Clamping jaw capable of grabbing special-shaped objects

Abstract

A clamping jaw capable of grabbing special-shaped objects comprises a support, a sliding block, two sets of connecting rod assemblies and two sets of anti-skid assemblies arranged on the two sets of connecting rod assemblies correspondingly. The sliding block is arranged at one end of the support and can be driven to linearly move along a first track. The other end of the support is provided with a bearing block protruding outwards. A connecting piece is arranged at the position, between the sliding block and the bearing block, of the support, and first connecting parts are arranged at the two ends of the connecting piece; the two connecting rod assemblies are symmetrically arranged about the first track. The connecting rod assembly comprises a push rod and a quadrilateral mechanism, the quadrilateral mechanism is formed by first, second, third and fourth connecting rods sequentially hinged to the side away from the first track, the end, close to the first track, of the first connecting rod is hinged to the first connecting part, and the two ends of the push rod are hinged to the first connecting rod and the sliding block respectively; the sum of the side lengths of the quadrangles corresponding to the first connecting rod and the second connecting rod is not equal to the side lengths of the quadrangles corresponding to the third connecting rod and the fourth connecting rod; compared with the prior art, the clamping jaw can clamp special-shaped objects.

Description

Technical Field

[0001] This utility model belongs to the field of mechanical gripper technology, specifically relating to a gripper capable of grasping irregularly shaped objects. Background Technology

[0002] Currently, the grippers of robotic arms exhibit poor gripping stability when holding irregularly shaped objects, affecting their reliability. For example, the robotic gripper provided in authorization announcement number CN201573203U uses two sets of parallelogram mechanisms to move two clamping bars mounted on these mechanisms towards each other or northward, thus opening or closing the gripper. While the two clamping bars move towards each other during the clamping process, this gripper struggles to clamp round or other irregularly shaped objects, and slippage is common. Utility Model Content

[0003] The purpose of this invention is to overcome the shortcomings of the existing technology and provide a gripper that can grasp irregularly shaped objects.

[0004] To achieve the above objectives, this utility model discloses a gripper capable of grasping irregularly shaped objects, the gripper comprising a support, a slider, two sets of connecting rod assemblies, and two sets of anti-slip assemblies;

[0005] The slider is located at one end of the bracket and can move linearly along the first trajectory when driven.

[0006] The other end of the bracket is provided with an outwardly protruding receiving block; a connector is provided on the bracket between the slider and the receiving block, and both ends of the connector are provided with a first connecting part;

[0007] The two sets of the linkage assemblies are symmetrically arranged about the first trajectory axis;

[0008] The linkage assembly includes a push rod and a quadrilateral mechanism. The quadrilateral mechanism is formed by a first link, a second link, a third link, and a fourth link that are sequentially hinged to the side away from the first trajectory. The end of the first link near the first trajectory is hinged to the first connecting part. The two ends of the push rod are respectively hinged to the side of the first link away from the first trajectory and to the slider.

[0009] The sum of the side lengths of the quadrilaterals corresponding to the first and second links is not equal to the side lengths of the quadrilaterals corresponding to the third and fourth links;

[0010] The two sets of anti-slip components are respectively installed on the third link of the two sets of link assemblies.

[0011] Preferably, the receiving block is located on the extension line of the first trajectory.

[0012] Preferably, the connector is further provided with a second connecting part located outside the first connecting part at both ends, the second connecting rod is hinged to the middle position of the third connecting rod, and the connecting rod assembly further includes a telescopic cylinder, the two ends of the telescopic cylinder being respectively hinged to the ends of the second connecting part and the third connecting rod away from the fourth connecting rod.

[0013] Preferably, the telescopic cylinder is an adaptive telescopic cylinder.

[0014] Preferably, the third link is L-shaped and includes a third connecting part and a fourth connecting part. The third connecting part is connected to the second link and the fourth link, and the fourth connecting part is used to connect the anti-slip component.

[0015] Preferably, the anti-slip assembly includes a connecting shell and an anti-slip component, the anti-slip component being connected to the third link via the connecting shell.

[0016] Preferably, a force sensor is provided inside the connecting shell.

[0017] Preferably, the surface of the anti-slip component is provided with anti-slip protrusions.

[0018] Preferably, it also includes a drive device, which includes a motor, a reducer, and a lead screw. The input end and output end of the reducer are respectively connected to the output end of the motor and the lead screw, and the slider is threadedly connected to the lead screw.

[0019] Compared with the prior art, the beneficial effects of this utility model are as follows:

[0020] When clamping an object, the moving jaws position the object between two sets of anti-slip components. Then, the slider is driven to move along a first trajectory. During this process, the slider drives the push rod to move, which in turn drives the first and second connecting rods to rotate sequentially. Subsequently, the second connecting rod pushes / pulls the third connecting rod to rotate towards the object being clamped. The anti-slip components on the third connecting rod push the object towards the receiving block until the object contacts the receiving block. At this point, the object rests against the receiving block and is clamped by the two anti-slip components. By using the two anti-slip components and the receiving block to clamp explosives together, both regularly shaped and irregularly shaped explosives can be clamped. Attached Figure Description

[0021] Figure 1 A top view of the gripper capable of grasping irregularly shaped objects, as shown in the embodiment;

[0022] Figure 2 for Figure 1 A three-dimensional exploded view of the gripper's structure;

[0023] Casing 100;

[0024] Drive unit 200; motor 210; reducer 220; lead screw 230;

[0025] 300; 310; 320; 321; 322;

[0026] Slider 400;

[0027] Linkage assembly 500; push rod 510; quadrilateral mechanism 520; first link 521; second link 522; third link 523; third connecting part 5231; fourth connecting part 5232; fourth link 524; telescopic cylinder 525;

[0028] Anti-slip component 600; connecting shell 610; anti-slip part 620; anti-slip protrusion 621. Detailed Implementation

[0029] To make the above-mentioned objectives, features and advantages of this utility model more apparent and understandable, the utility model will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0030] A gripper capable of grasping irregularly shaped objects, see [link / reference] Figures 1-2 The gripper includes a housing 100, a drive unit 200, a bracket 300, a slider 400, two sets of linkage assemblies 500, and two sets of anti-slip assemblies 600.

[0031] The drive unit 200 includes a motor 210, a reducer 220, and a lead screw 230. The motor 210 is installed inside the housing 100. The input and output ends of the reducer 220 are connected to the output end of the motor 210 and the lead screw 230, respectively. A slider 400 is threadedly connected to the lead screw 230. When gripping an object, the motor 210 drives the lead screw 230 to rotate through the reducer 220, and the slider 400 moves along the axial direction of the lead screw. The movement of the slider 400 causes the grippers to open and close. The drive unit 200 includes a reducer 220, which not only reduces speed to ensure operational stability but also alleviates high-frequency vibrations during transmission, overcoming the problem of end-effector jitter affecting gripping performance in existing technologies. Especially when gripping explosives, it significantly alleviates problems such as failed explosive gripping and accidental triggering of precision detonation components caused by end-effector jitter.

[0032] One end of the bracket 300 is connected to the housing 100, and the other end of the bracket 300 is provided with an outwardly protruding receiving block 310. The receiving block 310 is located on the outer side of the lead screw end, specifically in the middle of the two sets of connecting rod assemblies 500, and is used to receive the clamped object. A connector 320 is provided on the bracket 300 between the slider 400 and the receiving block 310. Both ends of the connector 320 are provided with first connecting portions 321. The two sets of connecting rod assemblies 500 are symmetrically arranged about the first trajectory axis. The structure of one set of connecting rod assemblies 500 will be described below. It can be understood that the other set of connecting rod assemblies 500 is axially symmetrically connected to the other side of the lead screw.

[0033] The linkage assembly 500 includes a push rod 510 and a quadrilateral mechanism 520. The quadrilateral mechanism 520 is formed by a first link 521, a second link 522, a third link 523, and a fourth link 524 that are hinged sequentially. The end of the first link 521 near the lead screw is hinged to the first connecting part 321. The two ends of the push rod 510 are respectively hinged to the end of the first link 521 away from the first trajectory and to the slider 400. The sum of the side lengths of the quadrilaterals corresponding to the first link 521 and the second link 522 is not equal to the side lengths of the quadrilaterals corresponding to the third link 523 and the fourth link 524. For ease of explanation, in this embodiment, the sum of the side lengths of the quadrilaterals corresponding to the first link 521 and the second link 522 is greater than the sum of the side lengths of the quadrilaterals corresponding to the third link 523 and the fourth link 524. Two sets of anti-slip components 600 are respectively installed on the third connecting rod 523 of the two sets of quadrilateral mechanisms 520, and are arranged facing each other to clamp the object being clamped.

[0034] When an object needs to be grasped, the slider 400 moves outward (towards the receiving block 310) under the action of the lead screw 230. During this process, the slider 400 drives the push rod 510 to move outward, which in turn pushes the first connecting rod 521, increasing the angle between the first connecting rod 521 and the second connecting rod 522. Consequently, the second connecting rod 522 extends outward, pushing the third connecting rod 523 to flip towards the object being clamped. The anti-slip component 600 on the third connecting rod 523 pushes the object being clamped towards the receiving block 310 until it contacts the receiving block 310. At this point, the object is pressed against the receiving block 310 and clamped by the two anti-slip components 600. By using the two anti-slip components 600 and the receiving block 310 to clamp the object together, both regular-shaped and irregularly shaped products can be clamped.

[0035] Except for the second link 522, which is hinged to the middle position of the third link 523, all other links of the quadrilateral mechanism 520 are hinged to each other at their first and second ends, resulting in a compact structure.

[0036] In this embodiment, the sum of the side lengths of the quadrilaterals corresponding to the first link 521 and the second link 522 is the sum of the lengths of the first link 521 and the second link 522. The sum of the side lengths of the quadrilaterals corresponding to the third link 523 and the fourth link 524 is the distance from the hinge point of the second link 522 and the third link 523 to the end of the third link 523 near the fourth link 524, plus the length of the fourth link 524.

[0037] The connector 320 also has a second connecting part 322 located outside the first connecting part 321 at both ends. The second connecting rod 522 is hinged to the middle position of the third connecting rod 523. The connecting rod assembly 500 also includes a telescopic cylinder 525. The two ends of the telescopic cylinder are respectively hinged to the ends of the second connecting part 322 and the third connecting rod 523 away from the fourth connecting rod 524. Specifically, the telescopic cylinder is an adaptive telescopic cylinder, used to provide reverse tension to the third connecting rod 523 during the clamping process. The telescopic cylinder 525 has the following advantages: First, the second cylinder enhances the structural strength and stability of the quadrilateral mechanism 520 and improves its service life; Second, when the four connecting rods of the quadrilateral mechanism 520 are hinged to each other, there are hinge gaps, which can easily cause the quadrilateral mechanism 520 to vibrate during the operation of the robotic arm, thus affecting the clamping effect. In this embodiment, under the action of the reverse tension provided by the second cylinder and the thrust provided by the push rod 510, the four connecting rods are in a "tight" state, the overall structure is more stable, and the safety problems caused by end-effector vibration are significantly reduced.

[0038] The third link 523 is L-shaped and includes a third connecting part 5231 and a fourth connecting part 5232. The third connecting part 5231 is connected to the second link 522 and the fourth link 524, and the fourth connecting part 5232 is used to connect the anti-slip assembly 600. The anti-slip assembly 600 includes a connecting shell 610 and an anti-slip component 620, and the anti-slip component 620 is connected to the third link 523 through the connecting shell 610.

[0039] The surface of the anti-slip part 620 is provided with anti-slip protrusions 621, which can increase friction and prevent the clamped object from slipping.

[0040] In this embodiment, a force sensor is provided inside the connecting shell 610. The force sensor can monitor the clamping force in real time to ensure the clamping effect and avoid the problem of damage to the object due to excessive clamping force.

[0041] Obviously, the above embodiments of this utility model are merely examples for clearly illustrating this utility model, and are not intended to limit the implementation of this utility model. Those skilled in the art can make other variations or modifications based on the above description. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this utility model should be included within the protection scope of the claims of this utility model.

Claims

1. A gripper capable of grasping irregularly shaped objects, characterized in that: Includes a bracket, slider, two sets of linkage assemblies, and two sets of anti-slip components; The slider is located at one end of the bracket and can move linearly along the first trajectory when driven. The other end of the bracket is provided with an outwardly protruding receiving block; a connector is provided on the bracket between the slider and the receiving block, and both ends of the connector are provided with a first connecting part; The two sets of the linkage assemblies are symmetrically arranged about the first trajectory axis; The linkage assembly includes a push rod and a quadrilateral mechanism. The quadrilateral mechanism is formed by a first link, a second link, a third link, and a fourth link that are sequentially hinged to the side away from the first trajectory. The end of the first link near the first trajectory is hinged to the first connecting part. The two ends of the push rod are respectively hinged to the side of the first link away from the first trajectory and to the slider. The sum of the side lengths of the quadrilaterals corresponding to the first and second links is not equal to the side lengths of the quadrilaterals corresponding to the third and fourth links; The two sets of anti-slip components are respectively installed on the third link of the two sets of link assemblies.

2. The gripper capable of grasping irregularly shaped objects according to claim 1, characterized in that: The receiving block is located on the extension line of the first trajectory.

3. The gripper capable of grasping irregularly shaped objects according to claim 1, characterized in that: The connector is further provided with a second connecting part located outside the first connecting part at both ends. The second connecting rod is hinged to the middle position of the third connecting rod. The connecting rod assembly also includes a telescopic cylinder. The two ends of the telescopic cylinder are respectively hinged to the ends of the second connecting part and the third connecting rod away from the fourth connecting rod.

4. The gripper capable of grasping irregularly shaped objects according to claim 3, characterized in that: The telescopic cylinder is an adaptive telescopic cylinder.

5. The gripper capable of grasping irregularly shaped objects according to claim 1, characterized in that: The third link is L-shaped and includes a third connecting part and a fourth connecting part. The third connecting part is connected to the second link and the fourth link, and the fourth connecting part is used to connect the anti-slip component.

6. The gripper capable of grasping irregularly shaped objects according to claim 1, characterized in that: The anti-slip assembly includes a connecting shell and an anti-slip component, with the anti-slip component connected to the third link via the connecting shell.

7. The gripper capable of grasping irregularly shaped objects according to claim 6, characterized in that: A force sensor is installed inside the connecting shell.

8. The gripper capable of grasping irregularly shaped objects according to claim 6, characterized in that: The surface of the anti-slip component is provided with anti-slip protrusions.

9. The gripper capable of grasping irregularly shaped objects according to claim 1, characterized in that: It also includes a drive device, which includes a motor, a reducer and a lead screw. The input end and output end of the reducer are respectively connected to the output end of the motor and the lead screw, and the slider is threadedly connected to the lead screw.

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