Sensing gear mechanical grabbing device capable of controlling output pressure

Abstract

The utility model discloses a sensing gear mechanical grabbing device capable of controlling output pressure, which comprises a controllable stepping motor, and is characterized in that two synchronous translation claws which are oppositely arranged are arranged on two parallel slide rails, a gear guide rail is arranged at the bottom of each synchronous translation claw close to the outer side, a gear coupler is arranged between the two gear guide rails, and the gear coupler is connected with the controllable stepping motor. The gear coupling is installed on an output shaft of the controllable stepping motor, and a pressure sensor is installed on the inner side of the synchronous translation claw. The synchronous translation claw and the pressure sensor are adopted, so that the robot claw can automatically adjust the grabbing angle and force according to the size of a book, and the adaptability to placement of different books is greatly improved; the pressure sensor monitors the stress of the object in real time, and the grabbing mode is automatically adjusted according to the stress of the current object, so that accurate grabbing is achieved, and the book grabbing device is particularly suitable for processing old and fragile books.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, and in particular to a precision mechanical gripping device, mainly used for organizing, moving and picking up books in libraries or bookstores, and is especially suitable for mechanical claws that control the gripping force according to the size of the books. Background Technology

[0002] With the advancement of industrial automation and robotics technology, robots are increasingly replacing manual labor in various scenarios. However, in situations like organizing, moving, and retrieving books in libraries or bookstores, most existing robotic grippers tend to crush books during the grasping process, causing damage. Significant shortcomings exist in practical applications: during the grasping process, the inability to control the gripping force in real time easily damages books; and there is a lack of adaptive capability to adjust the gripping force according to the characteristics of the books. These shortcomings are mainly manifested in:

[0003] 1. Books on both sides are easily squeezed during gripping: The existing robotic gripper is too large and easily squeezes the books on both sides, causing damage to the books.

[0004] 2. Insufficient gripping protection: Existing rigid gripper devices may damage books if the gripping force is too great, while insufficient force may cause gripping failure, thus affecting the efficiency and stability of book sorting or book handling.

[0005] 3. Insufficient power system efficiency and control precision: Traditional gripping devices have low power system precision, which cannot adjust the gripping force and angle in real time according to the placement of books, resulting in low gripping efficiency and difficulty in achieving dynamic adaptive operation.

[0006] Therefore, designing a robotic gripper that can adaptively adjust to the book has become a key focus of current technological research. Summary of the Invention

[0007] The technical problem to be solved by this utility model is to provide a mechanical gripping device that can precisely control the clamping force, which is a problem that easily damages books during gripping due to insufficient mechanical control precision in the prior art.

[0008] The technical solution of this utility model:

[0009] A sensor-driven gear mechanical gripping device capable of controlling output pressure includes a controllable stepper motor EM01, two synchronously translating claws arranged opposite each other on two parallel slide rails SR01, a gear guide rail GR01 mounted on the outer side of the bottom of each synchronously translating claw, a gear coupling GC01 between the two gear guide rails GR01, the gear coupling GC01 being mounted on the output shaft of the controllable stepper motor EM01, and a pressure sensor PT01 mounted on the inner side of the synchronously translating claw.

[0010] The controllable stepper motor EM01 is installed in the T-shaped motor housing MP01. The top plate of the T-shaped motor housing MP01 is equipped with four side cover plates to form a square box. Two parallel gear guide rails GR01 are fixedly installed in the box.

[0011] The gear guide rail GR01 is fitted with bushings OFS01, and each synchronous translation claw is connected to two bushings OFS01.

[0012] The external cylindrical gear of the gear coupling GC01 engages with the racks on the inner sides of the two gear guides GR01. The two gear guides GR01 are located on both sides of the gear coupling GC01. When the motor drives the gear coupling GC01 to rotate, the two gear guides GR01 translate in opposite directions, which in turn drives their synchronous translation claws to move.

[0013] The inner side of the synchronous translation claw is engraved with texture.

[0014] The synchronous translation claw includes a mounting part and a clamping part. A stepped surface is formed between the clamping part and the mounting part. When the clamping parts of the two synchronous translation claws are closed, a cavity is formed between the mounting parts. The bushing OFS01 is fixed inside the mounting part, and the gear guide rail GR01 is fixed below the mounting part.

[0015] The front end of the clamping part has a wedge-shaped structure that is straight inside and oblique outside.

[0016] Compared with the prior art, the advantages of this utility model are as follows:

[0017] 1. Enhanced Adaptability: This invention employs synchronous translational claws (ST01, ST02) and a pressure sensor (PT01), enabling the robot claw to automatically adjust the gripping angle and force according to the size of the book, greatly improving its adaptability to different book arrangements; the pressure sensor (PT01) monitors the force on the object in real time and automatically adjusts the gripping method according to the current force on the object, thereby achieving precise gripping, which is particularly suitable for handling old and fragile books.

[0018] 2. Modular design improves adaptability and maintainability: All key components (such as mechanical grippers and controllable stepper motors) adopt a modular design, which, together with threaded holes and embedded slots, enables quick installation and replacement, allowing the equipment configuration to be flexibly adjusted to meet the needs of multiple application scenarios.

[0019] 3. It adopts a controllable stepper motor (EM01) as the power core, and controls the synchronous translation claw opening and closing through rack and pinion. It can receive sensor signals in real time, dynamically adjust the gripping force, ensure accurate gripping, and evenly distribute the gripping force to avoid damage to books or scratches on the surface due to excessive force. Attached Figure Description

[0020] Figure 1An overall view of the intelligent robotic gripper, showing the appearance and overall layout of the device.

[0021] Figure 2 . Figure 1 The structural disassembly diagram shows in detail the internal structure of each component and how they are connected.

[0022] The components are labeled as follows: EM01: Controllable stepper motor; MP01: T-type motor housing; GC01: Gear coupling; GR01: Gear guide rail; SS01: Gear guide rail fixing pin; SP01: Side cover plate; OFS01: Bushing; SR01: Bushing slide rail; CP01: Rear cover plate; LCP01: Limit cover plate; PS01: Pressure switch; ST02: Synchronous translation claw (right); ST01: Synchronous translation claw (left).

[0023] Note: The “R” and “L” in the logo represent the right side and the left side, respectively. Detailed Implementation

[0024] Example:

[0025] This embodiment relates to a robotic gripper device, mainly used for material handling tasks in industrial automated production lines. Specifically, in this example, the robotic gripper is used to grasp old books placed at a high position. This device not only ensures the stability of the grasp but also avoids damage to the surface of the books during operation. The robotic gripper device of this utility model consists of multiple components, including: a synchronous translation gripper ST01, a gear coupling GC01, a limiting cover plate LCP01, a bushing OFS01, a pressure sensor PT01, and a controllable stepper motor EM01. The functions and roles of each component are as follows:

[0026] T-type motor housing MP01: This housing is located at the end of the robotic gripper and is responsible for protecting the gripping device motor and connecting it to the robotic arm. As a core connecting component, the T-type motor housing MP01 secures the gripper device to the robot host, providing a quick and easy replacement and installation interface.

[0027] Synchronous translation claws ST01 and ST02: Made of aluminum alloy, significantly reducing their weight. The claws have special textures engraved inside to increase friction and prevent books from slipping.

[0028] Pressure sensor PT01: Monitors the force applied to books in real time, ensuring even force distribution and preventing damage from the robotic gripper. The opening and closing motion of the robotic gripper is driven by a power transmission system, and the control module dynamically adjusts the motor output torque to adapt to the gripping needs of different books.

[0029] Controllable stepper motor ME01: Provides power to the robotic gripper. The motor is connected to the robotic gripper via gear coupling GC01, driving the gripper to complete the opening and closing actions. The intelligent control module receives real-time feedback from sensors such as visual and tactile information, calculates and adjusts the gripping path and force. The control module adjusts the motor's torque and range of motion in real time to ensure smooth and gentle gripping of books.

[0030] Gear coupling GC01: enables synchronous opening and closing of synchronous translation claws ST01 and ST02, and precisely controls the opening and closing distance of the mechanical claws.

[0031] The above components are connected via standardized "fixed threaded holes and embedded slots" to ensure the overall structural stability of the device. Two opposing synchronous translation claws are mounted on two parallel slide rails SR01. A gear guide rail GR01 is mounted on the outer side of the bottom of each synchronous translation claw. A gear coupling GC01 is located between the two gear guide rails GR01, and the gear coupling GC01 is mounted on the output shaft of a controllable stepper motor EM01. A pressure sensor PT01 is mounted on the inner side of the synchronous translation claw. The inner side of the synchronous translation claw is textured.

[0032] The controllable stepper motor EM01 is installed in the T-shaped motor housing MP01. The top plate of the T-shaped motor housing MP01 is equipped with four side covers to form a square box. Two parallel gear guide rails GR01 are fixedly installed in the box. The four side covers are two side covers SP01, a rear cover CP01, and a limiting cover LCP01. The two side covers SP01 have mounting holes for the gear guide rails GR01, and the limiting cover LCP01 has an outwardly extending limiting structure on its side.

[0033] The gear guide rail GR01 is fitted with bushings OFS01, and each synchronous translation claw is connected to two bushings OFS01. The synchronous translation claw includes a mounting part and a clamping part, with a stepped surface formed between the clamping part and the mounting part. When the clamping parts of the two synchronous translation claws are closed, a cavity is formed between the mounting parts. The bushings OFS01 are fixed inside the mounting part, and the gear guide rail GR01 is fixed below the mounting part. The front end of the clamping part has a wedge-shaped structure that is straight inside and sloping outside.

[0034] The external cylindrical gear of the gear coupling GC01 engages with the racks on the inner sides of the two gear guides GR01. The two gear guides GR01 are located on both sides of the gear coupling GC01. When the motor drives the gear coupling GC01 to rotate, the two gear guides GR01 translate in opposite directions, which in turn drives their synchronous translation claws to move.

[0035] The device adopts a modular design, which facilitates quick disassembly and replacement to meet different gripping tasks. The mechanical claw can control its own gripping force to avoid excessive local pressure and prevent damage to the books.

[0036] Before the task begins, the robot system uses vision sensors to scan the target book, acquiring its size and position data. After processing this data, the control module generates a grasping path and motion plan, and sends instructions to the stepper motors via a signal bus.

Claims

1. A sensor-driven gear mechanical gripping device with controllable output pressure, comprising a controllable stepper motor (EM01), characterized in that: Two synchronous translation claws are mounted on two parallel slide rails (SR01). A gear guide rail (GR01) is mounted on the outer side of the bottom of each synchronous translation claw. A gear coupling (GC01) is provided between the two gear guide rails (GR01). The gear coupling (GC01) is mounted on the output shaft of a controllable stepper motor (EM01). A pressure sensor (PT01) is mounted on the inner side of the synchronous translation claw.

2. The sensor-driven gear mechanical gripping device with controllable output pressure according to claim 1, characterized in that: The controllable stepper motor (EM01) is installed in the T-shaped motor housing (MP01). The top plate of the T-shaped motor housing (MP01) is equipped with four side cover plates to form a square box. Two parallel gear guide rails (GR01) are fixedly installed in the box.

3. The sensor-driven gear mechanical gripping device with controllable output pressure according to claim 1, characterized in that: The gear guide (GR01) is fitted with bushings (OFS01), and each synchronous translation claw is connected to two bushings (OFS01).

4. The sensor-driven gear mechanical gripping device with controllable output pressure according to claim 1, characterized in that: The outer cylindrical gear of the gear coupling (GC01) engages with the racks on the inner sides of the two gear guides (GR01). The two gear guides (GR01) are located on both sides of the gear coupling (GC01). When the motor drives the gear coupling (GC01) to rotate, the two gear guides (GR01) translate in opposite directions, which in turn drives their synchronous translation claws to move.

5. The sensor-driven gear mechanical gripping device with controllable output pressure according to claim 1, characterized in that: The inner side of the synchronous translation claw is engraved with texture.

6. The sensor-driven gear mechanical gripping device with controllable output pressure according to claim 3, characterized in that: The synchronous translation claw includes a mounting part and a clamping part. A stepped surface is formed between the clamping part and the mounting part. When the clamping parts of the two synchronous translation claws are closed, a cavity is formed between the mounting parts. The bushing (OFS01) is fixed inside the mounting part, and the gear guide rail (GR01) is fixed below the mounting part.

7. The sensor-driven gear mechanical gripping device with controllable output pressure according to claim 6, characterized in that: The front end of the clamping part has a wedge-shaped structure that is straight inside and oblique outside.

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