Mechanical gripper and assembling component

Abstract

The utility model provides a mechanical gripper and an assembling assembly, and relates to the technical field of engineering equipment, and the mechanical gripper can comprise a bottom plate, a button mechanism and a clamping mechanism. The button mechanism comprises a transmission unit and a button push rod, the transmission unit is installed on the bottom plate, and the button push rod is connected with the transmission unit and can be driven by the transmission unit to rotate along a first preset plane so as to be connected with the mounting machine body; the clamping mechanism comprises an air cylinder unit and a clamping jaw which are connected, the air cylinder unit is installed on the bottom plate, and the clamping jaw can be driven by the air cylinder unit to slide along a second preset plane so as to clamp the mounting machine body; wherein the first preset plane is perpendicular to the second preset plane. According to the gripper, the mounting machine body can be connected through the button mechanism, then the mounting machine body is clamped through the clamping mechanism, the button mechanism and the clamping mechanism can limit the freedom degrees of the mounting machine body in different directions, and therefore automatic loading of the mounting machine body is achieved, and the structural stability after loading can be guaranteed.

Description

Technical Field

[0001] This application relates to the field of engineering equipment technology, and more specifically, to a mechanical gripper and assembly assembly. Background Technology

[0002] With the rapid development of drone technology, drone security hangars, as intelligent storage, management, and scheduling systems for drones, enable automatic storage and retrieval, charging, data exchange, and task scheduling. To meet diverse mission requirements, drones often need to carry external equipment; therefore, the efficient loading and stable securing of this equipment is a crucial aspect of automated drone hangar management.

[0003] Existing methods for loading external equipment mainly rely on manual operation or simple mechanical clamping mechanisms. However, these methods have the following problems: First, manual loading is inefficient and cannot meet the intelligent and unmanned management requirements of drone hangars. Second, traditional mechanical clamping mechanisms have poor adaptability and cannot accurately clamp and fix external equipment of different shapes and weights, which may lead to insecure loading or damage to the equipment. In addition, after the drone completes its mission and returns to the hangar, there is a lack of effective mechanical devices for the automatic detachment and recovery of external equipment, which affects the continuity of mission execution and the operational efficiency of the hangar. Utility Model Content

[0004] The purpose of this application is to provide a mechanical gripper and assembly assembly, which can connect to the mounting body through a button mechanism and clamp the mounting body through a clamping mechanism. The button mechanism and the clamping mechanism can respectively restrict the degree of freedom of the mounting body in different directions, thereby realizing the automated loading of the mounting body and ensuring the structural stability after loading.

[0005] The embodiments of this application are implemented as follows:

[0006] This application provides a mechanical gripper, including:

[0007] Base plate;

[0008] The button mechanism includes a transmission unit and a button push rod. The transmission unit is mounted on the base plate, and the button push rod is connected to the transmission unit and can rotate along a first preset plane under the drive of the transmission unit to connect to the mounting body.

[0009] The clamping mechanism includes a cylinder unit and a gripper connected to each other. The cylinder unit is mounted on the base plate, and the gripper can slide along a second preset plane under the drive of the cylinder unit to clamp the mounting body.

[0010] The first preset plane and the second preset plane are perpendicular to each other.

[0011] In some embodiments of this application, the transmission unit includes a push rod cylinder and a push rod piston. A through hole is provided on the base plate, the push rod cylinder is installed in the through hole, and the push rod piston is connected to the push rod cylinder and the button push rod respectively, and can slide along its own axis to drive the button push rod to rotate.

[0012] In some embodiments of this application, the push rod includes a transmission part, a body part, and a button part. The transmission part has a U-shaped groove that is compatible with the transmission unit. The body part has a wedge-shaped structure, and the large-diameter end of the body part is connected to the transmission part. The small-diameter end of the body part is connected to the button part. The outer contour of the button part is compatible with the mounting groove of the mounting body.

[0013] In some embodiments of this application, the body portion is provided with a plurality of weight-reducing through holes, and the plurality of weight-reducing through holes are evenly spaced on the body portion along the length direction of the body portion.

[0014] In some embodiments of this application, a lever fulcrum and a rotating crossbar are also included. The lever fulcrum is arranged at the end of the base plate, and the rotating crossbar passes through the lever fulcrum. The main body also has a rotating through hole through which the main body is sleeved on the rotating crossbar.

[0015] In some embodiments of this application, the button part includes a button base plate and a button block. The button base plate is L-shaped, and the concave surface of the button base plate is connected to the small diameter end of the body part. The outer contour of the button block is adapted to the mounting groove of the mount body, and the button block is arranged on the outer surface of the button base plate.

[0016] In some embodiments of this application, the button block includes a fixing block and a positioning block with elastic deformation capability, the positioning block being mounted on the fixing block.

[0017] In some embodiments of this application, the number of clamping mechanisms is two sets, the two sets of clamping mechanisms are symmetrically arranged, and the two sets of grippers can move towards each other under the drive of the clamping cylinder, so as to move away from or towards each other, and each gripper is also equipped with several locking pins.

[0018] This application embodiment also provides an assembly component, including:

[0019] The mechanical gripper as described in the previous embodiment;

[0020] A rotating mechanism is connected to the base plate and can drive the base plate to rotate;

[0021] A gantry mechanism includes a gantry and a sliding unit. The rotating mechanism is connected to the sliding unit on the side opposite to the base plate. The sliding unit can drive the rotating mechanism to slide along the gantry.

[0022] In some embodiments of this application, the gantry includes a first shaft and a second shaft arranged vertically, the sliding unit is slidably disposed on the first shaft and is capable of moving along the extension direction of the first shaft, the first shaft is slidably disposed on the second shaft and is capable of moving along the extension direction of the second shaft.

[0023] The mechanical gripper and assembly assembly provided in this application embodiment, through the cooperation of a button mechanism and a clamping mechanism, achieve precise clamping and rapid release of external equipment on drones, thereby meeting the automatic loading and replacement requirements of external equipment in drone security hangars. Specifically, when it is necessary to load external equipment, the transmission unit drives the button push rod to rotate along a first preset plane, so that the button part matches the mounting slot of the external equipment, achieving initial connection; subsequently, the cylinder unit drives the gripper to slide along a second preset plane, further clamping the external equipment and ensuring its stable fixation. Since the first preset plane and the second preset plane are perpendicular to each other, this design can provide a more stable multi-directional clamping force and improve loading reliability. In addition, the assembly assembly provided in this application embodiment, through the cooperation of a rotation mechanism and a gantry mechanism, enables the mechanical gripper to move along multiple axes of the gantry, thereby adapting to the loading requirements of different drones. For example, the sliding unit slides along the first axis to achieve adjustment in the horizontal x-axis direction, while the first axis slides on the second axis to achieve adjustment in the horizontal y-axis direction. This multi-degree-of-freedom movement method ensures that the mechanical gripper can be accurately positioned to attach to different types of drones, improving the compatibility and flexibility of loading external equipment onto drones. Attached Figure Description

[0024] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0025] Figure 1 This is one of the structural schematic diagrams of a mechanical gripper provided in an embodiment of this application;

[0026] Figure 2 A second schematic diagram of the structure of a mechanical gripper provided in an embodiment of this application;

[0027] Figure 3 This is a schematic diagram of the structure of a button push rod provided in an embodiment of this application;

[0028] Figure 4 This is a schematic diagram of the structure of a button portion provided in an embodiment of this application;

[0029] Figure 5 This is a schematic diagram of the structure of an assembly component provided in an embodiment of this application.

[0030] Icons: 100-Mechanical gripper; 10-Base plate; 101-Through hole; 111-Push rod cylinder; 112-Push rod piston; 113-Button push rod; 1131-Transmission unit; 1132-Body unit; 1133-Button unit; 11331-Button base plate; 11332-Fixing block; 11333-Positioning block; 1134-U-groove; 1135-Weight reduction through hole; 1136-Rotation through hole; 121-Cylinder unit; 122-Gripper; 123-Pin; 131-Lever fulcrum; 132-Rotation crossbar; 200-Loading body; 300-Assembly assembly; 30-Rotation mechanism; 311-First shaft; 312-Second shaft; 313-Sliding unit. Detailed Implementation

[0031] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. The components of the embodiments of this application described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0032] Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely to illustrate selected embodiments of the application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0033] 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.

[0034] In the description of the embodiments of this application, it should be noted that if terms such as "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," or "outer" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the utility model product is in use, they are only for the convenience of describing this application 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 on this application. In addition, terms such as "first," "second," and "third" are only used to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0035] Furthermore, the use of terms such as "horizontal," "vertical," and "sag" does not imply that the component must be absolutely horizontal or suspended, but rather that it can be slightly tilted. For example, "horizontal" simply means that its direction is more horizontal relative to "vertical," and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0036] In the description of the embodiments of this application, "a plurality of" means at least two.

[0037] In the description of the embodiments of this application, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; 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; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0038] The mechanical gripper 100 provided in this application embodiment can be applied to UAV assembly, machining, etc., especially in the UAV assembly process. Through the cooperation of a button mechanism and a clamping mechanism, it can achieve precise clamping and rapid release of the UAV's external equipment (i.e., the mounting body 200), meeting the automatic loading and replacement requirements of external equipment in UAV security hangars. Specifically, when it is necessary to load external equipment, the transmission unit drives the button push rod 113 to rotate along a first preset plane, so that the button part 1133 matches the mounting slot of the external equipment, achieving initial connection; subsequently, the cylinder unit 121 drives the gripper 122 to slide along a second preset plane, further clamping the external equipment and ensuring its stable fixation. The mechanical gripper 100 will be described in detail below.

[0039] Figure 1 This is one of the structural schematic diagrams of a mechanical gripper 100 provided in an embodiment of this application; Figure 2 A second schematic diagram of the structure of the mechanical gripper 100 provided in one embodiment of this application; Figure 3 This is a schematic diagram of the structure of a button push rod 113 provided in an embodiment of this application; Figure 4 This is a schematic diagram of the structure of the button portion 1133 provided in an embodiment of this application; Figure 5 This is a schematic diagram of the structure of an assembly component 300 provided in one embodiment of this application. Figures 1-5 As shown, the mechanical gripper 100 may include a base plate 10, a button mechanism, and a clamping mechanism. The button mechanism includes a transmission unit and a button push rod 113. The transmission unit is mounted on the base plate 10, and the button push rod 113 is connected to the transmission unit and can move along a first preset plane under the drive of the transmission unit. Figure 1 The middle button push rod 113 rotates on the plane of rotation to connect the mounting body 200; the clamping mechanism includes a cylinder unit 121 and a gripper 122 connected to each other. The cylinder unit 121 is mounted on the base plate 10, and the gripper 122 can rotate along the second preset plane under the drive of the cylinder unit 121. Figure 1 The middle gripper 122 can slide on a movable plane to grip the mounted body 200; wherein the first preset plane and the second preset plane are perpendicular to each other.

[0040] It is worth noting that the mechanical gripper 100 can connect to the mounting body 200 through a button mechanism, and then clamp the mounting body 200 through a clamping mechanism. The button mechanism and the clamping mechanism can respectively restrict the degree of freedom of the mounting body 200 in different directions, thereby realizing the automated loading of the mounting body 200 and ensuring the structural stability after loading.

[0041] In this embodiment, the transmission unit includes a push rod cylinder 111 and a push rod piston 112. A through hole 101 is provided on the base plate 10. The push rod cylinder 111 is installed in the through hole 101. The push rod piston 112 is connected to the push rod cylinder 111 and the button push rod 113 respectively, and can slide along its own axis to drive the button push rod 113 to rotate.

[0042] It is worth noting that the push rod piston 112 slides along its own axis, precisely controlling the rotation angle of the button push rod 113, thereby ensuring a precise match between the button part 1133 and the mounting slot of the external equipment, improving loading stability. Simultaneously, the linear movement of the push rod piston 112 driven by the push rod cylinder 111 enables the automatic rotation of the button push rod 113 without additional manual operation, increasing the automation level of the loading process and making it suitable for intelligent management of UAV hangars. Furthermore, the linear drive method of the push rod cylinder 111 and push rod piston 112 reduces energy loss and improves response speed compared to complex rotary mechanisms, making the mechanical gripper 100 more efficient in loading and unloading external equipment for UAVs.

[0043] Please refer to this again. Figure 3The push rod 113 includes a transmission part 1131, a body part 1132 and a button part 1133. The transmission part 1131 has a U-shaped groove 1134 that is compatible with the transmission unit. The body part 1132 has a wedge-shaped structure, and the large diameter end of the body part 1132 is connected to the transmission part 1131, and the small diameter end of the body part 1132 is connected to the button part 1133. The outer contour of the button part 1133 is compatible with the mounting groove (not shown in the figure) of the mounting body 200.

[0044] Understandably, the U-shaped groove 1134 in the transmission section 1131 matches the transmission unit, enabling the movement of the push rod piston 112 to more stably drive the button push rod 113 to rotate, improving transmission efficiency and reducing mechanical losses. Simultaneously, the body section 1132 adopts a wedge-shaped structure. During clamping, the wedge-shaped structure provides additional self-locking force under clamping force, allowing the button section 1133 to be more securely embedded in the mounting slot of the mounting body 200, preventing the equipment from loosening due to vibration or impact and improving loading reliability. Furthermore, the outer contour of the button section 1133 is specially designed to match the mounting slot of the mounting body 200, ensuring accurate positioning and fixation of external equipment of different shapes and sizes, improving the adaptability and versatility of the gripper.

[0045] In this embodiment, a plurality of weight-reducing through holes 1135 are provided in the body portion 1132, and the plurality of weight-reducing through holes 1135 are evenly spaced on the body portion 1132 along the length direction of the body portion 1132.

[0046] It is worth noting that by providing weight-reducing through holes 1135 in the main body 1132, the mass of the mechanical gripper 100 can be effectively reduced, the equipment load can be lowered, and the operating efficiency of the automatic loading system in the UAV hangar can be improved. At the same time, the evenly spaced arrangement of the weight-reducing through holes 1135 can optimize the stress distribution while ensuring structural strength, reduce local stress concentration, reduce the risk of material fatigue damage, and thus improve the durability and service life of the gripper.

[0047] In this embodiment, a lever fulcrum 131 and a rotating crossbar 132 are also included. The lever fulcrum 131 is arranged at the end of the base plate 10, and the rotating crossbar 132 passes through the lever fulcrum 131. The main body 1132 also has a rotating through hole 1136, through which the main body 1132 is sleeved on the rotating crossbar 132.

[0048] It is worth noting that by providing a rotating through hole 1136 in the main body 1132 and fitting it onto the rotating crossbar 132, the main body 1132 can rotate stably around the rotating crossbar 132 under the action of external force, so that the mechanical gripper 100 can effectively clamp and release external load equipment at different angles, thereby improving operational flexibility.

[0049] Please refer to this again. Figure 4 The button part 1133 includes a button base plate 11331 and a button block. The button base plate 11331 is L-shaped, and the concave surface of the button base plate 11331 is connected to the small diameter end of the main body part 1132. The outer contour of the button block is adapted to the mounting groove of the mounting body 200, and the button block is arranged on the outer surface of the button base plate 11331.

[0050] Optionally, the button block includes a fixing block 11332 and a positioning block 11333 with elastic deformation capability, the positioning block 11333 being mounted on the fixing block 11332.

[0051] Specifically, the outer contour of the button block matches the mounting slot of the mounting body 200, allowing the gripper to more precisely engage with the external equipment, ensuring stable clamping and reducing loading instability caused by dimensional errors. Simultaneously, the "L"-shaped button base plate 11331 structure provides a more rational force transmission path, enabling the button part 1133 to evenly distribute pressure when subjected to external forces, reducing single-point stress and improving the durability of the mechanical gripper 100. Furthermore, the positioning block 11333, with its elastic deformation capability, provides a certain degree of cushioning during gripping or releasing, reducing equipment damage caused by excessive impact and improving the smoothness of loading and releasing.

[0052] In this embodiment, there are two sets of clamping mechanisms, which are symmetrically arranged. The two sets of grippers 122 can move towards each other under the drive of the clamping cylinder, so as to move away from or towards each other. Each gripper 122 is also equipped with several locking pins 123.

[0053] Please refer to this again. Figure 5 This application also provides an assembly assembly 300, including: a mechanical gripper 100 as described in the previous embodiment, a rotating mechanism 30, and a gantry mechanism. The rotating mechanism 30 is connected to the base plate 10 and can drive the base plate 10 to rotate; the gantry mechanism includes a gantry frame and a sliding unit 313, the side of the rotating mechanism 30 away from the base plate 10 is connected to the sliding unit 313, and the sliding unit 313 can drive the rotating mechanism 30 to slide along the gantry frame.

[0054] In this embodiment, the gantry includes a first shaft 311 and a second shaft 312 arranged vertically. A sliding unit 313 is slidably disposed on the first shaft 311 and can move along the extension direction of the first shaft 311. The first shaft 311 is slidably disposed on the second shaft 312 and can move along the extension direction of the second shaft 312.

[0055] It should be noted that the rotating mechanism 30 can be composed of a servo motor and a harmonic reducer, which can drive the base plate 10 to rotate. Meanwhile, the first shaft 311 and the second shaft 312 constituting the gantry allow the sliding unit 313 to move in the X and Y axes of the horizontal plane. This multi-degree-of-freedom movement ensures that the mechanical gripper 100 can be accurately positioned to the mounting location of different types of UAVs, improving the compatibility and flexibility of loading external equipment onto UAVs. In this embodiment, the sliding unit 313 can be a slider.

[0056] The above are merely preferred embodiments of this application and are 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 are included within the scope of protection of this application.

Claims

1. A mechanical gripper for gripping and attaching a machine body, characterized in that, include: Base plate; The button mechanism includes a transmission unit and a button push rod. The transmission unit is mounted on the base plate, and the button push rod is connected to the transmission unit and can rotate along a first preset plane under the drive of the transmission unit to connect to the mounting body. The clamping mechanism includes a cylinder unit and a gripper connected to each other. The cylinder unit is mounted on the base plate, and the gripper can slide along a second preset plane under the drive of the cylinder unit to clamp the mounting body. The first preset plane and the second preset plane are perpendicular to each other.

2. The mechanical gripper according to claim 1, characterized in that, The transmission unit includes a push rod cylinder and a push rod piston. A through hole is provided on the base plate. The push rod cylinder is installed in the through hole. The push rod piston is connected to the push rod cylinder and the button push rod respectively, and can slide along its own axis to drive the button push rod to rotate.

3. The mechanical gripper according to claim 1, characterized in that, The push rod includes a transmission part, a body part, and a button part. The transmission part has a U-shaped groove that is compatible with the transmission unit. The body part has a wedge-shaped structure, and the large-diameter end of the body part is connected to the transmission part, while the small-diameter end of the body part is connected to the button part. The outer contour of the button part is compatible with the mounting groove of the mounting body.

4. The mechanical gripper according to claim 3, characterized in that, The main body has multiple weight-reducing through holes, which are evenly spaced along the length of the main body.

5. The mechanical gripper according to claim 3, characterized in that, It also includes a lever fulcrum and a rotating crossbar. The lever fulcrum is located at the end of the base plate, and the rotating crossbar passes through the lever fulcrum. The main body also has a rotating through hole through which the main body is sleeved on the rotating crossbar.

6. The mechanical gripper according to claim 3, characterized in that, The button part includes a button base plate and a button block. The button base plate is "L" shaped, and the concave surface of the button base plate is connected to the small diameter end of the main body. The outer contour of the button block is adapted to the mounting groove of the mounting body, and the button block is arranged on the outer surface of the button base plate.

7. The mechanical gripper according to claim 6, characterized in that, The button block includes a fixed block and a positioning block with elastic deformation capability, the positioning block being mounted on the fixed block.

8. The mechanical gripper according to claim 1, characterized in that, The clamping mechanism consists of two sets, which are symmetrically arranged. The two sets of grippers can move towards each other under the drive of the cylinder unit, moving away from or towards each other. Each gripper is also equipped with several locking pins.

9. An assembly component, characterized in that, include: The mechanical gripper as described in any one of claims 1 to 8; A rotating mechanism is connected to the base plate and can drive the base plate to rotate; A gantry mechanism includes a gantry and a sliding unit. The rotating mechanism is connected to the sliding unit on the side opposite to the base plate. The sliding unit can drive the rotating mechanism to slide along the gantry.

10. The assembly component according to claim 9, characterized in that, The gantry includes a first shaft and a second shaft arranged vertically. The sliding unit is slidably disposed on the first shaft and can move along the extension direction of the first shaft. The first shaft is slidably disposed on the second shaft and can move along the extension direction of the second shaft.

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