Mechanical gripper and robot

Abstract

The utility model provides a mechanical gripper and a robot, the mechanical gripper comprises a mounting seat, a gripper seat and a gripper body, the mounting seat is rotatably connected with the gripper seat along a rotation axis, and the gripper body is connected to the gripper seat; the mounting seat is provided with a positioning groove; the gripper seat is provided with a positioning piece, and the positioning piece extends out of the gripper seat and is clamped into the positioning groove so as to lock the gripper seat and the mounting seat; and the positioning piece is used for being separated from the positioning groove when the paw body is overloaded so as to allow the paw seat and the mounting seat to rotate relatively. The risk that the mechanical gripper or materials are damaged can be reduced, and the production efficiency is improved.

Description

Technical Field

[0001] This application relates to the field of automated robotic arms for picking up and placing materials, and more particularly to a robotic gripper and robot. Background Technology

[0002] With the development of industrial automation, loading robots are increasingly being used for automated material handling in production processes. These robots typically have robotic grippers that pick up materials from preset positions and place them at target locations. However, if the material's position becomes abnormal, excessive pressure between the gripper and the material can damage either the gripper or the material. Furthermore, the alignment of the gripper and material needs to be readjusted, impacting production efficiency. Utility Model Content

[0003] This application provides a robotic gripper and robot to reduce the risk of damage to the robotic gripper or materials and to improve production efficiency.

[0004] The first aspect of this application provides a robotic gripper, which includes a mounting base, a gripper base, and a gripper body. The mounting base and the gripper base are rotatably connected along a rotation axis, and the gripper body is connected to the gripper base.

[0005] The mounting base is provided with a positioning groove;

[0006] The gripper base is provided with a positioning element, which extends out of the gripper base and engages with the positioning groove to lock the gripper base and the mounting base;

[0007] The positioning element is used to disengage from the positioning groove when the gripper body is overloaded, so as to allow the gripper seat and the mounting seat to rotate relative to each other.

[0008] Optionally, the positioning member extends and retracts along its own axis to engage or disengage from the positioning groove, and the gripper seat is equipped with an adjusting screw. The adjusting screw abuts against the end of the positioning member away from the positioning groove, and the adjusting screw moves along the axial direction of the positioning member to compress or release the positioning member.

[0009] Optionally, the positioning element includes a positioning pin and an elastic element, wherein the positioning pin is slidably connected to the gripper base;

[0010] One end of the positioning pin is exposed outside the gripper seat and abuts against the mounting base, while the elastic element elastically abuts against the other end of the positioning pin.

[0011] Optionally, the end of the positioning pin exposed outside the gripper seat is configured as a spherical surface.

[0012] Optionally, the mounting base is provided with a first arc surface, and the positioning groove is recessed in the first arc surface;

[0013] The gripper base has a second arc surface, and the projections of the second arc surface and the second arc-shaped surface along the extension direction of the rotation axis are concentric. A portion of the positioning member extends out of the second arc surface.

[0014] Optionally, the gripper base is provided with a meshing gear and a rack, the center line of the gear is collinear with the axis of rotation, and the rack is slidably connected to the mounting base;

[0015] A first damper is provided between the gripper base and the mounting base. The first damper is arranged parallel to the rack, and its two ends are respectively connected to the mounting base and the rack.

[0016] Optionally, a second damper is provided between the gripper seat and the mounting base. The second damper and the first damper are arranged opposite to each other along the movement direction of the rack. The two ends of the second damper are respectively connected to the mounting base and the rack.

[0017] Optionally, the first damper and the second damper are arranged in a straight line, and a connecting protrusion is provided on one side of the rack. The ends of the first damper and the second damper that are close to each other are connected to the connecting protrusion.

[0018] Optionally, a misalignment sensor is provided between the gripper base and the mounting base to stop the robotic gripper when the gripper base and the mounting base rotate relative to each other.

[0019] A second aspect of this application provides a robot comprising a robotic arm and any of the robotic grippers provided in this application, wherein the mounting base is connected to the robotic arm.

[0020] The technical solution provided in this application can achieve the following beneficial effects:

[0021] The robotic gripper provided in this application includes a mounting base, a gripper base, and a gripper body. The mounting base and the gripper base are rotatably connected along a rotation axis, and the gripper body is connected to the gripper base. The mounting base is provided with a positioning groove. The gripper base is provided with a positioning element, which extends out of the gripper base and engages with the positioning groove to lock the gripper base and the mounting base. The positioning element is used to disengage from the positioning groove when the gripper body is overloaded, so as to allow the gripper base and the mounting base to rotate relative to each other. Therefore, when a fault such as abnormal material position occurs, causing the gripper body to be overloaded, the mounting base still moves with the robot along the predetermined trajectory. A large clamping force is generated between the gripper body and the material. Under the pushing action of this clamping force, the gripper base rotates around the mounting base in a direction away from the material, thus playing a protective role and preventing excessive clamping force between the robotic gripper and the material, effectively avoiding damage to the robotic gripper or the material. After the fault is eliminated, simply rotate the gripper base to reset it and allow the positioning component to re-engage in the positioning slot to resume normal production. There is no need to readjust the engagement potential between the robotic gripper and the material, thereby shortening downtime for maintenance and improving production efficiency.

[0022] It should be understood that the above general description and the following detailed description are merely exemplary and do not limit this application. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the structure of the robotic gripper provided in the embodiments of this application;

[0024] Figure 2 This is a partial orthographic projection view of the structure of the robotic gripper provided in an embodiment of this application;

[0025] Figure 3 for Figure 2 A schematic diagram of the cross-sectional structure;

[0026] Figure 4 for Figure 2 A three-dimensional structural diagram of the robotic gripper shown.

[0027] Figure 5 for Figure 4 A diagram from another angle.

[0028] Figure label:

[0029] 1-Mounting base;

[0030] 10-Positioning groove;

[0031] 12-First arc surface;

[0032] 14-First flange;

[0033] 2-Hand-claw constellation;

[0034] 20 - Positioning components;

[0035] 200-Positioning Pin;

[0036] 202-Elastic component;

[0037] 22-Adjusting screw;

[0038] 23 - Second arc surface;

[0039] 24-Gear;

[0040] 26-Rack;

[0041] 28-Second flange;

[0042] 3-Connecting shaft;

[0043] 30 - Rotation axis;

[0044] 4-Claw body;

[0045] 40 - Third flange;

[0046] 5-First damper;

[0047] 6-Second damper;

[0048] 7-Connecting bump;

[0049] 8-Connecting bracket;

[0050] 9-Misalignment sensor.

[0051] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application. Detailed Implementation

[0052] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0053] In the description of this application, unless otherwise expressly specified and limited, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance; unless otherwise specified or explained, the term "multiple" refers to two or more; the terms "connected," "fixed," etc., should be interpreted broadly. For example, "connected" can be a fixed connection, a detachable connection, an integral connection, or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0054] In the description of this specification, it should be understood that the directional terms such as "upper" and "lower" used in the embodiments of this application are used to describe the angles shown in the accompanying drawings and should not be construed as limiting the embodiments of this application. Furthermore, in the context, it should also be understood that when it is mentioned that an element is connected "upper" or "lower" to another element, it can be directly connected to the other element "upper" or "lower," or indirectly connected to the other element "upper" or "lower" through an intermediate element.

[0055] like Figures 1-5 As shown in the illustration, this application provides a robotic gripper 100, which includes a mounting base 1, a gripper base 2, and a gripper body 4. The mounting base 1 can be connected to the robotic arm of a robot, thereby mounting and fixing the robotic gripper 100 to the robot. The robot drives the robotic gripper 100 to move along a predetermined trajectory, for example, the robot drives the robotic gripper 100 to move between a preset position and a target position of the material. The gripper base 2 is connected to the gripper body 4, and the gripper body 4 picks up and places materials, thereby transporting the materials from the preset position to the target position.

[0056] Specifically, see Figure 1 The mounting base 1 has a first flange 14 at one end, which forms a detachable connection with the robotic arm. Understandably, the first flange 14 can be omitted, and the mounting base 1 and the robotic arm can also be connected by welding or integral molding to form a non-detachable connection. Similarly, the gripper base 2 has a second flange 28 at its end, and the gripper body 4 has a third flange 40 at a relatively opposite position, connected by the second flange 28 and the third flange 40. Understandably, the gripper base 2 and the gripper body 4 can also be connected by welding or integral molding to form a non-detachable connection.

[0057] Furthermore, the mounting base 1 and the gripper base 2 are rotatably connected, and both rotate along the rotation axis 30. Specifically, a connecting shaft 3 can be provided between the mounting base 1 and the gripper base 2. At least one of the mounting base 1 and the gripper base 2 forms a rotatable engagement with the connecting shaft 3, thereby realizing the rotatable connection between the mounting base 1 and the gripper base 2. The axis of the connecting shaft 3 is the rotation axis 30. For example, the connecting shaft 3 is fixed to the mounting base 1, passes through the gripper base 2, and rotatably engages with the gripper base 2; or, the connecting shaft 3 is fixed to the gripper base 2, passes through the mounting base 1, and rotatably engages with the mounting base 1; or, the connecting shaft 3 passes through both the mounting base 1 and the gripper base 2, forming a rotatable engagement between the connecting shaft 3 and the mounting base 1.

[0058] Furthermore, the mounting base 1 is provided with a positioning groove 10, which is located on one side of the rotation axis 30. The gripper base 2 is provided with a positioning element 20, which is also located on one side of the rotation axis 30. A portion of the positioning element 20 extends out of the gripper base 2 and engages with the positioning groove 10 to lock the gripper base 2 and the mounting base 1. On the one hand, the positioning element 20 plays a positioning role between the gripper base 2 and the mounting base 1, ensuring that the gripper body 4 is in the accurate position of the material to be gripped, thereby facilitating the robotic gripper 100 to pick up and place the material; on the other hand, the positioning element 20 plays a locking role between the gripper base 2 and the mounting base 1, locking the gripper base 2 and the mounting base 1 into a whole, so that the gripper base 2 moves synchronously with the mounting base 1, ensuring that the robotic gripper 100 can normally transport materials.

[0059] Furthermore, when a malfunction such as abnormal material positioning causes overload of the gripper body 4, the positioning component 20 can disengage from the positioning groove 10, allowing the gripper seat 2 to rotate relative to the mounting base 1. The mounting base 1 continues to move along the predetermined trajectory with the robot, generating a large clamping force between the gripper body 4 and the material. Under the pushing action of this clamping force, the gripper seat 2 rotates around the mounting base 1 in a direction away from the material, thus providing protection and preventing excessive clamping force between the robotic gripper 100 and the material, effectively avoiding damage to the robotic gripper 100 or the material. Moreover, once the malfunction is eliminated (e.g., abnormal material position recovery), simply rotating the gripper seat 2 to reset it and re-engaging the positioning component 20 into the positioning groove 10 is sufficient to resume normal production. There is no need to readjust the engagement point between the robotic gripper 100 and the material, thereby shortening downtime for maintenance and improving production efficiency.

[0060] Furthermore, a misalignment sensor 9 is provided between the gripper base 2 and the mounting base 1. The misalignment sensor 9 is electrically or communicatively connected to the robotic arm. When the load on the gripper base 2 exceeds a preset value, causing the gripper base 2 and the mounting base 1 to rotate relative to each other, the misalignment sensor 9 sends a signal to pause or shut down the robotic arm's movement, thereby stopping the robotic gripper 100. This serves as a foolproof design to prevent the robotic gripper 100 from handling materials in the event of a malfunction.

[0061] Specifically, the positioning element 20 may be connected to an automatic unlocking mechanism. When the load on the gripper body 4 is too large, the automatic unlocking mechanism is triggered and drives the positioning element 20 to move away from the positioning groove 10, thereby releasing the lock between the gripper base 2 and the mounting base 1.

[0062] In some embodiments, the positioning member 20 extends and retracts along its own axial direction to engage or disengage from the positioning groove 10. That is, the positioning member 20 can automatically engage or disengage from the positioning groove 10 under its own elastic force, without the need for a dedicated unlocking mechanism, thereby reducing the number of parts and simplifying the overall structure of the robotic gripper 100. Specifically, at least a portion of the positioning member 20 is made of elastic material, enabling the positioning member 20 to extend and retract along its own axial direction. In its natural state, under the action of its own elastic force, the positioning member 20 extends outward and engages in the positioning groove 10, thereby locking the gripper base 2 and the mounting base 1. When the load on the gripper base 2 exceeds a preset value, the gripper base 2 squeezes the positioning member 20, forcing the positioning member 20 to retract inward and disengage from the positioning groove 10.

[0063] Furthermore, the gripper base 2 is equipped with an adjusting screw 22, which abuts against the end of the positioning member 20 away from the positioning groove 10. When the user rotates the adjusting screw 22, the adjusting screw 22 moves along the axial direction of the positioning member 20 to compress or release the positioning member 20, thereby adjusting the preload of the positioning member 20. This ensures that the elastic force of the positioning member 20 matches the load required for material handling, meeting both the normal material handling needs and providing protection when the gripper base 2 is overloaded. Specifically, the greater the preload of the positioning element 20, the greater the squeezing force required for the positioning element 20 to disengage from the positioning groove 10, and correspondingly, the greater the load that the gripper seat 2 needs to bear. When the preload of the positioning element 20 is too small, the gripper seat 2 will disengage from the positioning groove 10 under a small load (not exceeding the normal load), affecting the normal handling of materials. When the preload of the positioning element 20 is too large, the gripper seat 2 will not disengage from the positioning groove 10 under a large load (a load greater than the preset value), thus losing its effective protective function.

[0064] In one embodiment, the positioning element 20 includes a positioning pin 200 and an elastic element 202. The positioning pin 200 is a rigid element that is not easily deformed, and the elastic element 202 is a structure or material that is easily deformable, such as a spring. The positioning pin 200 is slidably connected to the gripper seat 2, with one end of the positioning pin 200 exposed outside the gripper seat 2 and abutting against the mounting seat 1. The elastic element 202 elastically abuts against the other end of the positioning pin 200. On the one hand, the interaction between the non-deformable positioning pin 200 and the positioning groove 10 increases the stability of the mutual locking between the gripper seat 2 and the mounting seat 1, reducing the possible shaking or torsion between the gripper seat 2 and the mounting seat 1. On the other hand, when the positioning pin 200 slides along the gripper seat 2, it squeezes or releases the elastic element 202, ensuring that the positioning element 20 as a whole only undergoes axial expansion and contraction, without abnormal deformation such as bending, thereby improving the stability and reliability of the positioning element 20.

[0065] Furthermore, the end of the positioning pin 200 exposed outside the gripper seat 2 is spherical, meaning that the positioning pin 200 engages with the positioning groove 10 via the spherical surface. When the load on the gripper seat 2 exceeds a preset value, the gripper seat 2 compresses the spherical surface radially along the positioning pin 200, converting the radial force of the positioning pin 200 into an axial force through the spherical surface. This allows the positioning pin 200 to automatically move away from the positioning groove 10 and disengage from it. In addition, the engagement of the positioning pin 200 with the positioning groove 10 via the spherical surface reduces the circumferential positioning requirements of the positioning pin 200. Even if the positioning pin 200 rotates around its own axis, it will not affect the normal engagement between the positioning pin 200 and the positioning groove 10. This improves the uniformity of circumferential wear of the positioning pin 200, extends its service life, and simplifies the assembly process of the robotic gripper 100.

[0066] Furthermore, the positioning groove 10 is configured as a spherical groove recessed into the surface of the mounting base 1, that is, a spherical fit is formed between the positioning pin 200 and the positioning groove 10. This increases the contact area between the positioning pin 200 and the positioning groove 10, thereby making the force distribution between the positioning pin 200 and the positioning groove 10 more uniform and preventing fatigue damage caused by local stress concentration.

[0067] Furthermore, the mounting base 1 is provided with a first arc surface 12, and the positioning groove 10 is recessed in the first arc surface 12. The gripper base 2 is provided with a second arc surface 23, and the projections of the second arc surface 23 and the first arc surface 12 along the extension direction of the rotation axis 30 are concentrically arranged, with a portion of the positioning member 20 extending out of the second arc surface 23. On the one hand, both the second arc surface 23 and the first arc surface 12 are around the rotation axis 30, and the second arc surface 23 and the first arc surface 12 cooperate with each other, thereby playing a rotational guiding role between the gripper base 2 and the mounting base 1, increasing the stability of the relative rotation of the gripper base 2 and the mounting base 1; on the other hand, the positioning member 20 passes through the second arc surface 23 and the first arc surface 12 in sequence, so that the positioning member 20 can simultaneously play a circumferential locking and axial locking role, thereby increasing the stability and reliability of the connection between the gripper base 2 and the mounting base 1.

[0068] Furthermore, a first damper 5 can be provided between the gripper seat 2 and the mounting base 1. When the load on the gripper seat 2 exceeds a preset value and it rotates, the first damper 5 stores energy. On the one hand, when a fault occurs, the first damper 5 acts as a buffer for the gripper seat 2, preventing the gripper seat 2 from moving violently after the positioning member 20 comes out of the positioning groove 10, which could lead to material spillage or damage. On the other hand, when the fault is cleared, the first damper 5 acts as a pusher for the gripper seat 2, making the reset operation of the gripper seat 2 easier.

[0069] Furthermore, a second damper 6 is provided between the gripper base 2 and the mounting base 1, with the first damper 5 and the second damper 6 arranged opposite to each other. By providing opposite damping forces to the gripper base 2 through the first damper 5 and the second damper 6, the resistance to relative rotation between the gripper base 2 and the mounting base 1 can be increased, thereby increasing the stability of the locked state between the gripper base 2 and the mounting base 1. This reduces or avoids vibrations generated during material handling by the robotic gripper 100, and increases the operational accuracy of the robotic gripper 100. In addition, when the gripper base 2 rotates, one of the first damper 5 and the second damper 6 stores energy while the other releases energy, thus ensuring smooth and effortless rotation of the gripper base 2 in both forward and reverse directions.

[0070] Furthermore, the gripper base 2 is provided with a meshing gear 24 and a rack 26. The center line of the gear 24 is collinear with the rotation axis 30, and the rack 26 is slidably connected to the mounting base 1. The first damper 5 is arranged parallel to the rack 26, and its two ends are respectively connected to the mounting base 1 and the rack 26. Through the gear 24 and rack 26 mechanism, the rotational motion of the gripper base 2 is converted into the linear motion of the rack 26, so that the first damper 5 can be a linear damper to improve its load-bearing capacity and make it suitable for the high load requirements of the robotic gripper 100. Similarly, the second damper 6 is arranged opposite to the first damper 5 along the direction of movement of the rack 26, and its two ends are respectively connected to the mounting base 1 and the rack 26, so that the second damper 6 can also be a linear damper.

[0071] Furthermore, the first damper 5 and the second damper 6 are arranged in a straight line, and a connecting protrusion 7 protrudes from one side of the rack 26. The ends of the first damper 5 and the second damper 6 that are close to each other are connected to the connecting protrusion 7. On the one hand, the rack 26 is subjected to equal and opposite forces on both sides, preventing the rack 26 from deforming due to torque; on the other hand, it can make full use of the limited space and increase the stroke of the first damper 5 and the second damper 6, thereby meeting the high load requirements of the robotic gripper 100.

[0072] In this design, connecting brackets 8 can be respectively installed at both ends of the mounting base 1 along the length of the rack 26. The ends of the first damper 5 and the second damper 6 that are far apart from each other are respectively connected to the corresponding connecting brackets 8. The connecting brackets 8 can be fixed to the mounting base 1 by means of screws or other means, thereby simplifying the structure of the mounting base 1 itself and reducing production costs.

[0073] In addition, this application embodiment also provides a robot, which includes a robotic arm and any of the robotic grippers 100 provided in this application embodiment. The mounting base 1 is connected to the robotic arm, thereby mounting and fixing the robotic gripper 100 to the robotic arm.

[0074] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A mechanical hand, characterized in that, The mounting base is provided with a positioning groove; The pawl base is provided with a positioning member which extends out of the pawl base and is clamped into the positioning groove to lock the pawl base and the mounting base; The positioning member is used to be pulled out of the positioning groove when the pawl body is overloaded to allow the pawl base and the mounting base to rotate relative to each other. The positioning member is clamped into or pulled out of the positioning groove along the axial direction of the positioning member, and the pawl base is provided with an adjusting screw which abuts against one end of the positioning member away from the positioning groove, and the adjusting screw moves along the axial direction of the positioning member to compress or release the positioning member.

2. The mechanical hand of claim 1, wherein The positioning member includes a positioning pin and an elastic member, and the positioning pin is slidingly connected to the pawl base; 3. The mechanical hand of claim 1, wherein One end of the positioning pin is exposed to the pawl base and abuts against the mounting base, and the elastic member elastically abuts against the other end of the positioning pin. The end of the positioning pin exposed to the pawl base is provided with a spherical surface.

4. The mechanical gripper according to claim 3, characterized in that The mounting base is provided with a first arc surface, and the positioning groove is recessed in the first arc surface; 5. The mechanical hand of claim 1, wherein One side of the pawl base facing the positioning groove is provided with a second arc surface, the projections of the second arc surface and the first arc surface along the extension direction of the rotation axis are provided with the same center, and a part of the positioning member extends out of the second arc surface. The pawl base is provided with a gear and a rack which are engaged with each other, the center line of the gear is collinear with the rotation axis, and the rack is slidingly connected to the mounting base; 6. The mechanical gripper according to any one of claims 1-5, characterized in that, A first damper is arranged between the pawl base and the mounting base, the first damper is arranged in parallel with the rack, and the two ends of the first damper are connected to the mounting base and the rack, respectively. A second damper is arranged between the pawl base and the mounting base, the second damper is arranged opposite to the first damper along the movement direction of the rack, and the two ends of the second damper are connected to the mounting base and the rack, respectively.

7. The mechanical gripper of claim 6, wherein, The first damper and the second damper are arranged in a straight line, one side of the rack is provided with a connecting protrusion, and the ends of the first damper and the second damper which are close to each other are connected to the connecting protrusion.

8. The mechanical gripper of claim 7, wherein, A misalignment sensor is arranged between the pawl base and the mounting base to stop the mechanical pawl when the pawl base and the mounting base rotate relative to each other.

9. The mechanical gripper according to any one of claims 1-5, characterized in that, The mounting base is connected to the mechanical arm.

10. A robot, characterized in that ​

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