Flexible mechanical claw

Abstract

The utility model provides a flexible mechanical claw, and belongs to the technical field of mechanical claws, in particular, the flexible mechanical claw comprises a shell, a pair of clamping claws is arranged on one side of the shell, and the pair of clamping claws has a clamping state and an opening state; a driving mechanism; clamping faces are formed on the side faces of the clamping jaws, anti-skid protrusions are arranged on the clamping faces, and the size of the anti-skid protrusions located at the far ends of the clamping faces is larger than that of the anti-skid protrusions located at the near ends of the clamping faces. According to the flexible mechanical claw provided by the embodiment of the invention, the multiple anti-skid protrusions are arranged on the clamping face and distributed in the length direction of the clamping face, and the size of the anti-skid protrusions located at the far end of the clamping face is larger than that of the anti-skid protrusions located at the near end of the clamping face; according to the design, on one hand, the friction force between the clamping face and a clamped object can be increased through the anti-skid protrusions, and on the other hand, by designing the anti-skid protrusions of different sizes, the mechanical claw can grab objects of more specifications and models, and the mechanical claw is suitable for more use scenes.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of mechanical gripper, in particular to a flexible mechanical gripper. BACKGROUND

[0002] The mechanical gripper can imitate some functions and actions of human hands and arms, and can be used for grabbing, clamping, transferring and carrying objects, and can replace manual operation to perform dangerous or heavy work. It is an automatic operation device and is widely used in the fields of medical devices, logistics transportation and the like.

[0003] The current mechanical gripper adopts a crank slider mechanism to drive the mechanical gripper to swing to realize the approach of the two grippers. The two grippers can clamp the object when they approach each other. The gripper is a flat surface, and the object is clamped by the pressure between the two grippers. If the friction is small, the object may be squeezed out of the grip of the mechanical gripper under the pressure between the two grippers, so that the gripping effect of the mechanical gripper is poor, which is not conducive to the gripping and transferring of the object. CONTENT OF THE UTILITY MODEL

[0004] The purpose of the present application is to provide a flexible mechanical gripper, which aims to solve the problem that in the related art, when the flat gripper clamps the object, the object may be squeezed out of the grip of the mechanical gripper under the pressure between the two grippers, so that the gripping effect of the mechanical gripper is poor.

[0005] Additional aspects and advantages of the present application will be in part apparent and in part pointed out hereinafter.

[0006] According to a first aspect of the present application, a flexible mechanical gripper is provided, comprising:

[0007] A housing is provided with a pair of grippers on one side, the pair of grippers having a clamping state in which they approach each other to clamp an object, and a spread state in which they move away from each other to release the object;

[0008] A drive mechanism is provided in the housing, the drive mechanism is connected with the pair of grippers, and the drive mechanism is used to drive the pair of grippers to switch between the clamping state and the spread state;

[0009] The opposite sides of the pair of grippers form a clamping surface for clamping the object, and a plurality of anti-slip protrusions are provided on the clamping surface. A plurality of anti-slip protrusions are arranged along the length direction of the clamping surface, and the size of the anti-slip protrusion located at the distal end of the clamping surface is greater than that of the anti-slip protrusion located at the proximal end of the clamping surface.

[0010] In an exemplary embodiment of the present application, the anti-slip protrusions extend along the width direction of the clamping surface.

[0011] In an exemplary embodiment of the present application, the size of the anti-skid protrusion gradually increases from the proximal end of the clamping surface to the distal end of the clamping surface.

[0012] In an exemplary embodiment of the present application, the tip of the pair of clamping jaws has a clamping protrusion, the height of the clamping protrusion is less than the height of the anti-skid protrusion adjacent thereto, and the clamping protrusion and the anti-skid protrusion adjacent thereto form a clamping plane.

[0013] In an exemplary embodiment of the present application, the pair of clamping jaws comprises a first connecting plate, a second connecting plate, a clamping plate at both ends of the first connecting plate, and an auxiliary plate at both ends of the second connecting plate, wherein the distal end of the clamping plate is connected to the distal end of the auxiliary plate, the opposite sides of the two clamping plates form the clamping surface, the second connecting plate is fixedly connected to the housing, and the driving mechanism is configured to drive the first connecting plate away from or close to the second connecting plate, and in the process of moving the first connecting plate away from or close to the second connecting plate, the first connecting plate drives the clamping plate to switch between the open state and the clamping state.

[0014] In an exemplary embodiment of the present application, the first connecting plate, the second connecting plate, the clamping plate at both ends of the first connecting plate, and the auxiliary plate at both ends of the second connecting plate are an integral structure.

[0015] In an exemplary embodiment of the present application, the driving mechanism comprises a driving motor and a connecting piece, one end of the connecting piece passes through the second connecting plate and is connected to the first connecting plate, and the other end is connected to the driving shaft of the driving motor, and the driving motor is configured to drive the connecting piece to move the first connecting plate away from or close to the second connecting plate.

[0016] In an exemplary embodiment of the present application, the connecting piece comprises a threaded column and a threaded shaft, one end of the threaded column passes through the second connecting plate and is fixedly connected to the first connecting plate, and the other end extends into the housing and is threadedly connected to the threaded shaft, the threaded shaft is fixedly connected to the driving shaft of the driving motor, and when the driving shaft of the driving motor drives the threaded shaft to rotate, the threaded column is driven to move axially to move the first connecting plate away from or close to the second connecting plate.

[0017] In an exemplary embodiment of the present application, a circuit board is further included and electrically connected to the driving motor for controlling the start and stop of the driving motor.

[0018] The shell is internally provided with a Hall sensor and a magnetic element at the bottom of the threaded column, the Hall sensor is arranged on the circuit board, and when the magnetic element can be detected by the Hall sensor, the pair of clamping jaws is in the closed state with the minimum distance between the two clamping surfaces.

[0019] In an exemplary embodiment of the present application, the circuit board is provided with a power-on reset element, and the flexible mechanical claw moves the pair of clamping jaws to the closed state each time it is powered on.

[0020] The exemplary embodiments of the present application can have the following partial or all beneficial effects:

[0021] In the flexible mechanical claw provided by the exemplary embodiments of the present application, the shell, the pair of clamping jaws and the driving mechanism are provided, the pair of clamping jaws is arranged on one side of the shell, the pair of clamping jaws has a clamping state of approaching each other to clamp the article and an open state of moving away from each other to release the article, the opposite sides of the pair of clamping jaws form clamping surfaces for clamping the article, a plurality of anti-skid protrusions are arranged on the clamping surfaces, the plurality of anti-skid protrusions are arranged along the length direction of the clamping surfaces, and the size of the anti-skid protrusion at the distal end of the clamping surface is larger than the size of the anti-skid protrusion at the proximal end of the clamping surface. In this way, on the one hand, the anti-skid protrusion can increase the friction between the clamping surface and the clamped article, and on the other hand, by designing anti-skid protrusions of different sizes, the mechanical claw can grasp more specifications of articles and adapt to more use scenarios.

[0022] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit the present application. BRIEF DESCRIPTION OF DRAWINGS

[0023] The drawings incorporated into the specification and forming part of the specification, show embodiments consistent with the present application, and together with the specification, serve to explain the principles of the present application. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0024] Figure 1 A structural schematic diagram of a flexible mechanical claw in an embodiment of the present application is shown;

[0025] Figure 2 A rear view of a flexible mechanical claw in an embodiment of the present application is shown;

[0026] Figure 3 A structural schematic diagram of a flexible mechanical claw clamping a first small part in an embodiment of the present application is shown;

[0027] Figure 4Fig. 2 shows a schematic view of a structure of the flexible gripper holding a second small part in the embodiment of the present application;

[0028] Figure 5 Fig. 3 shows a schematic view of a structure of the flexible gripper holding a third small part in the embodiment of the present application;

[0029] Figure 6 Fig. 4 shows a schematic view of a structure of the flexible gripper holding a large part in the embodiment of the present application.

[0030] Reference Signs List:

[0031] 1, housing; 2, gripper; 3, driving motor; 4, threaded shaft; 5, circuit board; 6, threaded column; 7, first connecting plate; 8, second connecting plate; 9, clamping plate; 10, auxiliary plate; 11, anti-skid protrusion; 12, magnetic member; 13, clamping protrusion. DETAILED DESCRIPTION

[0032] Example embodiments now will be described more fully hereinafter with reference to the accompanying drawings. Example embodiments, may, however, be implemented in many different forms and should not be construed as limited to the implementations set forth herein; rather, these implementations are provided so that this disclosure will be thorough and complete, and will fully convey the scope of example embodiments to those skilled in the art. Like reference numerals refer to like elements throughout the specification. Moreover, the figures can not be to scale and some features can be exaggerated to show details of particular implementations. Measures of thicknesses and lengths and the like can not be drawn to scale unless expressly stated.

[0033] Although relative terms such as "upper", "lower", etc. are used herein to describe one component's relationship to another component as illustrated in the figures, these terms are used herein for ease of description only and are not intended to constrict the scope of the application. It is to be understood that if a device were turned over so that its upper portion is now at its lower portion, and vice versa, then the described "upper" part would now be at the "lower" part. When a structure is "on" another structure, it can mean that the structure is formed integrally with the other structure, or that the structure is "directly" on the other structure, or that the structure is "indirectly" on the other structure with intervening structures between them.

[0034] The terms "one", "a", "an", and "the" are used to mean that "zero", "one", or "more than one" of the indicated component(s) is / are present; the terms "comprises", "comprising", "includes", "including" and the like are used to mean that the indicated component(s) can be present, but is / are not limited to, and can include additional component(s) not expressly named; the term "first", "second" etc. are used only to distinguish one component from another and not to limit the number of components. It is to be understood that the terms so used are interchangeable under appropriate circumstances. EMBODIMENTS

[0035] The present embodiment provides a specific implementation of the flexible gripper, as shown in Figure 1 andFigure 2 As shown, the device comprises a housing 1, a pair of clamping jaws 2 arranged on one side of the housing 1, and a driving mechanism arranged in the housing 1. The pair of clamping jaws 2 has a clamping state in which the clamping jaws 2 are close to each other to clamp an object, and an open state in which the clamping jaws 2 are away from each other to release the object. The driving mechanism is connected with the pair of clamping jaws 2, and is used to drive the pair of clamping jaws 2 to switch between the clamping state and the open state. Opposite sides of the pair of clamping jaws 2 form clamping surfaces for clamping the object. A plurality of anti-skid protrusions 11 are arranged on the clamping surfaces. The plurality of anti-skid protrusions 11 are arranged along the length direction of the clamping surfaces, and the size of the anti-skid protrusions 11 at the distal end of the clamping surfaces is greater than the size of the anti-skid protrusions 11 at the proximal end of the clamping surfaces. In this way, on the one hand, the anti-skid protrusions 11 can increase the friction between the clamping surfaces and the clamped object. On the other hand, by designing anti-skid protrusions 11 of different sizes, the mechanical claws can grasp more specifications of objects, and adapt to more use scenarios.

[0036] In this embodiment, the anti-skid protrusions 11 extend along the width direction of the clamping surfaces, and preferably have the same width direction as the clamping surfaces, which can further increase the anti-skid area of the anti-skid protrusions 11.

[0037] In other embodiments, the anti-skid protrusions 11 can also have other shapes, as long as they can increase the friction between the clamping surfaces and the clamped object. The specific shape of the anti-skid protrusions is not limited. In this embodiment, the anti-skid protrusions 11 are preferably arranged in a stepped structure extending along the width direction of the clamping surfaces.

[0038] Further, the size of the anti-skid protrusions 11 gradually increases from the proximal end of the clamping surfaces to the distal end of the clamping surfaces. The distal end of the clamping surfaces refers to the distal end of the extension direction of the pair of clamping jaws 2, and the proximal end of the clamping surfaces refers to the proximal end of the extension direction of the pair of clamping jaws 2. Specifically, the height of the anti-skid protrusions 11 at the distal end of the clamping surfaces is higher than the height of the anti-skid protrusions 11 at the proximal end of the clamping surfaces. The width of the anti-skid protrusions 11 is not limited.

[0039] In this embodiment, as shown in Figure 3 , Figure 4 , Figure 5 The clamping protrusions 13 are arranged at the tip positions of the pair of clamping jaws 2. The height of the clamping protrusions 13 on the clamping surfaces is less than the height of the anti-skid protrusions 11 adjacent to the clamping protrusions 13. The clamping protrusions 13 and the anti-skid protrusions 11 adjacent to the clamping protrusions 13 form a clamping plane that can clamp small parts, as shown in Figure 6 The anti-skid protrusions 11 at the proximal end of the clamping surfaces can be used to clamp large cylindrical objects, etc. The clamping protrusions 13 and the anti-skid protrusions 11 adjacent to the clamping protrusions 13 form a forward inclination angle, which facilitates the grasping of small objects.

[0040] In the embodiment, the pair of clamping jaws 2 comprises a first connecting plate 7, a second connecting plate 8, clamping plates 9 located at both ends of the first connecting plate 7, and auxiliary plates 10 located at both ends of the second connecting plate 8, wherein the distal ends of the clamping plates 9 and the distal ends of the auxiliary plates 10 extend away from one side of the shell 1, the distal ends of the clamping plates 9 and the distal ends of the auxiliary plates 10 are connected together, the opposite sides of the two clamping plates 9 form clamping surfaces, and the driving mechanism drives the first connecting plate 7 to move away from or close to the second connecting plate 8, drives the clamping plates 9 to move away from or close to each other through the first connecting plate 7, and realizes switching between the open state and the clamping state of the pair of clamping jaws 2.

[0041] Further, the first connecting plate 7, the second connecting plate 8, the clamping plates 9 located at both ends of the first connecting plate 7, and the auxiliary plates 10 located at both ends of the second connecting plate 8 are integrally formed to form a hollow clamping jaw 2 structure, so that when the first connecting plate 7 moves close to or away from the second connecting plate 8, the clamping plates 9 and the auxiliary plates 10 can be driven to move, and the clamping and loosening of the object are realized.

[0042] In other embodiments, the first connecting plate 7, the second connecting plate 8, the clamping plates 9 located at both ends of the first connecting plate 7, and the auxiliary plates 10 located at both ends of the second connecting plate 8 can also be separate plate members respectively and movably connected together to form a clamping jaw 2 structure.

[0043] In the embodiment, the driving mechanism comprises a driving motor 3 and a connecting piece, one end of the connecting piece is fixedly connected through the second connecting plate 8 and the first connecting plate 7, the driving motor 3 is used to drive the connecting piece to drive the first connecting plate 7 to move away from or close to the second connecting plate 8, in the movement process of the first connecting plate 7 away from or close to the second connecting plate 8, the first connecting plate 7 drives the clamping plates 9 and the auxiliary plates 10 to move away from or close to each other, and in the process of the clamping plates 9 moving close to each other, the clamping state can be entered to clamp the object.

[0044] Further, the connecting piece comprises a threaded column 6 and a threaded shaft 4, one end of the threaded column 6 is fixedly connected with the first connecting plate 7 through the second connecting plate 8, and the other end extends into the shell 1 and is threadedly connected with the threaded shaft 4, the threaded shaft 4 is fixedly connected with the driving shaft of the driving motor 3, when the driving shaft of the driving motor 3 drives the threaded shaft 4 to rotate, the threaded column 6 is driven to move axially under the threaded drive, the threaded column 6 and the threaded shaft 4 are connected through threads, the surface of the threaded column 6 can be provided with external threads, the inside of the threaded shaft 4 can be provided with internal threads, or the internal surface of the threaded column 6 can be provided with internal threads, and the external surface of the threaded shaft 4 can be provided with external threads, during the threaded transmission, the threaded column 6 can drive the first connecting plate 7 to move, so that the first connecting plate 7 approaches or moves away from the second connecting plate 8, and the switching between the clamping state and the open state of the clamping jaw 2 is realized. At the same time, the threaded shaft 4 and the threaded column 6 are threadedly connected and can also have a self-locking function, after the driving motor 3 stops driving, the threaded column 6 will also remain unchanged under the action of the threads, and the clamping state of the object is maintained.

[0045] Further, the driving shaft of the driving motor 3 specifically adopts a gear structure to be connected with the threaded shaft 4, through the gear structure, not only the kinetic energy of the driving motor 3 can be transmitted to the threaded shaft 4, but also the rotating speed of the driving shaft of the driving motor 3 can be reduced, so that the rotating speed of the threaded shaft 4 meets the actual use scene.

[0046] In the embodiment, the circuit board 5 is further included, the driving motor 3 is electrically connected with the circuit board 5, and the starting and closing of the driving motor 3 can be controlled through the circuit board 5.

[0047] In the embodiment, the Hall sensor and the magnetic piece 12 are arranged in the shell 1, the magnetic piece 12 is arranged at the bottom of the threaded column 6, and the Hall sensor is used for detecting whether the magnetic piece 12 is at a detection position, when the threaded column 6 moves and drives the magnetic piece 12 to move to the position detected by the Hall sensor, the clamping jaw 2 is in the closed state with the smallest distance between the two clamping surfaces, when an object needs to be clamped, the first connecting plate 7 needs to be moved by the driving motor 3, so that the clamping jaw 2 is switched to the open state, and the opening degree can be operated according to actual needs. Further, the magnetic piece 12 is a magnet block.

[0048] In the embodiment, the power-on reset element is further arranged on the circuit board 5, and the clamping jaw 2 moves to the closed state every time the flexible mechanical claw is powered on, wherein when the clamping jaw 2 moves to the closed state, the magnetic piece 12 moves to the position that can be detected by the Hall sensor, and the power-on reset element is disconnected from the driving of the driving motor 3, so that the clamping jaw 2 is in the closed state, and when in use, the driving motor 3 is controlled by the circuit board 5 to clamp the object.

[0049] Power-on reset working principle:

[0050] The flexible mechanical gripper triggers a power-on reset element each time the power is turned on, which controls the driving motor 3 to work, drives the threaded shaft 4 to rotate, drives the threaded column 6 to move axially through the threaded cooperation between the threaded shaft 4 and the threaded column 6, and then drives the first connecting plate 7 to move towards the second connecting plate 8, until the gripper 2 moves to the closed state, at which time the Hall sensor detects that the magnetic part 12 moves to the target position, and the circuit board 5 controls the power-on reset element to stop controlling the driving motor 3, completing the power-on reset process of the flexible mechanical gripper, which is equivalent to providing an origin for the subsequent use of the flexible mechanical gripper, so that the operator can drive the flexible mechanical gripper from the origin, and then more conveniently control the flexible mechanical gripper to switch to the degree of opening.

[0051] In the embodiment, four M2.5 threaded holes with a spacing of 20mm*20mm are arranged on both sides and the bottom of the shell 1 for external installation; an XT30(2+2) interface is further arranged on the side for CAN bus communication.

[0052] Other embodiments of the application will be apparent to those skilled in the art from consideration of the specification and practice of the application disclosed herein. The specification and examples given are exemplary only and the true scope and spirit of the application is indicated by the claims which follow this detailed description.

Claims

1. A flexible mechanical gripper, characterized in that, include: The housing has a pair of grippers on one side, which are in a gripping state where they are close to each other to hold an item, and in an open state where they are far apart to release the item. A drive mechanism is disposed within the housing and is connected to the pair of grippers. The drive mechanism is used to drive the pair of grippers to switch between the clamping state and the opening state. The opposing sides of the pair of grippers form a gripping surface for gripping an object. The gripping surface is provided with a plurality of anti-slip protrusions, which are arranged along the length of the gripping surface. The size of the anti-slip protrusions located at the far end of the gripping surface is larger than the size of the anti-slip protrusions located at the near end of the gripping surface.

2. The flexible mechanical gripper according to claim 1, characterized in that, The anti-slip protrusions extend along the width direction of the clamping surface.

3. The flexible mechanical gripper according to claim 2, characterized in that, The size of the anti-slip protrusion gradually increases from the near end of the clamping surface to the far end of the clamping surface.

4. The flexible mechanical gripper according to claim 3, characterized in that, The tips of the pair of grippers have gripping protrusions, the height of which is less than the height of the adjacent anti-slip protrusion, and the gripping protrusion and the adjacent anti-slip protrusion form a gripping plane.

5. The flexible mechanical gripper according to any one of claims 1-4, characterized in that, The pair of grippers includes a first connecting plate, a second connecting plate, a clamping plate located at both ends of the first connecting plate, and an auxiliary plate located at both ends of the second connecting plate. The distal ends of the clamping plates are connected to the distal ends of the auxiliary plates. The two opposing sides of the two clamping plates form the clamping surfaces. The second connecting plate is fixedly connected to the housing. The driving mechanism is configured to drive the first connecting plate away from or towards the second connecting plate. During the process of the first connecting plate moving away from or towards the second connecting plate, the first connecting plate drives the clamping plates to switch between an open state and a clamping state.

6. The flexible mechanical gripper according to claim 5, characterized in that, The first connecting plate, the second connecting plate, the clamping plates located at both ends of the first connecting plate, and the auxiliary plates located at both ends of the second connecting plate are an integral structure.

7. The flexible mechanical gripper according to claim 5, characterized in that, The driving mechanism includes a drive motor and a connector. One end of the connector passes through the second connecting plate and is connected to the first connecting plate, and the other end is connected to the drive shaft of the drive motor. The drive motor is used to drive the connector to move the first connecting plate away from or closer to the second connecting plate.

8. The flexible mechanical gripper according to claim 7, characterized in that, The connector includes a threaded post and a threaded shaft. One end of the threaded post passes through the second connecting plate and is fixedly connected to the first connecting plate. The other end extends into the housing and is threadedly connected to the threaded shaft. The threaded shaft is fixedly connected to the drive shaft of the drive motor. When the drive shaft of the drive motor drives the threaded shaft to rotate, it drives the threaded post to move axially under the threaded drive, so that the first connecting plate moves away from or closer to the second connecting plate.

9. The flexible mechanical gripper according to claim 8, characterized in that, It also includes a circuit board electrically connected to the drive motor for controlling the start and stop of the drive motor; The housing contains a Hall sensor and a magnetic component located at the bottom of the threaded post. The Hall sensor is mounted on the circuit board. When the magnetic component can be detected by the Hall sensor, the pair of grippers are in a closed state with the minimum distance between the two gripping surfaces.

10. The flexible mechanical gripper according to claim 9, characterized in that, The circuit board is equipped with a power-on reset element, which causes the pair of grippers to move to the closed state each time the flexible mechanical gripper is powered on.

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