Flexible robotic gripper mechanism

Abstract

The utility model relates to the technical field of mechanical arm, specifically disclose flexible mechanical hand grabbing mechanism, include: mechanical hand main part and the mounting plate of assembly in the one end of mechanical hand main part, the bottom of mounting plate presents linear array fixed mounting with a plurality of sucking disc, the one side fixed mounting of mounting plate has the shell, the below of mounting plate presents symmetrical and is provided with two upper clamping claws, the below of two upper clamping claws all is equipped with lower clamping claw, the upper clamping claw with lower clamping claw all presents arc shape, the utility model effectively prevents material from the clamping clearance drop, makes the mechanical hand can be compatible from small -size spare to large -scale work piece's grabbing demand, expands the application scene, enhances the buffer performance, even if fragile goods or soft object is grabbed also can not damage material, promotes the flexibility and practicality of grabbing mechanism.

Description

Technical Field

[0001] This utility model belongs to the field of robotic arm technology, specifically relating to a flexible robotic gripping mechanism. Background Technology

[0002] A robotic arm is an automated device that simulates the functions of a human arm and hand. Its core value lies in achieving precise grasping, handling, or manipulation through programming, thereby replacing manual labor in repetitive, high-intensity, or dangerous tasks. The grasping mechanism is the core component of the robotic arm, and its technological evolution directly relates to the application boundaries of the robotic arm. Traditional grasping mechanisms mostly use rigid grippers, achieving grasping through mechanical limits or simple pneumatic control.

[0003] However, traditional rigid gripping mechanisms suffer from several structural adaptability issues. Their gripper spacing is typically fixed and difficult to adjust, making it hard to quickly adapt to materials of different sizes. This can lead to unstable gripping or localized stress concentration when gripping large or irregularly shaped objects. Furthermore, existing gripping mechanisms lack a flexible buffer layer at the contact surface between the gripper and the material, which can cause scratches or deformation of the material surface due to uncontrolled contact force during gripping, thus reducing the practicality of the gripping mechanism. Therefore, the applicant proposes a flexible robotic gripping mechanism to address these problems. Utility Model Content

[0004] The purpose of this invention is to provide a flexible robotic gripping mechanism to solve the problems mentioned in the background art.

[0005] To achieve the above objectives, this utility model provides the following technical solution:

[0006] The flexible robotic gripper mechanism includes:

[0007] The robotic arm body and the mounting plate assembled at one end of the robotic arm body, wherein multiple suction cups are fixedly mounted in a linear array on the bottom of the mounting plate, and a shell is fixedly mounted on one side of the mounting plate;

[0008] The mounting plate has two upper clamping claws symmetrically arranged below it, and each of the two upper clamping claws has a lower clamping claw below it. Both the upper and lower clamping claws are arc-shaped.

[0009] Multiple airbags are fixedly installed on the inner arc surfaces of the upper and lower gripping claws. An air pump is fixedly installed on one side of the outer arc surface of the upper gripping claw. One side of the air pump is connected to the interior of the upper and lower gripping claws through two connecting pipes respectively.

[0010] An adjustment mechanism is provided on the outer arc surface of each of the two upper gripping claws and the two lower gripping claws.

[0011] Preferably, the bottom of the outer shell is provided with a sliding groove, and two sliders are provided inside the outer shell. A cylinder is fixedly installed on the side of the two sliders that is away from each other. The ends of the two cylinders that are away from the sliders are fixedly installed to the adjacent inner sidewall of the outer shell. A connecting rod is fixedly installed at the bottom of the two sliders. The end of the connecting rod that is away from the slider is fixedly installed to the outer arc surface of the adjacent upper clamping claw through the sliding groove, and the connecting rod is L-shaped.

[0012] Preferably, the adjustment mechanism includes a mounting shell disposed on one side of the upper clamping claw. The mounting shell has a connecting groove on the side near the upper clamping claw. A motor is disposed inside the mounting shell. The top of the motor is fixedly installed to the top of the mounting shell. The output end of the motor is driven by a screw. The bottom end of the screw is rotatably connected to the bottom of the mounting shell through a bushing.

[0013] Preferably, the adjusting mechanism further includes a threaded sleeve disposed within the mounting housing. The inside of the threaded sleeve is fitted with the outside of the screw rod via threads. A limiting block adapted to the connecting groove is fixedly installed on one side of the outer ring of the threaded sleeve. The side of the limiting block away from the threaded sleeve is fixedly installed with the outer arc surface of the lower clamping claw.

[0014] Preferably, two fixing blocks are symmetrically fixedly installed on the side of the two mounting shells near the upper clamping claw, and the side of the two fixing blocks away from the mounting shells is fixedly installed with the outer arc surface of the upper clamping claw.

[0015] Preferably, the top of each of the two lower gripping claws is provided with a limiting groove, and the bottom of each of the two upper gripping claws is fixedly installed with a limiting plate that matches the limiting groove, and the limiting plate is arc-shaped.

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

[0017] (1) The screw is driven by a motor to rotate, which drives the screw sleeve to move in the vertical direction, thereby flexibly adjusting the distance between the lower gripper and the upper gripper. The movement stability is ensured by the cooperation of the limit block and the connecting groove, avoiding deviation or jamming during the adjustment process. At the same time, the arc-shaped limit plate at the bottom of the upper gripper and the limit groove at the top of the lower gripper form a nested structure, keeping the gripper surfaces in contact when adjusting the distance, effectively preventing materials from falling out of the gripping gap. This allows the robot to seamlessly meet the gripping needs from small parts to large workpieces, expand the application scenarios, and improve the practicality of the gripping mechanism.

[0018] (2) The airbags arranged on the inner arc surface of the upper and lower gripping claws can expand evenly under the drive of the air pump to form a flexible contact surface that is completely in contact with the material surface, eliminating the risk of scratches or deformation that may be caused by rigid contact. At the same time, the contact force is fed back by the pressure sensor and the external controller adjusts the output pressure of the air pump to ensure that the gripping force is always maintained within the safe threshold. The rubber grippers and airbags further enhance the buffering performance, so that the material will not be damaged even when gripping fragile or soft objects. The suction cup adsorbs the top of the material, forming a double fixation with the gripping action, so that the material can still maintain stability in bumpy or high-speed movement scenarios, improving the reliability of the robotic gripping mechanism. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the main structure of this utility model;

[0020] Figure 2 This is a schematic diagram of the linkage structure of this utility model;

[0021] Figure 3 This is a schematic diagram of the cross-sectional structure of the outer shell of this utility model;

[0022] Figure 4 This is a schematic diagram of the airbag structure of this utility model;

[0023] Figure 5 This is a cross-sectional view of the mounting shell structure of this utility model;

[0024] In the diagram: 1. Adjustment mechanism; 101. Mounting shell; 102. Motor; 103. Screw; 104. Screw sleeve; 105. Limiting block; 2. Main body of the robot; 3. Mounting plate; 4. Suction cup; 5. Outer shell; 6. Connecting rod; 7. Cylinder; 8. Slider; 9. Upper gripper; 10. Air pump; 11. Connecting pipe; 12. Airbag; 13. Limiting plate; 14. Limiting groove; 15. Lower gripper. Detailed Implementation

[0025] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0026] In the description of this utility model, it should be noted that the terms "upper," "lower," "inner," "outer," "front end," "rear end," "both ends," "one end," and "the other end," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this utility model 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. Therefore, they should not be construed as limitations on this utility model. In addition, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0027] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installed," "equipped with," and "connected," etc., should be interpreted broadly. For example, "connected" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be a connection within two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0028] Example 1:

[0029] Please see Figures 1-5 As shown, the flexible robotic gripper mechanism includes: a robotic body 2 and a mounting plate 3 assembled at one end of the robotic body 2. Multiple suction cups 4 are fixedly mounted in a linear array on the bottom of the mounting plate 3, and a shell 5 is fixedly mounted on one side of the mounting plate 3.

[0030] Two upper clamping claws 9 are symmetrically arranged below the mounting plate 3, and a lower clamping claw 15 is provided below each of the two upper clamping claws 9. Both the upper clamping claws 9 and the lower clamping claws 15 are arc-shaped.

[0031] Multiple airbags 12 are fixedly installed on the inner arc surfaces of the upper clamping claw 9 and the lower clamping claw 15. An air pump 10 is fixedly installed on one side of the outer arc surface of the upper clamping claw 9. One side of the air pump 10 is connected to the interior of the upper clamping claw 9 and the lower clamping claw 15 through two connecting pipes 11 respectively.

[0032] An adjustment mechanism 1 is provided on the outer arc surface of each of the two upper gripping claws 9 and the two lower gripping claws 15.

[0033] As can be seen from the above, by setting up the suction cup 4, when the two upper gripping claws 9 and the two lower gripping claws 15 grasp and hold materials, the suction cup 4 is activated to adsorb the top of the materials, which can further stabilize and position the materials, making the grasping process more stable. The upper gripping claws 9 and lower gripping claws 15 are both made of rubber, which can effectively grasp materials while also being flexible, preventing damage to the materials during the grasping process. By setting up the airbag 12 and the air pump 10, the air pump 10 is activated to transmit gas through the connecting pipe 11 to the interior of the upper gripping claws 9 and lower gripping claws 15, and then the gas... Multiple airbags 12 are inflated and expanded so that the inflated airbags 12 fit against the edge of the material. This allows for a gripping operation without rigid connection during the gripping process. At the same time, pressure sensors are built into the upper gripping claw 9 and the lower gripping claw 15. This allows the pressure sensors to monitor the contact force in real time and adjust the gripping force by controlling it to avoid damaging the material. The pressure sensors, motor 102, cylinder 7, and air pump 10 are all connected to an external controller and power supply, which is existing technology. Through the above structure, the mechanical gripper can be effectively made flexible, which can better grip and hold materials and improve the practicality of the device.

[0034] For details, please refer to Figure 3 As shown, a sliding groove is provided at the bottom of the outer shell 5, and two sliders 8 are provided inside the outer shell 5. A cylinder 7 is fixedly installed on the side of the two sliders 8 that is far away from each other. The ends of the two cylinders 7 that are far away from the sliders 8 are fixedly installed on the adjacent inner side wall of the outer shell 5. A connecting rod 6 is fixedly installed at the bottom of the two sliders 8. The end of the connecting rod 6 that is far away from the sliders 8 is fixedly installed on the outer arc surface of the adjacent upper clamping claw 9 through the sliding groove, and the connecting rod 6 is L-shaped.

[0035] As can be seen from the above, by setting up cylinder 7, by simultaneously activating two cylinders 7, one end of cylinder 7 drives the slider 8 to produce a lateral displacement of moving closer or further away from each other within the outer casing 5, which in turn drives the connecting rod 6 and causes the two upper clamping claws 9 and the two lower clamping claws 15 to move together, thus enabling the material to be gripped and held. The motor 102, cylinder 7 and air pump 10 are all connected to an external controller and power supply, which is existing technology and will not be described in detail here.

[0036] Example 2:

[0037] For details, please refer to Figure 5 As shown, the adjustment mechanism 1 includes a mounting shell 101 disposed on one side of the upper clamping claw 9. A connecting groove is provided on the side of the mounting shell 101 near the upper clamping claw 9. A motor 102 is disposed inside the mounting shell 101. The top of the motor 102 is fixedly installed to the top of the mounting shell 101. The output end of the motor 102 is driven to connect to a screw 103. The bottom end of the screw 103 is rotatably connected to the bottom of the mounting shell 101 through a bushing.

[0038] The adjustment mechanism 1 also includes a threaded sleeve 104 disposed in the mounting housing 101. The inside of the threaded sleeve 104 is fitted with the outside of the screw rod 103 by threads. A limiting block 105 adapted to the connecting groove is fixedly installed on one side of the outer ring of the threaded sleeve 104. The side of the limiting block 105 away from the threaded sleeve 104 is fixedly installed with the outer arc surface of the lower clamping claw 15.

[0039] As can be seen from the above, by setting the screw sleeve 104, the motor 102 drives the screw 103 to rotate by starting the adjustment mechanism 1. The screw 103 then causes the screw sleeve 104 to produce a vertical displacement. When the screw sleeve 104 moves, it drives the limiting block 105 on one side of the outer ring to move. Then, the lower clamping claw 15 moves together to adjust the distance between it and the upper clamping claw 9. By adjusting the distance, it can adapt to clamping materials of different sizes and improve the practicality of the gripping mechanism.

[0040] refer to Figure 2 As shown, two fixing blocks are symmetrically fixedly installed on the side of the two mounting shells 101 near the upper clamping claw 9, and the side of the two fixing blocks away from the mounting shells 101 is fixedly installed with the outer arc surface of the upper clamping claw 9.

[0041] As can be seen from the above, by setting the fixing block, the fixing block can make the mounting shell 101 firmly installed on the outer arc surface of the upper clamping claw 9, making the adjustment mechanism 1 more stable during operation.

[0042] refer to Figure 4 As shown, the top of each of the two lower gripping claws 15 is provided with a limiting groove 14, and the bottom of each of the two upper gripping claws 9 is fixedly installed with a limiting plate 13 that is adapted to the limiting groove 14, and the limiting plate 13 is arc-shaped.

[0043] As can be seen from the above, by setting the limiting plate 13 and the limiting groove 14, when the upper and lower clamping claws 15 move to adjust the distance between them and the upper clamping claw 9, the limiting plate 13 can block the gap between the upper clamping claw 9 and the lower clamping claw 15, thus preventing the clamped material from leaking out from the gap between the two claws.

[0044] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A flexible robot gripper mechanism, characterised in that, include: The robot arm body (2) and the mounting plate (3) assembled at one end of the robot arm body (2) have multiple suction cups (4) fixedly mounted in a linear array at the bottom of the mounting plate (3), and a shell (5) is fixedly mounted on one side of the mounting plate (3). The mounting plate (3) has two upper clamping claws (9) symmetrically arranged below it, and each of the two upper clamping claws (9) has a lower clamping claw (15) below it. Both the upper clamping claws (9) and the lower clamping claws (15) are arc-shaped. Multiple airbags (12) are fixedly installed on the inner arc surfaces of the upper clamping claw (9) and the lower clamping claw (15). An air pump (10) is fixedly installed on one side of the outer arc surface of the upper clamping claw (9). One side of the air pump (10) is connected to the interior of the upper clamping claw (9) and the lower clamping claw (15) respectively through two connecting pipes (11). An adjustment mechanism (1) is provided on the outer arc surface of each of the two upper clamping claws (9) and the two lower clamping claws (15).

2. The flexible robotic gripping mechanism according to claim 1, characterized in that: The bottom of the outer shell (5) is provided with a sliding groove. Inside the outer shell (5) are two sliders (8). A cylinder (7) is fixedly installed on the side of the two sliders (8) that is far away from each other. The end of the two cylinders (7) that is far away from the sliders (8) is fixedly installed to the adjacent inner side wall of the outer shell (5). A connecting rod (6) is fixedly installed at the bottom of the two sliders (8). The end of the connecting rod (6) that is far away from the sliders (8) is fixedly installed to the outer arc surface of the adjacent upper clamping claw (9) through the sliding groove. The connecting rod (6) is L-shaped.

3. The flexible robotic gripping mechanism according to claim 1, characterized in that: The adjustment mechanism (1) includes a mounting shell (101) disposed on one side of the upper clamping claw (9). The mounting shell (101) has a connecting groove on the side near the upper clamping claw (9). A motor (102) is disposed inside the mounting shell (101). The top of the motor (102) is fixedly installed to the top of the mounting shell (101). The output end of the motor (102) is driven to connect to a screw (103). The bottom end of the screw (103) is rotatably connected to the bottom of the mounting shell (101) through a bushing.

4. The flexible robotic gripping mechanism according to claim 1, characterized in that: The adjustment mechanism (1) also includes a threaded sleeve (104) disposed in the mounting housing (101). The inside of the threaded sleeve (104) is fitted with the outside of the screw rod (103) by a thread. A limiting block (105) adapted to the connecting groove is fixedly installed on one side of the outer ring of the threaded sleeve (104). The side of the limiting block (105) away from the threaded sleeve (104) is fixedly installed with the outer arc surface of the lower clamping claw (15).

5. The flexible robotic gripping mechanism according to claim 3, characterized in that: Two fixing blocks are symmetrically fixed on the side of the two mounting shells (101) near the upper clamping claw (9), and the side of the two fixing blocks away from the mounting shells (101) is fixedly installed with the outer arc surface of the upper clamping claw (9).

6. The flexible robotic gripping mechanism according to claim 1, characterized in that: The top of each of the two lower gripping claws (15) is provided with a limiting groove (14), and the bottom of each of the two upper gripping claws (9) is fixedly installed with a limiting plate (13) that is compatible with the limiting groove (14), and the limiting plate (13) is arc-shaped.

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