 244, so as to realize the connection of the second connecting part 252 to the rack 24. The first connecting part 251 is provided with two second threaded holes 2511, and the gripper 3 is provided with two second through holes. The second screw passes through the second through holes and is threaded into the second threaded holes 2511, so that the first connecting part 251 is connected to the gripper 3. The gripper 3 and the first connecting part 251 are detachably connected, which facilitates the replacement of the gripper 3 and meets production requirements.

[0045] In this embodiment, when two adjacent follower bearings are switched, the rack 24 remains engaged and resisted by two meshing elements 23 to ensure that the adjacent meshing elements 23 are switched effectively.

[0046] In this embodiment, as Figures 2-4As shown, the gripper mechanism also includes a cover plate 4, which is detachably connected to the fixed base 1. The side wall of the rack 24 is provided with a flange 242. The bottom of the slide groove 11 is provided with a first clearance hole 13. The cover plate 4 is provided with a second clearance hole 41. The flange 242 is located between the bottom of the slide groove 11 and the end face of the second clearance hole 41. One end of the rack 24 with a drive groove 243 passes through the first clearance hole 13. The other end of the rack 24 away from the drive groove 243 passes through the second clearance hole 41. During assembly, one end of the rack 24 with the drive groove 243 passes through the first clearance hole 13, and the flange 242 overlaps the bottom of the slide groove 11. Then, the cover plate 4 is connected to the fixed base 1. At this time, the end of the rack 24 away from the drive groove 243 passes through the second clearance hole 41, and the end face of the second clearance hole 41 is pressed against the flange 242 so that the rack 24 is fixed in the slide groove 11, and the first clearance hole 13 and the second clearance hole 41 do not interfere with the movement of the rack 24 in the second direction.

[0047] In this embodiment, the cover plate 4 is provided with three countersunk holes 43, and the fixing seat 1 is provided with three third threaded holes 15. The screw passes through the countersunk holes 43 and is threaded to the third threaded holes 15, so that the cover plate 4 can be detachably connected to the fixing seat 1.

[0048] Preferably, the fixing base 1 is provided with an edge groove 14 extending in the circumferential direction, and the cover plate 4 is provided with an edge boss 42 corresponding to the edge groove 14. The edge boss 42 can be embedded in the edge groove 14, thereby improving the connection accuracy between the cover plate 4 and the fixing base 1 and improving the ease of assembly.

[0049] Furthermore, a receiving cavity 12 is provided on the side of the fixed base 1 away from the cover plate 4. One end of the rack 24, which has a drive groove 243, passes through the first clearance hole 13 and is located in the receiving cavity 12. The rotating base 22 and the meshing member 23 are located in the receiving cavity 12. The driving member 21 is connected to the side of the fixed base 1 away from the cover plate 4. In this embodiment, an opening is provided on the side of the receiving cavity 12 away from the cover plate 4. The rotating base 22 and the meshing member 23 extend into the receiving cavity 12 through the opening. The driving member 21 is connected to the end face of the opening. In this embodiment, the driving member 21 can be connected to the end face of the opening by screws.

[0050] In this embodiment, the driving component 21 is a motor, and the rotating base 22 is connected to the output shaft of the motor by screws, thus achieving a fixed connection between the motor and the rotating base 22. The output shaft of the motor is provided with a first positioning hole 211, and the rotating base 22 is provided with a second positioning hole 221. Pins pass through the first positioning hole 211 and the second positioning hole 221, which improves the assembly accuracy and reliability of the rotating base 22 and the motor. In this embodiment, the rotating base 22 and the motor are positioned by two pins and are detachably connected by six screws.

[0051] Preferably, such as Figure 4and Figure 5 As shown, a flange 5 is detachably mounted on the end of the drive unit 21 opposite to the rotating base 22. The flange 5 is fixed to the tail end of the motor by screws. The flange 5 is provided with a hexagonal connecting groove 51, which is a universal end-effector interface. The gripper mechanism is connected to the main body of the robotic arm through the flange 5.

[0052] It should be noted that when the motor rotates, with the motor torque remaining constant, the distance between the two grippers 3 is different, and the clamping force of the grippers 3 at different positions is different due to the different torques transmitted by the motor. In order to maintain a constant force when the gripper mechanism is gripping different items, this embodiment also provides a force control method for the gripper mechanism, including the following steps:

[0053] S1. Set the required clamping force for gripper 3;

[0054] S2. Calculate the required torque of the motor using the following formula.

[0055]

[0056] Where τ is the required torque of the motor; F is the required clamping force of the gripper 3; R is the radius of the distribution circle of all meshing parts 23; A is the number of the meshing part 23 that drives the rack 24 to move; α offset When the gripper 3 is in the closed state, the offset arc of the line connecting the axis of the first engaging member 23 and the axis of the motor with the first direction is, in this embodiment, α offset It is 0.1089 rad; α is the motor relative to α offset Regarding the rotation radius, in this embodiment, α is 0 when the gripper 3 is in the closed state, and α is 2.8155 rad when the gripper 3 is at its maximum opening distance of 100 mm.

[0057] In this embodiment, R is a constant; A is a variable, and when the gripper 3 is closed, the engagement member 23 that drives the rack 24 to move is numbered 0; α offset α is a constant; α is a variable, and the range of α is related to the maximum stroke of gripper 3.

[0058] S3. By controlling the current of the motor, the motor can achieve the required torque.

[0059] When gripper 3 holds an object, the required torque of the motor is calculated based on the motor's rotation radian α and the required clamping force F. The motor current is then adjusted to achieve the required torque, ensuring that gripper 3 maintains constant clamping force when holding objects of different sizes, thus improving the performance of the gripper mechanism. Of course, in other embodiments, the motor torque can be controlled to achieve precise control of any clamping force of gripper 3.

[0060] Note that the above description is merely a preferred embodiment of the present invention and the technical principles employed. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and various obvious changes, readjustments, and substitutions can be made without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in detail through the above embodiments, the present invention is not limited to the above embodiments, and may include many other equivalent embodiments without departing from the concept of the present invention. The scope of the present invention is determined by the scope of the appended claims.

Claims

1. A gripper mechanism, characterized by, The utility model relates to a clamping jaw mechanism, including: The fixed seat (1) is provided with two sliding grooves (11) along the first direction, and the sliding grooves (11) extend along the second direction; The drive assembly (2) includes a driving part (21), a rotating seat (22), a plurality of engaging parts (23) and two racks (24), the driving part (21) is used for driving the rotating seat (22) to rotate, a plurality of the engaging parts (23) are uniformly spaced along the circumferential direction and are arranged on the side of the rotating seat (22) away from the driving part (21), and two the rack (24) is slidably connected to the sliding groove (11), and the side of the rack (24) close to each other is provided with a plurality of driving grooves (243) along the second direction, and the engaging parts (23) on both sides along the first direction are engaged in the driving grooves (243) of two the rack (24) respectively; Two clamping jaws (3) are connected to the rack (24) respectively, so that the rotating seat (22) can drive the two clamping jaws (3) to move close to or away from each other along the second direction when rotating.

2. The jaw mechanism of claim 1, wherein, The engaging part (23) is a follow-up bearing, the follow-up bearing is detachably connected to the rotating seat (22), and the follow-up bearing is rollingly engaged with the inner wall of the driving groove (243).

3. The jaw mechanism of claim 1, wherein, The clamping jaw mechanism further includes two adapter blocks (25), the clamping jaw (3) is connected to the rack (24) through the adapter block (25), the adapter block (25) includes a first connecting part (251) and a second connecting part (252) spaced along the first direction, the first connecting part (251) is connected to the middle position of the clamping jaw (3) along the first direction, and the second connecting part (252) is connected to the rack (24), so that the two clamping jaws (3) are arranged opposite along the second direction.

4. The jaw mechanism of claim 3, wherein, One of the rack (24) and the second connecting part (252) is provided with a positioning groove (241), and the other is provided with a positioning protrusion (2521), and the positioning protrusion (2521) can be embedded in the positioning groove (241).

5. The jaw mechanism of claim 1, wherein, The clamping jaw mechanism further includes a cover plate (4), the cover plate (4) is detachably connected to the fixed seat (1), the side wall of the rack (24) is provided with a flange (242), the bottom of the sliding groove (11) is provided with a first avoiding hole (13), the cover plate (4) is provided with a second avoiding hole (41), the flange (242) is located between the bottom of the sliding groove (11) and the end face of the second avoiding hole (41), and one end of the rack (24) provided with the driving groove (243) is arranged in the first avoiding hole (13); one end of the rack (24) away from the driving groove (243) is arranged in the second avoiding hole (41).

6. The jaw mechanism of claim 5, wherein, The fixed seat (1) is provided with a containing cavity (12) on the side away from the cover plate (4), one end of the rack (24) provided with the driving groove (243) is arranged in the first avoiding hole (13) and located in the containing cavity (12), the rotating seat (22) and the engaging piece (23) are located in the containing cavity (12), and the driving piece (21) is connected to the side of the fixed seat (1) away from the cover plate (4).

7. The jaw mechanism of claim 5, wherein, The fixed seat (1) is provided with a circumferentially extending edge groove (14), and the cover plate (4) is provided with an edge boss (42) corresponding to the edge groove (14), and the edge boss (42) can be embedded in the edge groove (14).

8. The jaw mechanism of claim 1, wherein, A flange plate (5) is detachably mounted on the end of the driving piece (21) away from the rotating seat (22).

9. The jaw mechanism of claim 1, wherein, The driving piece (21) is a motor, and the rotating seat (22) is connected to the output shaft of the motor through a screw; The output shaft of the motor is provided with a first positioning hole (211), and the rotating seat (22) is provided with a second positioning hole (221), and a pin is arranged in the first positioning hole (211) and the second positioning hole (221).

10. A robot arm, characterized in that, The mechanical arm body and the claw mechanism as claimed in any one of claims 1-9 are included, and the claw mechanism is arranged at the end of the mechanical arm body. The fixed seat (1) is provided with a containing cavity (12) on the side away from the cover plate (4), one end of the rack (24) provided with the driving groove (243) is arranged in the first avoiding hole (13) and located in the containing cavity (12), the rotating seat (22) and the engaging piece (23) are located in the containing cavity (12), and the driving piece (21) is connected to the side of the fixed seat (1) away from the cover plate (4). The fixed seat (1) is provided with a circumferentially extending edge groove (14), and the cover plate (4) is provided with an edge boss (42) corresponding to the edge groove (14), and the edge boss (42) can be embedded in the edge groove (14). A flange plate (5) is detachably mounted on the end of the driving piece (21) away from the rotating seat (22). The driving piece (21) is a motor, and the rotating seat (22) is connected to the output shaft of the motor through a screw; The output shaft of the motor is provided with a first positioning hole (211), and the rotating seat (22) is provided with a second positioning hole (221), and a pin is arranged in the first positioning hole (211) and the second positioning hole (221). The mechanical arm body and the claw mechanism as claimed in any one of claims 1-9 are included, and the claw mechanism is arranged at the end of the mechanical arm body.

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