Passive release clamping jaw structure based on mechanical connecting rod

Abstract

The utility model relates to the technical field of clamping jaw devices, in particular to a passive release clamping jaw structure based on a mechanical connecting rod, which comprises an installation mechanism, a first clamping jaw connecting rod and a second clamping jaw connecting rod, the two ends of the large arm main plate are connected with small arm main plates, the clamping mechanism comprises a second air cylinder arranged between a first clamping jaw connecting rod and the small arm main plates, and the second air cylinder comprises a second output shaft; according to the device, the first air cylinder and the second air cylinder are arranged, the angles between the rubber friction wheels on the first clamping jaw connecting rod, the second clamping jaw connecting rod and the movable connecting rod can be freely adjusted through the length change function of the two air cylinders and the movable function of the joint shaft, and the complexity of the structure is effectively reduced; and meanwhile, the requirements on vulnerable elements such as a circuit are reduced, and the operation stability of equipment is improved.

Description

Technical Field

[0001] This utility model belongs to the technical field of gripper devices, specifically relating to a passive release gripper structure based on a mechanical linkage. Background Technology

[0002] A ball gripper is a device specifically designed for holding balls and is widely used in industrial production, robotic grasping, and ball processing. In robotics, basketball grippers can be used to simulate human actions of grasping and moving basketballs. For example, in robot basketball games, logistics handling, or automated sports equipment, basketball grippers enable robots to precisely grasp and move basketballs.

[0003] Existing ball gripper structures require the use of a large number of electronic drive components and sensor parts, which increases the overall failure rate of the device and thus makes the overall stability of the device lower.

[0004] To address this issue, those skilled in the art have proposed a passive release gripper structure based on a mechanical linkage to solve the problems raised in the background art.

[0005] The information disclosed above in this background section is only intended to enhance the understanding of the background section of this utility model, and therefore may include prior art that is not known to those skilled in the art. Utility Model Content

[0006] The purpose of this invention is to provide a passive release gripper structure based on a mechanical linkage to solve the problems mentioned in the background art.

[0007] To achieve the above objectives, this utility model provides the following technical solution:

[0008] A passive release gripper structure based on a mechanical linkage, comprising:

[0009] The installation mechanism includes a main boom plate and a rotating arm installed at one end of the main boom plate. A crossbar is fixedly connected to one end of the rotating arm. The crossbar and the rotating arm are T-shaped. A pitch pivot is installed between the rotating arm and the main boom plate. The rotating arm rotates with the main boom plate through the pitch pivot. A first gripper connecting rod is installed inside the crossbar. Both ends of the main boom plate are connected to a forearm plate.

[0010] The clamping mechanism includes a second cylinder disposed between a first gripper link and a forearm main board. The second cylinder includes a second output shaft, one end of which is connected to the first gripper link. Second gripper links are disposed at both ends of the first gripper link, and a gripper bearing is disposed between the second and first gripper links. The second gripper links are rotatably engaged with the first gripper link via the gripper bearing. A third gripper link is disposed at one end of the forearm main board. A fourth and fifth movable shaft are disposed on the third gripper link, which are rotatably engaged with the second gripper link and the forearm main board respectively via the fourth and fifth movable shafts. A first and third movable shafts are disposed on the third gripper link. A first cylinder is movably connected to the first movable shaft, and a movable link is rotatably connected to the third movable shaft. A second movable shaft is disposed at one end of the movable link, and the second movable shaft is movably engaged with the output end of the first cylinder. A rubber friction wheel is disposed on the third movable shaft.

[0011] Preferably, joint motors are fixedly connected to both sides of the main arm, and a first bevel gear is connected to the output end of each of the two joint motors, with the two first bevel gears arranged opposite to each other.

[0012] Preferably, a second bevel gear and a third bevel gear are meshed between the two first bevel gears, and a boom drive aluminum tube is connected to the third bevel gear.

[0013] Preferably, one end of the boom drive aluminum tube is connected to a steering bevel gear, and a follower bevel gear is connected to the pitch shaft, wherein the steering bevel gear meshes with the follower bevel gear.

[0014] Preferably, a mounting block is installed on the first gripper connecting rod, and a threaded hole is provided on the mounting block. A threaded post is provided on the second output shaft, and the threaded post is threadedly engaged with the threaded hole.

[0015] Preferably, the first gripper connecting rod is provided with a lifting slide rail, and the rotating arm is provided with a lifting slider, the lifting slider being in sliding cooperation with the lifting slide rail.

[0016] Compared with the prior art, the beneficial effects of this utility model are:

[0017] (1) By setting up a first cylinder and a second cylinder, and utilizing the length change function of the two sets of cylinders and the movement function of the joint shaft, the angle between the rubber friction wheels on the first gripper linkage, the second gripper linkage and the movable linkage can be freely adjusted. Through the structure of this mechanical linkage, the ball can be grasped and automatically released. After the two rubber friction wheels fix the ball, when it reaches the basket, the entire mechanical arm naturally falls, and the left and right linkages separate under the action of the basket, realizing passive release. This device effectively reduces the complexity of the structure, while reducing the demand for easily damaged components such as circuits, and improving the operational stability of the equipment.

[0018] (2) This utility model provides an installation block with a threaded hole and a second cylinder with a threaded column. The second cylinder is a rotating shaft cylinder. After the second cylinder is started, it will drive the threaded column to engage with the threaded hole, thereby adjusting the height of the installation block. When the installation block moves up and down, it will drive the entire first gripper connecting rod to move up and down, and then drive the second gripper connecting rod to bend through the gripper bearing.

[0019] The above overview is for illustrative purposes only and is not intended to be limiting in any way. In addition to the illustrative aspects, embodiments, and features described above, further aspects, embodiments, and features of the present invention will become readily apparent from the accompanying drawings and the following detailed description. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the three-dimensional structure of the present invention. Figure 1 ;

[0021] Figure 2 This is a schematic diagram of the specific structure of the forearm mainboard of this utility model;

[0022] Figure 3 This is a schematic diagram of the three-dimensional structure of the present invention. Figure 2 ;

[0023] Figure 4 This is a front view of the present invention;

[0024] Figure 5 This is a schematic diagram of the specific structure of the first connecting rod of this utility model.

[0025] In the diagram: 1. Joint motor; 2. First bevel gear; 3. Second bevel gear; 4. Third bevel gear; 5. Main arm board; 6. Main arm transmission aluminum tube; 7. Steering bevel gear; 8. Follower bevel gear; 9. Rotating arm; 10. Crossbar; 11. Forearm board; 12. Second gripper linkage; 13. Third gripper linkage; 14. First movable shaft; 15. First cylinder; 16. Second movable shaft; 17. Movable linkage; 18. Third movable shaft; 19. Second cylinder; 20. Second output shaft; 21. Gripper bearing; 22. Fourth movable shaft; 23. Fifth movable shaft; 24. Rubber friction wheel; 25. First gripper linkage; 26. Mounting block; 27. Lifting slide rail; 28. Lifting slider. Detailed Implementation

[0026] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0027] Example 1:

[0028] Please see Figures 1-5 As shown, a passive release gripper structure based on a mechanical linkage includes:

[0029] The installation mechanism includes a main boom plate 5 and a rotating arm 9 installed at one end of the main boom plate 5. A crossbar 10 is fixedly connected to one end of the rotating arm 9. The crossbar 10 and the rotating arm 9 are T-shaped. A pitching shaft is installed between the rotating arm 9 and the main boom plate 5. The rotating arm 9 rotates with the main boom plate 5 through the pitching shaft. A first gripper connecting rod 25 is installed inside the crossbar 10. Both ends of the main boom plate 5 are connected to a forearm plate 11.

[0030] The clamping mechanism includes a second cylinder 19 disposed between the first gripper link 25 and the forearm main plate 11. The second cylinder 19 includes a second output shaft 20, one end of which is connected to the first gripper link 25. Second gripper links 12 are disposed at both ends of the first gripper link 25. A gripper bearing 21 is disposed between the second gripper link 12 and the first gripper link 25, allowing the second gripper link 12 to rotate with the first gripper link 25 via the gripper bearing 21. A third gripper link 13 is disposed at one end of the forearm main plate 11, and the third gripper link 13 is equipped with... The fourth movable shaft 22 and the fifth movable shaft 23, and the third gripper connecting rod 13 are respectively rotatably connected to the second gripper connecting rod 12 and the forearm main plate 11 via the fourth movable shaft 22 and the fifth movable shaft 23. The third gripper connecting rod 13 is provided with a first movable shaft 14 and a third movable shaft 18. The first movable shaft 14 is movably connected to a first cylinder 15. The third movable shaft 18 is rotatably connected to a movable connecting rod 17. One end of the movable connecting rod 17 is provided with a second movable shaft 16. The second movable shaft 16 is movably connected to the output end of the first cylinder 15. The third movable shaft 18 is provided with a rubber friction wheel 24.

[0031] As can be seen from the above, this device, by setting up a first cylinder 15 and a second cylinder 19, and utilizing the length variation function of the two sets of cylinders and the mobility function of the joint shaft, can freely adjust the angle between the rubber friction wheels 24 on the first gripper link 25, the second gripper link 12, and the movable link 17. Through the structure of this mechanical link, the gripping and automatic release of the ball can be realized. After the two rubber friction wheels 24 fix the ball, when it reaches the basket, the entire mechanical arm naturally falls, and the left and right links separate under the action of the basket, realizing passive release. This device effectively reduces the complexity of the structure, while reducing the need for easily damaged components such as circuits, and improving the operational stability of the equipment.

[0032] Example 2:

[0033] Please see Figures 1-5 As shown, joint motors 1 are fixedly connected to both sides of the main arm 5, and first bevel gears 2 are connected to the output ends of the two joint motors 1. The two first bevel gears 2 are arranged opposite to each other.

[0034] Specifically, a second bevel gear 3 and a third bevel gear 4 are meshed between the two first bevel gears 2, and a boom drive aluminum tube 6 is connected to the third bevel gear 4.

[0035] Specifically, one end of the boom drive aluminum tube 6 is connected to a steering bevel gear 7, and a follower bevel gear 8 is connected to the pitch shaft. The steering bevel gear 7 meshes with the follower bevel gear 8. When the joint motor 1 is started, it can drive the first bevel gear 2 to mesh with the second bevel gear 3 and the third bevel gear 4. The third bevel gear 4 drives the steering bevel gear 7 to rotate. Since the steering bevel gear 7 meshes with the follower bevel gear 8, it can drive the rotating arm 9 to rotate, thereby realizing the adjustment of the pitch angle of the entire device.

[0036] Specifically, a mounting block 26 is installed on the first gripper connecting rod 25, and a threaded hole is opened on the mounting block 26. A threaded post is provided on the second output shaft 20, and the threaded post is threadedly engaged with the threaded hole.

[0037] Specifically, a lifting slide rail 27 is provided on the first gripper connecting rod 25, and a lifting slider 28 is provided on the rotating arm 9. The lifting slider 28 slides in cooperation with the lifting slide rail 27.

[0038] As can be seen from the above, the present invention provides a mounting block 26 with a threaded hole and a second cylinder 19 with a threaded post. The second cylinder 19 is a rotating shaft cylinder. After the second cylinder 19 is started, it will drive the threaded post to engage with the threaded hole, thereby adjusting the height of the mounting block 26. When the mounting block 26 moves up and down, it will drive the entire first gripper connecting rod 25 to move up and down, and then drive the second gripper connecting rod 12 to bend through the gripper bearing 21.

[0039] All standard parts used in this invention can be purchased from the market, and irregularly shaped parts can be customized according to the description and drawings. The specific connection methods for each part all employ conventional methods such as bolts, rivets, and welding, which are mature technologies in the prior art. The machinery, parts, and equipment all use conventional models in the prior art, and the circuit connections also use conventional connection methods in the prior art, which will not be detailed here. Any content not described in detail in this specification belongs to the prior art known to those skilled in the art.

[0040] In the description of this utility model, 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 that feature. "A plurality of" means two or more, unless otherwise explicitly specified.

[0041] In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; 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 communication of two components or the interaction between 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.

[0042] In this utility model, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0043] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0044] The accompanying drawings of the embodiments disclosed in this utility model only involve the structures involved in the embodiments disclosed in this utility model. Other structures can refer to the general design. In the absence of conflict, the same embodiment and different embodiments of this utility model can be combined with each other.

[0045] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A mechanical linkage based passive release jaw structure, characterized by, include: The installation mechanism includes a main boom plate (5) and a rotating arm (9) installed at one end of the main boom plate (5). A crossbar (10) is fixedly connected to one end of the rotating arm (9). The crossbar (10) and the rotating arm (9) are in a T-shape. A pitching shaft is installed between the rotating arm (9) and the main boom plate (5). The rotating arm (9) rotates with the main boom plate (5) through the pitching shaft. A first gripper connecting rod (25) is installed inside the crossbar (10). Both ends of the main boom plate (5) are connected to a forearm plate (11). The clamping mechanism includes a second cylinder (19) disposed between a first gripper connecting rod (25) and a forearm main plate (11). The second cylinder (19) includes a second output shaft (20), one end of which is connected to the first gripper connecting rod (25). A second gripper connecting rod (12) is disposed at both ends of the first gripper connecting rod (25). A gripper bearing (21) is disposed between the second gripper connecting rod (12) and the first gripper connecting rod (25). The second gripper connecting rod (12) is rotatably engaged with the first gripper connecting rod (25) through the gripper bearing (21). A third gripper connecting rod (13) is disposed at one end of the forearm main plate (11). A second output shaft (20) is disposed on the third gripper connecting rod (13). The third gripper connecting rod (13) is connected to the second gripper connecting rod (12) and the forearm main board (11) via the fourth and fifth movable shafts (22 and 23 respectively. The third gripper connecting rod (13) is provided with a first movable shaft (14) and a third movable shaft (18). The first movable shaft (14) is movably connected to a first cylinder (15). The third movable shaft (18) is rotatably connected to a movable connecting rod (17). One end of the movable connecting rod (17) is provided with a second movable shaft (16). The second movable shaft (16) is movably connected to the output end of the first cylinder (15). The third movable shaft (18) is provided with a rubber friction wheel (24).

2. A mechanical linkage based passive release jaw structure according to claim 1, characterized in that: The main arm (5) is fixedly connected to two sides with joint motors (1), and the output ends of the two joint motors (1) are connected to first bevel gears (2), which are arranged opposite to each other.

3. A mechanical linkage based passive release jaw structure according to claim 2, wherein: A second bevel gear (3) and a third bevel gear (4) are meshed between the two first bevel gears (2), and the third bevel gear (4) is connected to the boom drive aluminum tube (6).

4. A mechanical linkage based passive release jaw structure according to claim 3, wherein: One end of the boom drive aluminum tube (6) is connected to a steering bevel gear (7), and a follower bevel gear (8) is connected to the pitch shaft. The steering bevel gear (7) meshes with the follower bevel gear (8).

5. A mechanical linkage based passive release jaw structure according to claim 1, wherein: An mounting block (26) is installed on the first gripper connecting rod (25), and a threaded hole is provided on the mounting block (26). A threaded post is provided on the second output shaft (20), and the threaded post is threadedly engaged with the threaded hole.

6. A mechanical linkage based passive release jaw structure according to claim 1, wherein: The first clamping jaw connecting rod (25) is provided with a lifting slide rail (27), the rotating arm (9) is provided with a lifting slide block (28), and the lifting slide block (28) is in sliding fit with the lifting slide rail (27).

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