Electromechanical servo control gripper

Abstract

The utility model relates to the technical field of mechanical grippers, in particular to an electronic mechanical servo control gripper which comprises a supporting plate, a top plate is connected to the top end of the supporting plate in a sliding mode, sliding blocks are connected to the periphery of the bottom end of the top plate in a sliding mode, hinge plates are connected to the surfaces of the sliding blocks in a sliding mode, and grippers are fixedly arranged at the bottom ends of the hinge plates. A grabbing assembly is arranged between the supporting plate and the top plate, an adjusting assembly is arranged at the bottom end of the top plate, a plurality of first sliding grooves formed at equal intervals are formed in the inner wall of the supporting plate, and transverse plates are slidably connected to the inner walls of the first sliding grooves; through mutual cooperation of structures such as an air cylinder, a push plate, a sliding block, a fourth sliding groove, a guide plate, a movable rod, a movable cavity, a transverse plate and a first sliding groove, gaps among a plurality of grippers can be adjusted according to the sizes of gripped objects, so that the gripper can be matched with clamping pieces of different specifications, and the problem that due to the fact that the size difference of the clamping pieces is too large, the size of the grippers is too large is effectively solved. Therefore, the problem that the gripper needs to be replaced repeatedly during gripping is solved.

Description

Technical Field

[0001] This utility model relates to the field of mechanical gripper technology, and in particular to an electromechanical servo-controlled gripper. Background Technology

[0002] A mechanical gripper is a mechanical device used to grasp and move objects. It plays an important role in industrial manufacturing, electronic equipment manufacturing and other fields, saving manpower and time and improving work efficiency. The basic structure of a mechanical gripper consists of three parts: gripper, robotic arm and control system. The gripper is the main component of the mechanical gripper, which usually has the function of clamping and releasing objects. The robotic arm is responsible for moving objects to complete specific work tasks. The control system controls the movement of the robotic arm and gripper.

[0003] Patent specification CN202320282924.X discloses a precision metal robotic arm gripper, which "includes a base and a gripper body disposed at the bottom of the base. A gripping rod is disposed below the gripper body, and two sets of gripping rods are provided. A rubber pad is fixedly connected to one side of the gripping rod. An adsorption mechanism is disposed inside the gripping rod. The adsorption mechanism includes a first motor and an air cylinder fixedly connected inside the gripping rod. A lead screw is fixedly connected to the output end of the first motor, and a moving rod is threadedly connected to the outer side of the lead screw. This invention, through the arrangement of the first motor, air cylinder, sliding plate, and suction cup, achieves the function of simultaneously gripping and adsorbing objects, reducing the probability of objects falling off. It solves the problem that existing robotic arm grippers generally lack additional fixing mechanisms, which easily leads to the risk of objects falling off during the gripping process, especially when gripping objects with relatively smooth surfaces."

[0004] However, the following problems were found in the implementation of the relevant technology: Traditional grippers cannot adjust the spacing between grippers properly to better fit the objects being gripped. Since the specifications of the workpieces to be gripped are different, when the size of the clamping parts is too different, it is necessary to repeatedly change the corresponding grippers to grip them, which is too cumbersome. Therefore, an electromechanical servo control gripper is provided to overcome the above defects. Utility Model Content

[0005] The purpose of this invention is to address the shortcomings of existing technologies by proposing an electromechanical servo-controlled gripper.

[0006] To achieve the above objectives, the present invention adopts the following technical solution: an electromechanical servo-controlled gripper, comprising a support plate, a top plate slidably connected to the top of the support plate, sliders slidably connected to the four sides of the bottom of the top plate, hinge plates slidably connected to the surfaces of several sliders, grippers fixedly provided at the bottom ends of several hinge plates, a gripping component provided between the support plate and the top plate, an adjusting component provided at the bottom end of the top plate, several equidistant first sliding grooves opened on the inner wall of the support plate, horizontal plates slidably connected to the inner walls of several first sliding grooves, and the bottom ends of several hinge plates respectively hinged to one side of several horizontal plates.

[0007] As a further description of the above technical solution: the gripping assembly includes a vertical plate, a second sliding groove, a movable plate, a connecting screw, a screw nut, and several top rods. The vertical plate is fixedly installed at the middle of the top of the support plate. The inner wall of the vertical plate has a second sliding groove, and the movable plate is slidably connected to the inner wall of the second sliding groove. The connecting screw is rotatably connected to the inside of the second sliding groove through a bearing. The inner wall of the movable plate is fixedly provided with a screw nut, and the screw nut is threadedly connected to the connecting screw. Several top rods are fixedly provided between the movable plate and the top plate. By rotating the connecting screw and cooperating with the screw nut, the movable plate can slide along the inner wall of the second sliding groove. Then, the top plate can be lifted by the several top rods to control the contraction and expansion of the gripper.

[0008] As a further description of the above technical solution: the adjustment assembly includes several third slide grooves, several movable cavities, several movable rods, several guide plates, several fourth slide grooves, cylinders, and push plates. The several third slide grooves are equidistantly located on the inner walls around the top plate, and are slidably connected to several sliders. The several movable cavities are equidistantly located on the inner walls at the bottom of the top plate, and movable rods are slidably connected to the inner walls of the movable cavities. Guide plates are fixedly provided at the bottom ends of the movable rods. The several fourth slide grooves are respectively located on... The inner walls of the top and bottom of several sliders, several guide plates are slidably connected to several fourth sliding grooves, the cylinder is fixedly installed at the top of the top plate, the piston rod of the cylinder is fixedly connected to a push plate, the push plate is fixedly connected to one of the sliders, and the movement of the piston rod of the cylinder causes one of the sliders to slide. While one slider is sliding, the other sliders can be driven to move synchronously through several guide plates and several movable rods, thereby adjusting the horizontal position of several sliders so as to adjust the gripping distance of the gripper according to the specifications of the clamping parts.

[0009] As a further description of the above technical solution: a servo motor is fixedly provided at the bottom of one side of the upright plate, a first helical gear is fixedly connected to the transmission shaft of the servo motor, and a second helical gear is fixedly provided on the surface of the connecting screw, and the first helical gear and the second helical gear are meshed and connected.

[0010] As a further description of the above technical solution: a protruding rod is fixedly provided on the inner wall of one side of several sliders, and two fifth sliding grooves are opened on the inner wall of the top of several hinge plates, and each protruding rod is slidably connected between every two opposite fifth sliding grooves.

[0011] As a further description of the above technical solution: several suction cups are fixedly provided on the bottom of one side of several grippers, and micro air pumps are fixedly provided on the other side of several grippers. A distance sensor is fixedly provided in the middle of the bottom end of the support plate, and several micro air pumps are electrically connected to the distance sensor.

[0012] As a further description of the above technical solution: a switch panel is fixedly provided on the surface of the top plate, and a cylinder switch and a servo motor switch are respectively provided on the surface of the switch panel. The cylinder and the servo motor are electrically connected to the power supply through the cylinder switch and the servo motor switch, respectively.

[0013] This utility model has the following beneficial effects:

[0014] The electromechanical servo-controlled gripper designed in this utility model utilizes a combination of components such as a cylinder, push plate, slider, fourth slide groove, guide plate, movable rod, movable cavity, horizontal plate, and first slide groove. This allows the gripper to move horizontally without interfering with the rotation of several hinge plates. Furthermore, the gaps between the grippers can be adjusted according to the size of the object to be gripped, making the gripper compatible with different sizes of clamping components. This effectively solves the problem of repeatedly changing grippers due to large differences in the size of the clamping components.

[0015] The electromechanical servo-controlled gripper designed in this utility model utilizes a servo motor, a first helical gear, a second helical gear, a connecting screw, a screw nut, a moving plate, a top rod, a slider, a fifth sliding groove, a protruding rod, a distance sensor, suction cups, and a miniature air pump. These components work together to facilitate the adjustment of the clamping force between several grippers. This allows the force to be adjusted according to the stress on the object being gripped. Furthermore, the negative pressure generated inside the suction cups can attract the gripping object to the inner wall of the gripper, thereby improving the stability of the gripper during the gripping process. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0017] Figure 2 This is a cross-sectional structural diagram of the vertical plate of this utility model;

[0018] Figure 3 This is a schematic diagram of the bottom structure of the top plate of this utility model;

[0019] Figure 4 This is a cross-sectional structural diagram of the slider of this utility model.

[0020] Legend:

[0021] 1. Support plate; 2. Top plate; 3. Slider; 4. Hinge plate; 5. Gripper; 6. Grasping assembly; 7. Adjustment assembly; 8. First slide rail; 9. Horizontal plate; 10. Servo motor; 11. First helical gear; 12. Second helical gear; 13. Protruding rod; 14. Fifth slide rail; 15. Suction cup; 16. Miniature air pump; 17. Distance sensor; 18. Switch panel; 61. Vertical plate; 62. Second slide rail; 63. Moving plate; 64. Connecting screw; 65. Screw nut; 66. Top rod; 71. Third slide rail; 72. Movable cavity; 73. Movable rod; 74. Guide plate; 75. Fourth slide rail; 76. Cylinder; 77. Push plate. Detailed Implementation

[0022] Reference Figure 1-4 The electromechanical servo-controlled gripper provided by this utility model includes a support plate 1, a top plate 2 slidably connected to the top of the support plate 1, sliders 3 slidably connected to the four sides of the bottom of the top plate 2, hinge plates 4 slidably connected to the surfaces of several sliders 3, grippers 5 fixedly provided at the bottom of several hinge plates 4, a gripping component 6 provided between the support plate 1 and the top plate 2, an adjusting component 7 provided at the bottom of the top plate 2, several first sliding grooves 8 equidistantly arranged on the inner wall of the support plate 1, a horizontal plate 9 slidably connected to the inner wall of several first sliding grooves 8, and the bottom of several hinge plates 4 respectively hinged to one side of several horizontal plates 9.

[0023] As a further implementation of the above technical solution: the gripping component 6 includes a vertical plate 61, a second sliding groove 62, a movable plate 63, a connecting screw 64, a screw nut 65, and a plurality of top rods 66. The vertical plate 61 is fixedly installed at the middle of the top of the support plate 1. The inner wall of the vertical plate 61 is provided with a second sliding groove 62. The movable plate 63 is slidably connected to the inner wall of the second sliding groove 62. The connecting screw 64 is rotatably connected to the inside of the second sliding groove 62 through a bearing. The inner wall of the movable plate 63 is fixedly provided with a screw nut 65. The screw nut 65 is threadedly connected to the connecting screw 64. A plurality of top rods 66 are fixedly provided between the movable plate 63 and the top plate 2.

[0024] A servo motor 10 is fixedly installed at the bottom of one side of the upright plate 61. The transmission shaft of the servo motor 10 is fixedly connected to a first helical gear 11. A second helical gear 12 is fixedly installed on the surface of the connecting screw 64. The first helical gear 11 and the second helical gear 12 are meshed and connected.

[0025] A protruding rod 13 is fixedly provided on the inner wall of one side of several sliders 3, and two fifth sliding grooves 14 are opened on the inner wall of the top of several hinge plates 4. Each protruding rod 13 is slidably connected between each pair of opposite fifth sliding grooves 14.

[0026] The servo motor 10 starts and drives the first helical gear 11 to rotate. At the same time, the second helical gear 12 drives the connecting screw 64 to rotate. After the connecting screw 64 and the screw nut 65 are engaged, the moving plate 63 and several top rods 66 move upward to lift the top plate 2. While the top plate 2 and several sliders 3 move upward, several fifth slide grooves 14 guide several protruding rods 13 respectively, and the tilt angle of several hinge plates 4 can be adjusted appropriately.

[0027] As a further implementation of the above technical solution: the adjustment component 7 includes several third slide grooves 71, several movable cavities 72, several movable rods 73, several guide plates 74, several fourth slide grooves 75, a cylinder 76, and a push plate 77. The several third slide grooves 71 are equidistantly located on the inner walls of the top plate 2, and are slidably connected to several sliders 3. The several movable cavities 72 are equidistantly located on the inner walls of the bottom end of the top plate 2, and are slidably connected to the inner walls of the movable cavities 72. Guide plates 74 are fixedly installed at the bottom ends of the movable rods 73. The several fourth slide grooves 75 are respectively located on the inner walls of the top and bottom of the sliders 3, and are slidably connected to the guide plates 74. The cylinder 76 is fixedly installed on the top plate 77. At the top of plate 2, a push plate 77 is fixedly connected to the piston rod of cylinder 76. The push plate 77 is fixedly connected to one of the sliders 3. The movement of the piston rod of cylinder 76 causes the push plate 77 to drive one of the sliders 3 to move horizontally. Since several fourth slide grooves 75 are slidably connected to several guide plates 74 respectively, one of the sliders 3 can push two of the guide plates 74 to slide while moving. Two movable rods 73 slide on the inner walls of two movable cavities 72 respectively. Thus, several sliders 3 can move synchronously through the interaction of several guide plates 74. Several horizontal plates 9 slide on the inner walls of several first slide grooves 8 respectively. They can move horizontally without interfering with the rotation of several hinge plates 4. Thus, the gap between several grippers 5 can be adjusted according to the size of the object to be grasped by the gripper.

[0028] As a further implementation of the above technical solution: several suction cups 15 are fixedly provided on the bottom of one side of several grippers 5, and micro air pumps 16 are fixedly provided on the other side of several grippers 5. A distance sensor 17 is fixedly provided in the middle of the bottom end of the support plate 1. Several micro air pumps 16 are electrically connected to the distance sensor 17. The distance sensor 17 senses the clamping part and controls the operation of several micro air pumps 16. At this time, negative pressure is generated inside several suction cups 15 to improve the stability of the gripper during the clamping process.

[0029] As a further implementation of the above technical solution: a switch panel 18 is fixedly provided on the surface of the top plate 2. The surface of the switch panel 18 is provided with a cylinder switch and a servo motor switch. The cylinder 76 and the servo motor 10 are electrically connected to the power supply through the cylinder switch and the servo motor switch, respectively.

[0030] Working Principle: When using this invention, the control gripper and the robotic arm are first installed together. Then, the piston rod of the cylinder 76 moves, causing the push plate 77 to drive one of the sliders 3 to move horizontally. Since several fourth sliding grooves 75 are slidably connected to several guide plates 74, one slider 3 can push two of the guide plates 74 to slide while moving. Two movable rods 73 slide on the inner walls of two movable cavities 72. Thus, several sliders 3 can move synchronously through the interaction of several guide plates 74. Several horizontal plates 9 slide on the inner walls of several first sliding grooves 8, allowing horizontal movement without interfering with the rotation of several hinge plates 4. The gap between several grippers 5 can be adjusted according to the size of the object to be grasped by the gripper. Then, the servo motor 1... The 0-start mechanism drives the first helical gear 11 to rotate, while the second helical gear 12 drives the connecting screw 64 to rotate. After the connecting screw 64 engages with the screw nut 65, the moving plate 63 and several top rods 66 move upward to lift the top plate 2. As the top plate 2 and several sliders 3 move upward, several fifth sliding grooves 14 guide several protruding rods 13 respectively, and the tilt angle of several hinge plates 4 is appropriately adjusted. When several grippers 5 come into contact with the object, the servo motor 10 starts to make the connecting screw 64 rotate in the reverse direction, and the grippers 5 contract, increasing the friction coefficient between the gripper and the object. At the same time, the distance sensor 17 senses the clamping parts and controls several micro air pumps 16 to operate. At this time, negative pressure is generated inside several suction cups 15 to improve the stability of the gripper during the clamping process.

[0031] Finally, it should be noted that the above are merely preferred embodiments of the present utility model and are not intended to limit the present utility model. Although the present utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. An electromechanical servo-controlled gripper, including a support plate (1), characterized in that: The top of the support plate (1) is slidably connected to a top plate (2). Sliders (3) are slidably connected around the bottom of the top plate (2). Hinges (4) are slidably connected to the surfaces of several sliders (3). Grippers (5) are fixedly provided at the bottom of several hinges (4). A gripping component (6) is provided between the support plate (1) and the top plate (2). An adjustment component (7) is provided at the bottom of the top plate (2). Several first sliding grooves (8) are provided on the inner wall of the support plate (1). Horizontal plates (9) are slidably connected to the inner walls of several first sliding grooves (8). The bottom ends of several hinges (4) are respectively hinged to one side of several horizontal plates (9).

2. The electromechanical servo-controlled gripper according to claim 1, characterized in that: The gripping assembly (6) includes a vertical plate (61), a second slide groove (62), a movable plate (63), a connecting screw (64), a screw nut (65), and several top rods (66). The vertical plate (61) is fixedly installed at the middle of the top of the support plate (1). The inner wall of the vertical plate (61) is provided with a second slide groove (62). The inner wall of the second slide groove (62) is slidably connected to the movable plate (63). The interior of the second slide groove (62) is rotatably connected to the connecting screw (64) through a bearing. The inner wall of the movable plate (63) is fixedly provided with a screw nut (65). The screw nut (65) is threadedly connected to the connecting screw (64). Several top rods (66) are fixedly provided between the movable plate (63) and the top plate (2).

3. The electromechanical servo-controlled gripper according to claim 2, characterized in that: The adjustment assembly (7) includes several third slide grooves (71), several movable cavities (72), several movable rods (73), several guide plates (74), several fourth slide grooves (75), a cylinder (76), and a push plate (77). The third slide grooves (71) are equidistantly located on the inner walls of the top plate (2), and are slidably connected to several sliders (3). The movable cavities (72) are equidistantly located on the inner walls of the bottom of the top plate (2). The inner walls of each slider are slidably connected to movable rods (73), and the bottom ends of each movable rod (73) are fixedly provided with guide plates (74). Each fourth slide groove (75) is opened on the inner wall of the top and bottom of each slider (3). Each guide plate (74) is slidably connected to each fourth slide groove (75). The cylinder (76) is fixedly installed at the top of the top plate (2). The piston rod of the cylinder (76) is fixedly connected to a push plate (77). The push plate (77) is fixedly connected to one of the sliders (3).

4. The electromechanical servo-controlled gripper according to claim 3, characterized in that: A servo motor (10) is fixedly installed at the bottom of one side of the upright plate (61). The transmission shaft of the servo motor (10) is fixedly connected to a first helical gear (11). A second helical gear (12) is fixedly installed on the surface of the connecting screw (64). The first helical gear (11) and the second helical gear (12) are meshed together.

5. The electromechanical servo-controlled gripper according to claim 1, characterized in that: A protruding rod (13) is fixedly provided on the inner wall of one side of several sliders (3), and two fifth sliding grooves (14) are opened on the inner wall of the top of several hinge plates (4). Each protruding rod (13) is slidably connected between each pair of opposite fifth sliding grooves (14).

6. The electromechanical servo-controlled gripper according to claim 1, characterized in that: Several suction cups (15) are fixedly provided on the bottom of one side of several grippers (5), and micro air pumps (16) are fixedly provided on the other side of several grippers (5). A distance sensor (17) is fixedly provided in the middle of the bottom end of the support plate (1), and several micro air pumps (16) are electrically connected to the distance sensor (17).

7. The electromechanical servo-controlled gripper according to claim 4, characterized in that: The top plate (2) is fixedly provided with a switch panel (18), and the switch panel (18) is provided with a cylinder switch and a servo motor switch respectively. The cylinder (76) and the servo motor (10) are electrically connected to the power supply through the cylinder switch and the servo motor switch respectively.

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