Shaft drive integrated clamping jaw opening and closing structure and mechanical clamping jaw

Abstract

The application provides a shaft drive integrated claw opening and closing structure and a mechanical claw, and belongs to the field of mechanical claws. The shaft drive integrated claw opening and closing structure and the mechanical claw, which comprises a mounting frame connected to the outer surface of a mechanical arm, the bottom of the mounting frame is provided with a protection mechanism for preventing the falling of an object in the air, and the bottom of the mounting frame is provided with a telescopic mechanism. Through the arrangement of the protection mechanism and the telescopic mechanism, the second transverse plate can catch the object and prevent the object from falling from the air during the movement of the object being grabbed by the mechanical claw, and the length of the first transverse plate can be adjusted according to the size of the grabbed object, so as to solve the problem that the existing shaft drive integrated mechanical claw will cause the object in the air to fall and cause damage to the object once the two groups of claws lose the clamping force.

Description

Technical Field

[0001] This application relates to the field of mechanical grippers, and more specifically, to a shaft-driven integrated gripper opening and closing structure and a mechanical gripper. Background Technology

[0002] A mechanical gripper is an automated device used to grasp, move, or hold objects. It is typically used as an end effector in industrial robots or automated equipment. Its core function is to achieve precise manipulation of objects of different shapes, sizes, and materials by simulating the gripping motion of human fingers.

[0003] In the prior art, by setting up an integrated shaft-driven gripper opening and closing structure, the gripper body is directly and rigidly connected to the output shaft at the end of the robotic arm. The opening and closing action of the gripper can be realized by the rotation of the output shaft and the linkage assembly, thus eliminating the need to use an independent drive system to move the gripper.

[0004] However, the existing shaft-driven integrated mechanical grippers still have the following shortcomings in use: After the existing shaft-driven integrated mechanical grippers grab the item into the air, they are not equipped with an anti-drop mechanism. As a result, once the two sets of grippers lose their gripping force, the item grabbed into the air will fall and be damaged. Utility Model Content

[0005] To overcome the above shortcomings, this application provides a shaft-driven integrated gripper opening and closing structure and a mechanical gripper, which aims to improve the problem that if the two sets of grippers lose their gripping force, the object being gripped in the air will fall and be damaged.

[0006] This application provides a shaft-driven integrated gripper opening and closing structure, including a mounting frame connected to the outer surface of a robotic arm. A linkage assembly is connected to the bottom of the mounting frame, and a rotating shaft is connected to the top of the linkage assembly. The rotating shaft is connected to the output shaft of the robotic arm. A protective mechanism for preventing items from falling from the air is provided at the bottom of the mounting frame, and a telescopic mechanism is provided at the bottom of the mounting frame.

[0007] The protective mechanism includes two sets of first vertical rods. The first vertical rods are set at the bottom of the mounting frame. A connector is connected to one side of the first vertical rod. A first cavity is opened at the bottom of the first vertical rod. A second vertical rod is slidably arranged inside the first cavity.

[0008] In one specific implementation, a circular plate is rotatably connected to the top of the second vertical rod, and a telescopic rod is connected to the top of the circular plate. The other end of the telescopic rod is connected to the inner wall of the first cavity, and a spring is sleeved on the outer surface of the telescopic rod.

[0009] In the above implementation process, by setting up the telescopic rod and the spring, the second vertical rod can slide on the inner wall of the first cavity. When the second vertical rod moves into the interior of the first cavity, it compresses the spring.

[0010] In one specific implementation, the inner wall of the first cavity is provided with two sets of first sliding grooves, two sets of second sliding grooves and two sets of third sliding grooves, and the two ends of the second sliding groove are connected to the first sliding groove and the third sliding groove.

[0011] In the above implementation process, the first slide groove, the second slide groove and the third slide groove are set so that the second vertical rod can rotate when it moves downward on the inner wall of the first cavity.

[0012] In one specific implementation, the outer surface of the second vertical rod is connected to two sets of protrusions, which are capable of sliding inside the first, second, and third sliding grooves.

[0013] In the above implementation process, by setting the protrusion, when the second vertical rod releases its elastic potential energy due to the compression of the spring, it can drive the second vertical rod to move downward. The protrusion first moves downward inside the first slide groove, and then when it passes through the second slide groove, it can make the second vertical rod rotate 180 degrees, and then move to the inside of the third slide groove.

[0014] In one specific implementation, the bottom of the second vertical rod is connected to a second horizontal plate, and the bottom of the second horizontal plate is rotatably connected to a base plate.

[0015] In the above implementation process, the base plate allows the second horizontal plate to rotate above it. When the mechanical gripper holds the item, the mechanical arm drives the gripper to move, moving the gripper to both sides of the item. At this time, the spring is uncompressed, the base plate contacts the worktable surface, and the two sets of second horizontal plates with the second cavity on opposite sides are facing each other. By controlling the mechanical arm to move the gripper downward, the second vertical rod moves inside the first vertical rod. The protrusion moves from the third slide groove to the second slide groove. After passing through the second slide groove, the two sets of second horizontal plates with the second cavity on opposite sides are facing each other. Then, by controlling... The output shaft of the robotic arm rotates, causing the two sets of clamping plates to come together via the linkage assembly to clamp the item. After clamping, the robotic arm moves the item upward. At this time, the spring releases its elastic potential energy, causing the second vertical rod to move downward. This causes the protrusion to move downward first inside the first slide groove, and then, as it passes through the second slide groove, the second vertical rod can rotate 180 degrees before moving into the third slide groove. At this time, the two sets of second horizontal plates with the second cavity on one side are facing each other, and the two sets of second horizontal plates are located below the item. When the item falls due to the clamping force being lost, the second horizontal plates can catch the item and prevent it from falling from the air.

[0016] In one specific implementation, the telescopic mechanism includes two sets of second cavities, each second cavity being opened on one side of a second horizontal plate, with a first horizontal plate movably inserted into the inner wall of the second cavity.

[0017] In the above implementation process, by setting the second cavity, the first horizontal plate can slide inside the second cavity, and the length of the first horizontal plate can be adjusted according to the size of the object being grasped.

[0018] In one specific implementation, both ends of the second horizontal plate are connected to fasteners, and a threaded post is threaded into one side of each fastener.

[0019] In the above implementation process, by setting the fixing component, the threaded column can be moved inside the fixing component by rotating the threaded column.

[0020] In one specific implementation, one end of the threaded post passes through the second horizontal plate, and the other end of the threaded post is connected to an adjustment knob.

[0021] In the above implementation process, by adjusting the knob, the threaded column can be rotated and moved inside the fixing part. After the first horizontal plate is adjusted to the specified position, one end of the threaded column is pressed against the first horizontal plate, and the first horizontal plate is fixed inside the second cavity.

[0022] In one specific implementation, a pressure sensor is embedded in the top of the first horizontal plate.

[0023] In the above implementation process, by setting up a pressure sensor, after an item falls above the first horizontal plate, the pressure sensor will be under pressure, prompting the staff to perform maintenance on the mechanical gripper.

[0024] On the other hand, this application embodiment provides a mechanical gripper, including two sets of clamping plates, which are slidably connected to the bottom of the mounting frame, and an arc-shaped groove is provided on one side of the clamping plate.

[0025] In the above implementation process, by setting up clamping plates, the clamping force formed between the two sets of clamping plates can be used to grasp the object. The arc design of the groove can better fit the contour of irregular objects, increase the contact area, and achieve more stable adaptive grasping.

[0026] Compared with the prior art, the beneficial effects of this application are as follows: By setting up a protective mechanism and a telescopic mechanism, the second horizontal plate can catch the object when it falls due to the loss of clamping force during the process of the object being picked up and moved by the mechanical gripper through two sets of second horizontal plates and two sets of first horizontal plates, thus preventing the object from falling from the air. Furthermore, the extension length of the first horizontal plate can be adjusted according to the size of the object being picked up, thereby solving the problem that the existing shaft-driven integrated mechanical gripper will cause the object picked up in the air to fall and be damaged once the two sets of grippers lose their clamping force. Attached Figure Description

[0027] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained from these drawings without creative effort.

[0028] Figure 1 This is a schematic diagram of a shaft-driven integrated gripper opening and closing structure and a mechanical gripper provided in an embodiment of this application;

[0029] Figure 2 A schematic diagram of the linkage assembly structure provided for an embodiment of this application;

[0030] Figure 3 A schematic diagram of the base plate structure provided for an embodiment of this application;

[0031] Figure 4 A schematic diagram of the spring structure provided for an embodiment of this application;

[0032] Figure 5 for Figure 4 Enlarged view of point A in the middle;

[0033] Figure 6 A schematic diagram of the first chute structure provided for an embodiment of this application;

[0034] Figure 7 A schematic diagram of the second chute structure provided for an embodiment of this application;

[0035] Figure 8 A schematic diagram of the second cavity structure provided for an embodiment of this application;

[0036] Figure 9 for Figure 8 Enlarged view of point B in the middle.

[0037] In the diagram: 1. Mounting bracket; 2. Protective mechanism; 201. First vertical rod; 202. Connector; 203. First horizontal plate; 204. Second horizontal plate; 205. Spring; 206. Telescopic rod; 207. Second vertical rod; 208. First cavity; 209. Base plate; 2010. Protrusion; 2011. Circular plate; 2012. First slide groove; 2013. Second slide groove; 2014. Third slide groove; 2015. Pressure sensor; 3. Telescopic mechanism; 301. Second cavity; 302. Fixing component; 303. Threaded column; 304. Adjustment knob; 4. Clamping plate; 5. Groove; 6. Linkage assembly; 7. Rotating shaft. Detailed Implementation

[0038] The technical solutions in 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.

[0039] Please see Figure 1 and Figure 2 This application provides a mechanical gripper, including two sets of clamping plates 4, which are slidably connected to the bottom of the mounting frame 1, and an arc-shaped groove 5 is provided on one side of the clamping plate 4.

[0040] By setting up clamping plates 4, the clamping force formed between the two sets of clamping plates 4 can be used to grasp the object. The arc design of the groove 5 can better fit the contour of irregular objects, increase the contact area, and achieve more stable adaptive grasping.

[0041] Please see Figure 1 and Figure 2 This application provides a feeding mechanism, including a mounting frame 1.

[0042] Please see Figure 1 and Figure 2 Mounting frame 1 is connected to the outer surface of the robotic arm. A linkage assembly 6 is connected to the bottom of mounting frame 1. A rotating shaft 7 is connected to the top of linkage assembly 6. The rotating shaft 7 is connected to the output shaft of the robotic arm. A protective mechanism 2 for preventing items from falling from the air is provided at the bottom of mounting frame 1. A telescopic mechanism 3 is provided at the bottom of mounting frame 1.

[0043] Please see Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 , Figure 8 and Figure 9The protective mechanism 2 includes two sets of first vertical rods 201. The first vertical rods 201 are set at the bottom of the mounting frame 1. A connector 202 is connected to one side of the first vertical rods 201. A first cavity 208 is opened at the bottom of the first vertical rods 201. A second vertical rod 207 is slidably arranged inside the first cavity 208.

[0044] In a specific configuration, a circular plate 2011 is rotatably connected to the top of the second vertical rod 207, and a telescopic rod 206 is connected to the top of the circular plate 2011. The other end of the telescopic rod 206 is connected to the inner wall of the first cavity 208, and a spring 205 is sleeved on the outer surface of the telescopic rod 206. Through the arrangement of the telescopic rod 206 and the spring 205, the second vertical rod 207 can slide on the inner wall of the first cavity 208. When the second vertical rod 207 moves into the interior of the first cavity 208, it compresses the spring 205.

[0045] In a specific configuration, the inner wall of the first cavity 208 is provided with two sets of first sliding grooves 2012, two sets of second sliding grooves 2013, and two sets of third sliding grooves 2014. The two ends of the second sliding groove 2013 are connected to the first sliding groove 2012 and the third sliding groove 2014. The arrangement of the first sliding groove 2012, the second sliding groove 2013, and the third sliding groove 2014 enables the second vertical rod 207 to rotate when it moves downward along the inner wall of the first cavity 208.

[0046] In a specific configuration, the outer surface of the second vertical rod 207 is connected to two sets of protrusions 2010. The protrusions 2010 can slide inside the first slide groove 2012, the second slide groove 2013, and the third slide groove 2014. The protrusions 2010 enable the second vertical rod 207 to move downward when the second vertical rod 207 releases its elastic potential energy due to the compression of the spring 205. The protrusions 2010 first move downward inside the first slide groove 2012, and then rotate the second vertical rod 207 180 degrees when passing through the second slide groove 2013, before moving into the third slide groove 2014.

[0047] In the specific setup, the bottom of the second vertical rod 207 is connected to a second horizontal plate 204, and the bottom of the second horizontal plate 204 is rotatably connected to a base plate 209. The base plate 209 allows the second horizontal plate 204 to rotate above it. When the mechanical gripper holds an item, the mechanical arm drives the gripper to move, causing the clamping plate 4 to move to both sides of the item. At this time, the spring 205 is uncompressed, and the base plate 209 contacts the worktable surface. The two sets of second horizontal plates 204 are now facing each other on the side with the second cavity 301. By controlling the mechanical arm to move the gripper downwards, the second vertical rod 207 moves inside the first vertical rod 201. The protrusion 2010 moves from inside the third slide groove 2014 to the second slide groove 2013. After passing through the second slide groove 2013, the two sets of second horizontal plates 204 are now facing each other on the side with the second cavity 301. Figure 1 The system operates in a specific state, and then controls the output shaft of the robotic arm to rotate. This causes the two sets of clamping plates 4 to come together via the linkage assembly 6, clamping the item. After clamping, the robotic arm moves the item upward. At this time, the spring 205 releases its elastic potential energy, causing the second vertical rod 207 to move downward. This causes the protrusion 2010 to move downward first inside the first slide groove 2012, and then, when passing through the second slide groove 2013, it can rotate the second vertical rod 207 180 degrees. Then, it moves into the third slide groove 2014. At this time, the two sets of second horizontal plates 204 are facing each other on one side of the second cavity 301. The two sets of second horizontal plates 204 are located below the item. When the item falls due to the clamping force of the clamping plates 4, the second horizontal plates 204 can catch the item and prevent it from falling from the air.

[0048] In a specific configuration, the telescopic mechanism 3 includes two sets of second cavities 301. The second cavity 301 is opened on one side of the second horizontal plate 204. The first horizontal plate 203 is movably inserted into the inner wall of the second cavity 301. The second cavity 301 allows the first horizontal plate 203 to slide inside the second cavity 301, adjusting the extension length of the first horizontal plate 203. The extension length of the first horizontal plate 203 can be adjusted according to the size of the object being grasped.

[0049] In the specific configuration, both ends of the second horizontal plate 204 are connected to a fixing member 302. A threaded post 303 is threaded into one side of the fixing member 302. By setting the fixing member 302, the threaded post 303 can be moved inside the fixing member 302 by rotating the threaded post 303.

[0050] In the specific configuration, one end of the threaded post 303 passes through the second horizontal plate 204, and the other end of the threaded post 303 is connected to an adjustment knob 304. By adjusting the knob 304, the threaded post 303 can be rotated and moved inside the fixing member 302. After the first horizontal plate 203 is adjusted to the specified position, one end of the threaded post 303 is pressed tightly against the first horizontal plate 203, thus fixing the first horizontal plate 203 inside the second cavity 301.

[0051] In the specific setup, a pressure sensor 2015 is embedded in the top of the first horizontal plate 203. The pressure sensor 2015 is designed so that when an item falls onto the first horizontal plate 203, the pressure sensor 2015 will be under pressure, alerting the staff to perform maintenance on the mechanical gripper.

[0052] The working principle of this mechanical gripper with an integrated shaft-driven gripper opening and closing structure is as follows: When using the mechanical gripper with an integrated shaft-driven gripper opening and closing structure, the mechanical arm drives the mechanical gripper to move, causing the clamping plate 4 to move to both sides of the item. At this time, the spring 205 is in an uncompressed state, the base plate 209 contacts the worktable surface, and the two sets of second horizontal plates 204 are facing each other on the side with the second cavity 301. By controlling the mechanical arm to drive the mechanical gripper downward, the second vertical rod 207 moves inside the first vertical rod 201. The protrusion 2010 moves from inside the third slide groove 2014 to the second slide groove 2013. After passing through the second slide groove 2013, the two sets of second horizontal plates 204 are facing each other on the side with the second cavity 301. Figure 1 In the current state, the output shaft of the robotic arm is rotated, and the two sets of clamping plates 4 are brought together by the linkage assembly 6 to clamp the item. After clamping, the robotic arm moves the item upward. At this time, the spring 205 releases its elastic potential energy, causing the second vertical rod 207 to move downward. This causes the protrusion 2010 to move downward first inside the first slide groove 2012, and then, when passing through the second slide groove 2013, the second vertical rod 207 can rotate 180 degrees before moving into the third slide groove 2014. At this time, the two sets of second horizontal plates 204 are facing each other on the side where the second cavity 301 is opened. Two sets of second horizontal plates 204 are located below the item. When the item falls due to the loss of clamping force by the clamping plate 4, the second horizontal plates 204 can catch the item and prevent it from falling from the air. The length of the first horizontal plate 203 can be adjusted according to the size of the item being gripped. After the first horizontal plate 203 is adjusted to the designated position, one end of the threaded post 303 is pressed tightly against the first horizontal plate 203, fixing the first horizontal plate 203 inside the second cavity 301. This solves the problem that existing shaft-driven integrated mechanical grippers will cause the gripped item to fall and be damaged once the two sets of grippers lose their clamping force.

[0053] The above are merely specific embodiments of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A gripper opening and closing structure integrating shaft drive, characterized in that, include Mounting frame (1), the mounting frame (1) is connected to the outer surface of the robotic arm, the bottom of the mounting frame (1) is connected to a linkage assembly (6), the top of the linkage assembly (6) is connected to a rotating shaft (7), the rotating shaft (7) is connected to the output shaft of the robotic arm, the bottom of the mounting frame (1) is provided with a protective mechanism (2) to prevent items from falling from the air, and the bottom of the mounting frame (1) is provided with a telescopic mechanism (3); The protective mechanism (2) includes two sets of first vertical rods (201). The first vertical rods (201) are set at the bottom of the mounting frame (1). A connector (202) is connected to one side of the first vertical rods (201). A first cavity (208) is opened at the bottom of the first vertical rods (201). A second vertical rod (207) is slidably arranged inside the first cavity (208).

2. The integrated gripper opening and closing structure for shaft drive according to claim 1, characterized in that, The top of the second vertical rod (207) is rotatably connected to a circular plate (2011), the top of the circular plate (2011) is connected to a telescopic rod (206), the other end of the telescopic rod (206) is connected to the inner wall of the first cavity (208), and a spring (205) is sleeved on the outer surface of the telescopic rod (206).

3. The integrated gripper opening and closing structure for shaft drive according to claim 2, characterized in that, The inner wall of the first cavity (208) is provided with two sets of first sliding grooves (2012), two sets of second sliding grooves (2013) and two sets of third sliding grooves (2014), and the two ends of the second sliding groove (2013) are connected to the first sliding groove (2012) and the third sliding groove (2014).

4. The integrated gripper opening and closing structure for shaft drive according to claim 3, characterized in that, The outer surface of the second vertical rod (207) is connected to two sets of protrusions (2010), which can slide inside the first groove (2012), the second groove (2013) and the third groove (2014).

5. The integrated gripper opening and closing structure for shaft drive according to claim 4, characterized in that, The bottom of the second vertical rod (207) is connected to a second horizontal plate (204), and the bottom of the second horizontal plate (204) is rotatably connected to a base plate (209).

6. The integrated gripper opening and closing structure for shaft drive according to claim 1, characterized in that, The telescopic mechanism (3) includes two sets of second cavities (301), the second cavity (301) is opened on one side of the second horizontal plate (204), and the first horizontal plate (203) is movably inserted into the inner wall of the second cavity (301).

7. The integrated gripper opening and closing structure for shaft drive according to claim 6, characterized in that, Both ends of the second horizontal plate (204) are connected to fasteners (302), and a threaded post (303) is threaded into one side of the fastener (302).

8. The integrated gripper opening and closing structure for shaft drive according to claim 7, characterized in that, One end of the threaded post (303) passes through the second horizontal plate (204), and the other end of the threaded post (303) is connected to an adjustment knob (304).

9. The integrated gripper opening and closing structure for shaft drive according to claim 8, characterized in that, A pressure sensor (2015) is embedded in the top of the first horizontal plate (203).

10. A mechanical gripper, comprising the shaft-drive integrated gripper opening and closing structure as described in any one of claims 1-9, characterized in that, It includes two sets of clamps (4), which are slidably connected to the bottom of the mounting frame (1), and an arc-shaped groove (5) is provided on one side of the clamps (4).

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