Mechanical clamping jaw and robot

Abstract

The embodiment of the utility model provides a mechanical clamping jaw and a robot, and relates to the field of robots. The mechanical clamping jaw comprises a shell, a driving assembly, a connecting rod mechanism and clamping fingers, wherein the driving assembly is arranged in the shell; the connecting rod mechanism comprises a first connecting rod, a second connecting rod, a third connecting rod and a fourth connecting rod, one end of the first connecting rod is connected with the driving assembly, the other end of the first connecting rod is rotatably connected with the second connecting rod, and different positions of the second connecting rod are rotatably connected with the third connecting rod and the fourth connecting rod respectively; the second connecting rod is rotatably connected to the shell, and the connecting position of the second connecting rod and the shell is located between the connecting position of the first connecting rod and the second connecting rod and the connecting position of the second connecting rod and the third connecting rod; and different positions of the clamping fingers are rotationally connected with the third connecting rod and the fourth connecting rod respectively. The mechanical clamping jaw can grab round or irregular objects, and meanwhile, the mechanical clamping jaw is large in grabbing force, stable and reliable. The embodiment of the utility model further provides the robot.

Description

Technical Field

[0001] This utility model relates to the field of robotics, and more specifically, to a mechanical gripper and a robot. Background Technology

[0002] The grippers of a robot are mounted on its robotic arm and used to grasp objects. Common robot grippers include two-finger grippers, with the ends of the two fingers being gripping fingers. The gripping fingers open and close horizontally to grasp objects of different shapes and sizes.

[0003] Existing two-finger grippers mostly use parallelogram mechanisms to achieve the movement of the gripping fingers. The parallelogram mechanism can only drive the gripping fingers to move in a parallel direction, and can only grip items with opposing surfaces or flat shapes. When encountering round or irregularly shaped items, the gripper cannot grasp them or the grasping is unreliable. Utility Model Content

[0004] This invention provides a mechanical gripper and robot that can grasp round or irregular objects reliably, solving the problems existing in the driving mechanism of the existing parallelogram mechanism.

[0005] The embodiments of this utility model can be implemented as follows:

[0006] An embodiment of this utility model provides a mechanical gripper, which includes:

[0007] shell;

[0008] The drive component is located inside the housing;

[0009] The linkage mechanism includes a first link, a second link, a third link, and a fourth link. One end of the first link is connected to a drive assembly, and the other end of the first link is rotatably connected to the second link. Different positions of the second link are rotatably connected to the third link and the fourth link, respectively. The second link is rotatably connected to the housing, and the connection position between the second link and the housing is located between the connection position between the first link and the second link and the connection position between the second link and the third link.

[0010] The clamping finger is rotatably connected to the third and fourth links at different positions.

[0011] Optionally, the mechanical gripper includes at least two linkage mechanisms and at least two gripping fingers, the number of linkage mechanisms being the same as the number of gripping fingers.

[0012] Optionally, the drive assembly includes a drive element, a lead screw, and a slider. One end of the lead screw is connected to the output end of the drive element, and the other end of the lead screw is rotatably engaged with the housing. The slider is sleeved on the lead screw and can slide along the lead screw. The first connecting rod is rotatably connected to the slider, and the movement of the slider drives the first connecting rod to drive the opening and closing of the gripper.

[0013] Optionally, a base is provided inside the housing, the base is located inside the housing and connected to the housing, and the drive unit is mounted on the base.

[0014] Optionally, a reset element for resetting the fourth link is provided between the second link and the fourth link.

[0015] Optionally, the second connecting rod has a through hole and the outer casing has a round hole. The round hole and the through hole are matched, and a rotating shaft is inserted into the round hole and the through hole, so that the second connecting rod can rotate around the rotating shaft.

[0016] The fourth link is rotatably connected to the pivot.

[0017] Optionally, the connection point between the third link and the finger is located outside the connection point between the fourth link and the finger.

[0018] Optionally, the distance between the connection position of the second link and the housing and the connection position of the second link and the third link is L, and the distance between the connection position of the second link and the housing and the connection position of the second link and the first link is H, where L:H≥1.

[0019] Optionally, the side wall of the gripper used to grip the item is provided with anti-slip texture;

[0020] Alternatively, the side of the gripper used to pick up items may have an anti-slip pad attached.

[0021] An embodiment of this utility model also provides a robot, including a mechanical gripper.

[0022] The beneficial effects of this utility model embodiment:

[0023] The mechanical gripper includes a housing, a drive assembly, a linkage mechanism, and gripping fingers. The drive assembly is located inside the housing. The linkage mechanism includes a first link, a second link, a third link, and a fourth link. One end of the first link is connected to the drive assembly, and the other end is rotatably connected to the second link. Different positions of the second link are rotatably connected to the third and fourth links, respectively. The second link is rotatably connected to the housing, and the connection point between the second link and the housing is located between the connection points of the first and second links and the second and third links. Different positions of the gripping fingers are rotatably connected to the third and fourth links, respectively. This mechanical gripper rotatably mounts the second link on the housing, and the third and fourth links are connected to different positions of the gripping fingers, thereby driving the gripping fingers to move in a non-parallel direction. This enables the gripping of round or irregularly shaped objects, while the object is enclosed between the gripping fingers and the fourth / third link, ensuring a reliable and stable grip.

[0024] The robot includes a mechanical gripper, which has all the functions of a mechanical gripper. Attached Figure Description

[0025] To more clearly illustrate the technical solutions of the embodiments of this utility model, the drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this utility model and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0026] Figure 1 This is a three-dimensional structural diagram of the mechanical gripper provided in an embodiment of the present invention;

[0027] Figure 2 This is a schematic axial cross-sectional view of the mechanical gripper provided in an embodiment of the present invention.

[0028] Figure 3 This diagram shows the positional relationship between the drive assembly, linkage mechanism, and base provided in the embodiments of this utility model.

[0029] Figure 4 This is a schematic diagram of the slider provided in an embodiment of the present utility model;

[0030] Figure 5 This is a schematic diagram of the drive assembly and linkage mechanism provided in the embodiments of this utility model;

[0031] Figure 6 This is a schematic diagram of the structure of the second connecting rod provided in an embodiment of the present invention;

[0032] Figure 7This is a schematic diagram of the fourth link provided in an embodiment of the present invention;

[0033] Figure 8 This is a schematic diagram showing the cooperation between the reset member and the fourth connecting rod in an embodiment of this utility model;

[0034] Figure 9 This is a schematic diagram of the finger clamping structure provided in an embodiment of the present invention;

[0035] Figure 10 This is a three-dimensional structural diagram of the outer shell provided in an embodiment of the present utility model;

[0036] Figure 11 This is a schematic axial cross-sectional view of the outer casing provided in an embodiment of the present invention.

[0037] Icons: 1-Outer shell; 11-Top cover; 12-First chamber; 13-Second chamber; 14-Guide groove; 2-Drive assembly; 21-Lead screw; 22-Slider; 3-Linkage mechanism; 31-First link; 32-Second link; 321-Rotating shaft; 33-Third link; 34-Fourth link; 4-Finger gripper; 41-Anti-slip texture; 5-Base; 6-Reset component. Detailed Implementation

[0038] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, and not all embodiments. The components of the embodiments of this utility model described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0039] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0040] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0041] In the description of this utility model, it should be noted that if terms such as "upper," "lower," "inner," or "outer" are used to indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship in which the utility model product is usually placed during use, they are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model.

[0042] Furthermore, the terms "first" and "second" are used only to distinguish descriptions and should not be interpreted as indicating or implying relative importance.

[0043] The terms “comprising,” “including,” or any other variations thereof are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase “comprising one…” does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0044] Unless otherwise explicitly specified and limited, terms such as "setup" and "connection" should be interpreted broadly. For example, "connection" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be a connection within two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0045] It should be noted that, where there is no conflict, the features in the embodiments of this utility model can be combined with each other.

[0046] Currently, the most common grippers installed on robots are two-finger grippers. The mechanisms that drive these two-finger grippers are mostly parallelogram mechanisms. Parallelogram mechanisms can only drive the two-finger grippers to move horizontally, thereby opening and closing to grasp objects of different sizes. Two-finger grippers driven by parallelogram mechanisms can usually only grasp objects with opposing surfaces or flat shapes. When the object is spherical or irregularly shaped, the gripper cannot grasp it or the grasp is not secure.

[0047] In view of this, an embodiment of the present invention provides a mechanical gripper that can solve the above problems, which will be described in detail below.

[0048] This utility model also provides a robot that utilizes the mechanical gripper, enabling it to grasp spherical or irregularly shaped objects. The mechanical gripper is mounted on the robot's robotic arm. Of course, the mechanical gripper described in this utility model can be used not only in robots, but also in various industrial equipment such as hoisting equipment and lifting equipment, as well as in various scenarios; its application scope is not limited.

[0049] Please refer to Figures 1 to 7 The mechanical gripper includes a housing 1, a drive assembly 2, a linkage mechanism 3, and gripping fingers 4. The drive assembly 2 is located inside the housing 1. The gripping fingers 4 are connected to the linkage mechanism 3, and the linkage mechanism 3 is connected to the drive assembly 2. The drive assembly 2 drives the linkage mechanism 3 to move, and then the linkage mechanism 3 drives the gripping fingers 4 to move, thereby realizing the gripping and release of items.

[0050] The linkage mechanism 3 includes a first link 31, a second link 32, a third link 33, and a fourth link 34. One end of the first link 31 is connected to the drive assembly 2, and the other end of the first link 31 is rotatably connected to the second link 32. The third link 33 is rotatably connected to the second link 32. The second link 32 is rotatably connected to the housing 1, and the connection position between the second link 32 and the housing 1 is located between the connection position of the first link 31 and the second link 32 and the connection position of the second link 32 and the third link 33. The fourth link 34 is rotatably connected to the second link 32, and different positions of the gripper 4 are rotatably connected to the third link 33 and the fourth link 34, respectively.

[0051] In this embodiment, the mechanical gripper rotatably mounts the second link 32 on the outer casing 1. The third link 33 and the fourth link 34 are rotatably connected to the second link 32, and are respectively connected to different positions of the gripper fingers 4. The third link 33 and the fourth link 34 drive the gripper fingers 4 to rotate at different amplitudes, thereby driving the gripper fingers 4 to perform non-parallel rotational movements to achieve the gripping of round or irregular objects. At the same time, the object is covered between the gripper fingers 4 and the fourth link 34 / third link 33, which enables the object to be gripped reliably and stably.

[0052] The second connecting rod 32 has a through hole, and the outer shell 1 has a round hole. The round hole and the through hole are matched, and a rotating shaft 321 is inserted into both the round hole and the through hole. The rotating shaft 321 is fixedly connected to the outer shell 1. The second connecting rod 32 can rotate around the rotating shaft 321. When the first connecting rod 31 moves, it will drive the second connecting rod 32 to rotate around the rotating shaft 321, thereby driving the third connecting rod 33 and the fourth connecting rod 34 to move.

[0053] The fourth link 34 is rotatably connected to the rotating shaft 321. Of course, the fourth link 34 can also be rotatably connected to the second link 32, and when the second link 32 rotates, it drives the fourth link 34 to move.

[0054] refer to Figure 8 A reset element 6 is provided between the second link 32 and the fourth link 34 for resetting the fourth link 34. The reset element 6 can be a torsion spring. When an item is grasped, the angle between the second link 32 and the fourth link 34 changes. After the item is released, the torsion spring resets the fourth link 34, and the angle between the fourth link 34 and the second link 32 remains constant.

[0055] In this embodiment, the connection point between the third link 33 and the gripper finger 4 is located outside the connection point between the fourth link 34 and the gripper finger 4. When grasping an object, the rotation amplitudes of the third link 33 and the fourth link 34 are different. The fourth link 34 can adapt to the shape of the object, thereby adhering to the outer wall of the object to achieve grasping. The rotation amplitude of the third link 33 is greater than that of the fourth link 34, thereby pushing the gripper finger 4 to rotate around the end of the fourth link 34 to achieve grasping of the object.

[0056] Furthermore, the distance between the connection point of the second link 32 and the outer casing 1 and the connection point of the second link 32 and the third link 33 is L, and the distance between the connection point of the second link 32 and the outer casing 1 and the connection point of the second link 32 and the first link 31 is H, where L:H≥1. The rotation speed of the gripper 4 can be changed by adjusting the ratio of L to H.

[0057] It is understandable that there are at least two linkage mechanisms 3, and at least two corresponding finger clamps 4. Each linkage mechanism 3 is equipped with one finger clamp 4, and the number of linkage mechanisms 3 is the same as the number of finger clamps 4.

[0058] This embodiment shows two linkage mechanisms 3, which are symmetrically arranged; there are also two gripper fingers 4, which are respectively connected to the two linkage mechanisms 3, and the first link 31 of both linkage mechanisms 3 are connected to the drive assembly 2. Of course, there can also be multiple drive assemblies 2, with one linkage mechanism 3 corresponding to one drive assembly 2.

[0059] refer to Figure 9 To prevent the gripper 4 from slipping when gripping an item, anti-slip texture 41 is provided on the side wall of the gripper 4 used to grip the item; or, an anti-slip mat is attached to the side wall of the gripper 4 used to grip the item.

[0060] refer to Figure 10 and Figure 11The outer casing 1 has an axisymmetric structure. The interior of the outer casing 1 has a first chamber 12 and a second chamber 13, which are connected. The first chamber 12 houses some of the links of the linkage mechanism 3, and the second chamber 13 houses the drive assembly 2, which is connected to the linkage mechanism 3. The second chamber 13 of the outer casing 1 also has a base 5, which is fixedly connected to the outer casing 1.

[0061] Refer again Figures 2 to 4 The drive assembly 2 includes a drive component, a lead screw 21 and a slider 22. The drive component is mounted on the base 5. One end of the lead screw 21 is connected to the output end of the drive component, and the other end of the lead screw 21 is rotatably engaged with the outer casing 1. The slider 22 is sleeved on the lead screw 21 and can slide along the lead screw 21.

[0062] Specifically, the driving component, a servo motor, is housed inside the base 5. The output shaft of the servo motor extends out of the base 5. One end of the lead screw 21 is connected to the output shaft of the servo motor via a coupling. A bearing is fitted onto the end of the lead screw 21 furthest from the servo motor, and the bearing is embedded inside the top cover 11 of the outer casing 1, thus enabling rotational engagement between the lead screw 21 and the outer casing 1. A slider 22 is fitted onto the lead screw 21 and is threadedly engaged with it. When the servo motor operates, it drives the lead screw 21 to rotate. Since the position of the lead screw 21 is fixed, it can only rotate and cannot move. The slider 22 fitted onto the lead screw 21 will move along the axial direction of the lead screw 21.

[0063] To prevent the slider 22 from slipping on the lead screw 21, two guide grooves 14 are provided on the inner wall of the outer casing 1. The two guide grooves 14 are located on opposite sides of the slider 22. Correspondingly, there are protrusions on opposite sides of the slider 22. The protrusions are stuck in the guide grooves 14 to limit the slider 22, thereby ensuring that the slider 22 will not slip when it moves. The distance that the slider 22 moves is controllable and accurate, which also further ensures the accuracy of the movement of the linkage mechanism 3 connected to the slider 22 and the precision of the gripper 4 in grasping.

[0064] The top of the outer casing 1 is also provided with a top cover 11, which is located on the outer side of the middle of the first chamber 12. The top cover 11 is fixed to the outer casing 1. There are two linkage mechanisms 3 on both sides of the top cover 11. The surface of the top cover 11 is also provided with anti-slip protrusions. When the mechanical gripper grasps an item, the top cover 11, the linkage mechanism 3, and the gripping fingers 4 work together to grasp the item. The anti-slip protrusions can prevent the item from slipping during the grasping process and increase the reliability of the grasping. The anti-slip protrusions can be multiple rubber particles that are adhered to the top cover 11. The top cover 11 can be a flat plate, an arc-shaped plate with grooves, or a plate / block of other shapes.

[0065] Of course, the drive component 2 can also be any one of a pneumatic cylinder, a hydraulic cylinder, or an electric telescopic cylinder, and the first connecting rod 31 is directly connected to the output end of the pneumatic cylinder, hydraulic cylinder, or electric telescopic cylinder.

[0066] When using the mechanical gripper of this utility model embodiment to grasp thin or opposing items, it can be directly grasped by the gripper fingers 4; when the grasped item is irregularly shaped or spherical, the fourth link 34 first clamps the item and keeps it stationary, the driving member continues to drive the first link 31 to move, the first link 31 drives the second link 32 to rotate, the second link 32 drives the third link 33 to move, and the third link 33 drives the gripper fingers 4 to clamp towards the item, thereby achieving the covering and grasping of the item.

[0067] The mechanical gripper of this utility model embodiment has at least the following advantages:

[0068] (1) Since the gripper is driven by underactuation, it can achieve adaptive gripping. It can perform parallel gripping or wrapping gripping according to the shape of the item, which meets the gripping requirements of regular and irregular items.

[0069] (2) The gripping reliability is high. When gripping irregularly shaped or spherical items, the gripping fingers 4 apply pressure to the top cover 11 side of the item, thereby increasing the force points of the item and making the center of gravity of the item closer to the top cover 11 side. The gripping reliability and firmness are high, and it can grip heavier items.

[0070] (3) It has a compact structure and a large gripping range.

[0071] An embodiment of this utility model also provides a robot, including the above-mentioned mechanical gripper, which has all the functions of a mechanical gripper.

[0072] The above description is merely a specific embodiment of this utility model, but the protection scope of this utility model is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this utility model should be included within the protection scope of this utility model. Therefore, the protection scope of this utility model should be determined by the protection scope of the claims.

Claims

1. A mechanical gripper, characterized by, include: Outer shell (1); A drive assembly (2) is disposed inside the housing (1); The linkage mechanism (3) includes a first link (31), a second link (32), a third link (33), and a fourth link (34). One end of the first link (31) is connected to the drive assembly (2), and the other end of the first link (31) is rotatably connected to the second link (32). Different positions of the second link (32) are rotatably connected to the third link (33) and the fourth link (34), respectively. The second link (32) is rotatably connected to the outer shell (1), and the connection position of the second link (32) and the outer shell (1) is located between the connection position of the first link (31) and the second link (32) and the connection position of the second link (32) and the third link (33). The clamping finger (4) is rotatably connected to the third link (33) and the fourth link (34) at different positions.

2. The mechanical gripper of claim 1, wherein, The mechanical gripper includes at least two of the linkage mechanisms (3) and at least two of the gripping fingers (4), the number of the linkage mechanisms (3) being the same as the number of the gripping fingers (4).

3. The mechanical gripper of claim 1, wherein, The drive assembly (2) includes a drive member, a lead screw (21) and a slider (22). One end of the lead screw (21) is connected to the output end of the drive member, and the other end of the lead screw (21) is rotatably engaged with the outer shell (1). The slider (22) is sleeved on the lead screw (21) and can slide along the lead screw (21). The first connecting rod (31) is rotatably connected to the slider (22). The movement of the slider (22) drives the first connecting rod (31) to move in order to drive the finger clamp (4) to open and close.

4. The mechanical gripper jaw of claim 3, wherein, The housing (1) is provided with a base (5) inside, the base (5) is disposed inside the housing (1) and connected to the housing (1), and the driving component is mounted on the base (5).

5. The mechanical gripper of claim 1, wherein, A reset member (6) for resetting the fourth link (34) is provided between the second link (32) and the fourth link (34).

6. The mechanical gripper of claim 1, wherein, The second connecting rod (32) has a through hole, and the outer shell (1) has a round hole. The round hole is adapted to the through hole, and a rotating shaft (321) is inserted into the round hole and the through hole. The second connecting rod (32) can rotate around the rotating shaft (321). The fourth link (34) is rotatably connected to the pivot (321).

7. The mechanical gripper of claim 1, wherein, The connection position of the third link (33) and the clamping finger (4) is located outside the connection position of the fourth link (34) and the clamping finger (4).

8. The mechanical gripper of claim 1, wherein, The distance between the connection position of the second link (32) and the outer shell (1) and the connection position of the second link (32) and the third link (33) is L, and the distance between the connection position of the second link (32) and the outer shell (1) and the connection position of the second link (32) and the first link (31) is H, where L:H≥1.

9. The mechanical gripper according to any one of claims 1 to 8, characterized in that The said pinch fingers (4) are provided with anti-skid patterns (41) on the side wall surface for pinching the articles. Or, the said pinch fingers (4) are attached with anti-skid pads on the side wall surface for pinching the articles.

10. A robot, characterized in that Comprising: The mechanical pinch fingers as claimed in any one of claims 1 to 9.

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