Mechanical self-adaptive clamping jaw

Abstract

The utility model relates to the technical field of clamping jaws, in particular to a mechanical self-adaptive clamping jaw. The mechanical self-adaptive clamping jaw comprises a finger part and a palm base; two symmetrically arranged finger parts are arranged on the palm base, and the distance between the two finger parts is adjustable; the finger part comprises multiple sections of fingers, the adjacent fingers are rotationally connected, and the angle between the adjacent fingers is adjustable. The distance between the finger parts is adjustable, each finger part is composed of the multiple fingers, and the angle between every two adjacent fingers is adjustable, so that the grabbing requirements of the clamping jaw on different objects can be met conveniently, and the adaptability of the clamping jaw is improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to the technical field of clamping jaw, especially to a mechanical self -adaptation clamping jaw. BACKGROUND

[0002] The hand of humanoid robot is an important end execution mechanism, and needs to realize the target object grabbing in complex environment. Due to the different size and shape of different target objects, the special mechanical clamping jaw has poor self -adaptability to the shape of the grabbed object under the condition that the special clamping jaw grabs and the design sets the specific operation object shape and the volume of the grabbed object are different, thereby leading to the difficulty in effectively exerting the grabbing function. INVENTION CONTENTS

[0003] The utility model discloses a mechanical self -adaptation clamping jaw, which can solve the problems in the prior art.

[0004] The utility model provides a mechanical self -adaptation clamping jaw, it includes finger part and palm base,

[0005] The palm base is provided with two symmetrical finger parts, and the distance between the two finger parts is adjustable.

[0006] The finger part includes multiple finger joints, and the adjacent finger joints are rotatably connected, and the angle between the adjacent finger joints is adjustable.

[0007] Preferably, the finger part includes three finger joints, which are a first finger joint, a second finger joint and a third finger joint.

[0008] The first finger joint and the second finger joint are connected through a first rotating shaft, and a torsional spring is arranged on the first rotating shaft.

[0009] The third finger joint includes a shell, an adaptive button and a linkage structure.

[0010] The adaptive button is arranged in the shell, and the linkage structure is arranged in the shell and rotatably connected with the shell.

[0011] The adaptive button is connected with the second finger joint through the linkage structure, and the adaptive button drives the second finger joint to move through the linkage structure.

[0012] Preferably, the first finger joint is provided with a first finger joint soft rubber on the inner side, and the second finger joint is provided with a second finger joint soft rubber on the inner side.

[0013] Preferably, the first finger joint soft rubber and the second finger joint soft rubber are hollow structures.

[0014] Preferably, the linkage structure includes a connecting rod connecting piece, a second rotating shaft, a third rotating shaft, a connecting rod and a fourth rotating shaft.

[0015] One end of the connecting rod connector is connected with the second joint finger, and the other end of the connecting rod connector is connected with the connecting rod, and the connecting rod is connected with the adaptive button;

[0016] The connecting rod is connected with the shell through a second rotating shaft, and the connecting rod connector is connected with the connecting rod through a third rotating shaft;

[0017] The connecting rod is connected with the adaptive button through a fourth rotating shaft.

[0018] Preferably, one end of the adaptive button is provided with a reset spring, one end of the reset spring is connected with the adaptive button, and the other end is connected with the shell.

[0019] Preferably, the palm base is provided with a driving device, the finger part comprises a finger connector, the finger connector is connected with the driving device, and the driving device drives the movement of the finger part.

[0020] Preferably, the driving device is a gear and rack driving mechanism;

[0021] The gear and rack driving mechanism comprises a motor, a gear, and two racks meshing with the gear;

[0022] The two racks are arranged in parallel and distributed on both sides of the gear, the gear is connected with the motor shaft of the motor, and the gear drives the two racks to move in opposite directions;

[0023] Each rack is connected with the finger connector of one finger part.

[0024] Preferably, the driving device further comprises a track, a sliding block and a rack connecting seat;

[0025] The sliding block is arranged on the track, and each rack is connected with the sliding block through a rack connecting seat.

[0026] Preferably, the driving device further comprises a shell;

[0027] The motor, the gear, the rack, the sliding block, the sliding rail and the rack connecting seat are arranged in the shell;

[0028] The upper end of the shell is provided with a sliding groove, and the finger connector passes through the sliding groove and is connected with the rack;

[0029] The lower end of the shell is provided with an arm connector.

[0030] Beneficial effects:

[0031] By adjusting the distance between the finger parts, the finger parts are composed of multiple fingers, and the angle between adjacent fingers can be adjusted, so that the gripping claw can meet the gripping needs of different objects, and the adaptability of the gripping claw is improved. BRIEF DESCRIPTION OF DRAWINGS

[0032] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the description of the embodiments or the prior art. Obviously, the drawings described below are some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained without creative labor on the basis of these drawings.

[0033] Figure 1 The structural schematic diagram of the mechanical self-adaptive clamping jaw provided for the embodiment of the present application is shown in the figure.

[0034] Figure 2 The structural schematic diagram of the finger part provided for the embodiment of the present application is shown in the figure.

[0035] Figure 3 The exploded state schematic diagram of the finger part provided for the embodiment of the present application is shown in the figure.

[0036] Figure 4 The sectional view of the finger part provided for the embodiment of the present application is shown in the figure.

[0037] Figure 5 The structural schematic diagram of the driving device provided for the embodiment of the present application is shown in the figure.

[0038] Explanation of reference signs:

[0039] 1: palm base, 2: first section finger, 3: second section finger, 4: third section finger, 5: first rotation shaft, 6: torsional spring, 7: shell, 8: self-adaptive button, 9: first section finger soft rubber, 10: second section finger soft rubber, 11: connecting rod connecting piece, 12: second rotation shaft, 13: third rotation shaft, 14: connecting rod, 15: fourth rotation shaft, 16: reset spring, 17: finger connecting piece, 18: motor, 19: gear, 20: rack, 21: track, 22: sliding block, 23: rack connecting seat, 24: driving shell, 25: arm connecting piece. Embodiment

[0040] The technical solutions of the present application will be described below in conjunction with the embodiments, and obviously, the described embodiments are some embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all the other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0041] In the description of this utility model, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this utility model and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model.

[0042] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the stated features. In the description of this utility model, "a plurality of" means two or more, unless otherwise explicitly specified. Furthermore, the terms "installed," "connected," and "linked" should be interpreted broadly; for example, they can refer to a fixed connection, a detachable connection, or an integral connection; 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 connection of 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.

[0043] like Figures 1 to 5 As shown, in this embodiment, a mechanical adaptive gripper is provided, which includes finger portions and a palm base 1. Two symmetrically arranged finger portions are provided on the palm base 1, and the distance between the two finger portions is adjustable. Each finger portion includes multiple segments, adjacent fingers are rotatably connected, and the angle between adjacent fingers is adjustable.

[0044] In this embodiment, the spacing between the fingers is adjustable, the fingers are composed of multiple fingers, and the angle between adjacent fingers is adjustable, which can facilitate the gripper's grasping needs for different objects and improve the gripper's adaptability.

[0045] The finger section consists of three segments: the first segment (2), the second segment (3), and the third segment (4).

[0046] The first finger 2 and the second finger are connected by a first pivot 5, and a torsion spring 6 is provided on the first pivot 5.

[0047] In this embodiment, the first finger joint 2 and the second finger are rotatably connected, and a torsion spring 6 is provided on the first rotating shaft 5. When the first finger joint 2 is impacted, the first finger joint 2 can rotate around the first rotating shaft 5 to reduce the impact force on the first finger joint 2.

[0048] The third section finger 4 comprises a shell 7, an adaptive button 8 arranged in the shell 7, and a linkage structure arranged in the shell 7 and rotationally connected with the shell 7. The adaptive button 8 is connected with the second section finger 3 through the linkage structure, and the adaptive button 8 drives the second section finger 3 to move through the linkage structure.

[0049] Specifically, the first section finger 2 is internally provided with a first section finger soft rubber 9, and the second section finger 3 is internally provided with a second section finger soft rubber 10. The first section finger soft rubber 9 and the second section finger soft rubber 10 are hollow structures. The hollow structure is arranged to better fit the clamped object when the fingers contact the clamped object.

[0050] The linkage structure comprises a connecting rod connecting piece 11, a second rotating shaft 12, a third rotating shaft 13, a connecting rod 14, and a fourth rotating shaft 15. One end of the connecting rod connecting piece 11 is connected with the second section finger 3, the other end of the connecting rod connecting piece 11 is connected with the connecting rod 14, and the connecting rod 14 is connected with the adaptive button 8.

[0051] The connecting rod 14 is connected with the shell 7 through the second rotating shaft 12, the connecting rod connecting piece 11 is connected with the connecting rod 14 through the third rotating shaft 13, and the connecting rod 14 is connected with the adaptive button 8 through the fourth rotating shaft 15.

[0052] One end of the adaptive button 8 is provided with a reset spring 16, one end of the reset spring 16 is connected with the adaptive button 8, and the other end is connected with the shell 7.

[0053] The second section finger 3 is connected on the connecting rod connecting piece 11 through a screw, and moves together with a finger connecting piece 17. Two shafts, i.e. the second rotating shaft 12 and the third rotating shaft 13, are penetrated on the connecting rod connecting piece 11. The second rotating shaft 12 connects the connecting rod connecting piece 11 and the shell 7 of the third section finger 4 together, so that the connecting rod connecting piece 11 rotates around the shaft. The third rotating shaft 13 connects the connecting rod connecting piece 11 and the connecting rod 14 together, so that the connecting rod 14 can drive the connecting rod connecting piece 11 to move. The other end of the connecting rod 14 is connected on the adaptive button 8 of the three-section finger through the fourth rotating shaft 15. When the fingers clamp a large object, the object presses the adaptive button 8 of the fingers, the button compresses the reset spring and drives the connecting rod 14, the connecting rod 14 drives the connecting rod connecting piece 11 to rotate, so as to realize the bending of the second section finger 3 and the first section finger 2 to envelope the clamped object. When the pressing force disappears, the reset spring will pop back the adaptive button 8, and drive the first section finger and the second section finger 3 to reset.

[0054] The palm base 1 is provided with a driving device, the finger part comprises a finger connecting piece 17, the finger connecting piece 17 is connected with the driving device, and the driving device drives the movement of the finger part.

[0055] The driving device is a gear 19-rack 20 driving mechanism, which comprises the motor 18, the gear 19, and two racks 20 engaged with the gear 19.

[0056] The two racks 20 are arranged in parallel and distributed on both sides of the gear 19, the gear 19 is connected with the motor shaft of the motor 18, the gear 19 drives the two racks 20 to move in opposite directions, and each rack 20 is connected with the finger connecting piece 17 of one finger part.

[0057] The driving device further comprises a track 21, a sliding block 22, and a rack connecting seat 23; the sliding block 22 is arranged on the track 21, and each rack 20 is connected with the sliding block 22 through a rack connecting seat 23.

[0058] The driving device further comprises a driving shell 24; the motor 18, the gear 19, the racks 20, the sliding block 22, the sliding track, and the rack connecting seat 23 are arranged in the shell 7, the upper end of the shell 7 is provided with a sliding groove, the finger connecting piece 17 passes through the sliding groove and is connected with the rack 20, and the lower end of the shell 7 is provided with an arm connecting piece 25.

[0059] When the interval between the two finger parts needs to be adjusted, the motor 18 drives the gear 19 to rotate, the gear 19 drives the racks 20 located on both sides to move away from or close to each other, the racks 20 are connected with the lower track 21 through the rack connecting seat 23 and the sliding block 22, and the racks 20 are provided with finger mounting positions, so that when the racks 20 move, the upper finger part moves away from or close to each other, thereby adjusting the interval between the two finger parts.

[0060] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for part or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A mechanical adaptive gripper, characterized in that, Including the fingers and the base of the palm; The palm base is provided with two symmetrically arranged finger sections, and the distance between the two finger sections is adjustable; The finger section includes multiple finger segments, adjacent fingers are rotatably connected, and the angle between adjacent fingers is adjustable.

2. The mechanical adaptive gripper according to claim 1, characterized in that, The finger section includes three finger segments, namely the first finger segment, the second finger segment, and the third finger segment; The first finger segment and the second finger are connected by a first pivot, and a torsion spring is provided on the first pivot. The third finger section includes a shell, an adaptive button, and a linkage structure; The adaptive button is located inside the housing, and the linkage structure is located inside the housing and is rotatably connected to the housing. The adaptive button is connected to the second finger through a linkage structure, and the adaptive button drives the movement of the second finger through the linkage structure.

3. The mechanical adaptive gripper according to claim 2, characterized in that, The inner side of the first finger segment is provided with a first finger soft rubber, and the inner side of the second finger segment is provided with a second finger soft rubber.

4. The mechanical adaptive gripper according to claim 3, characterized in that, The first and second finger soft rubber sections have a hollow structure.

5. The mechanical adaptive gripper according to claim 2, characterized in that, The linkage structure includes a connecting rod connector, a second rotating shaft, a third rotating shaft, a connecting rod, and a fourth rotating shaft; One end of the connecting rod is connected to the second finger segment, the other end of the connecting rod is connected to the connecting rod, and the connecting rod is connected to the adaptive button. The connecting rod is connected to the housing via a second rotating shaft, and the connecting rod connector is connected to the connecting rod via a third rotating shaft. The connecting rod is connected to the adaptive button via a fourth pivot.

6. The mechanical adaptive gripper according to claim 5, characterized in that, One end of the adaptive button is provided with a reset spring, one end of which is connected to the adaptive button and the other end is connected to the outer casing.

7. The mechanical adaptive gripper according to claim 1, characterized in that, A driving device is provided on the palm base, and the finger part includes a finger connector. The finger connector is connected to the driving device, and the driving device drives the movement of the finger part.

8. The mechanical adaptive gripper according to claim 7, characterized in that, The driving device is a gear and rack drive mechanism; The gear and rack drive mechanism includes a motor, a gear, and two racks that mesh with the gear; Two racks are arranged in parallel and distributed on both sides of the gear. The gear is connected to the motor shaft of the motor, and the gear drives the two racks to move in opposite directions. Each rack is connected to a finger connector of one finger section.

9. The mechanical adaptive gripper according to claim 8, characterized in that, The drive device also includes a track, a slider, and a rack and pinion connector; The slider is set on the track, and each rack is connected to the slider through a rack connector.

10. The mechanical adaptive gripper according to claim 9, characterized in that, The drive unit also includes a housing; The motor, gear, rack, slider, slide rail, and rack connector are housed within the housing. The upper end of the outer shell is provided with a sliding groove, and the finger connector passes through the sliding groove and connects to the rack; An arm connector is provided at the lower end of the outer shell.

Images