Low profile rotatable multi-functional gripper

Abstract

The utility model relates to rotary grab technical field, concretely is a kind of short dress rotatable multifunctional grab, including connecting portion. The connecting portion is fixed with slewing support. Slew support is rotatably connected with middle shell. Middle shell is equipped with motor. The slewing support is provided with the tooth, and the tooth is circularly extended to form annular. The output shaft of motor is connected with the gear meshing with tooth, and the gear annular motion is along the annular extension direction of tooth. By setting the slewing support with tooth in connecting portion, the motor is inverted in middle shell, and the gear meshing with the tooth of slewing support is set in the output shaft of motor, the length of motor itself is removed to the length limit of entire grab, and the length of entire grab is significantly reduced.

Description

Technical Field

[0001] This utility model relates to the field of rotary gripper technology, specifically a low-profile, rotatable, multi-functional gripper. Background Technology

[0002] A gripper, a grasping mechanism consisting of a connecting part, an intermediate body, and two mechanical claws, connects the connecting part of the gripper to the robotic arm of a crane or other equipment. The robotic arm controls the gripper's grasping position. The length of the robotic arm is fixed according to the specifications of the robotic arm equipment; therefore, a shorter overall gripper length is more beneficial for controllability during grasping. To achieve this reduction in length, existing technology places the telescopic rod controlling the gripper's clamping position horizontally, with each end of the telescopic rod connected to half of a mechanical claw. The extension and retraction of the telescopic rod controls the clamping and releasing states of the mechanical claws. However, in grippers that also have a rotation function, the rotation device is usually located between the mechanical claws in the connecting part to control the rotation of the mechanical claws. In existing technology, the motor body is located in the connecting part, and the output shaft is connected to the outer shell of the mechanical claw. The rotation of the output shaft drives the outer shell of the mechanical claw to rotate, thereby causing the mechanical claw to rotate. Therefore, the length of the motor body becomes an unavoidable obstacle to further reducing the overall gripper length. Utility Model Content

[0003] To solve the above-mentioned technical problems, this utility model provides the following technical solution: a low-profile, rotatable, multi-functional gripper, including a connecting part, on which a rotary support is fixedly mounted. The rotary support is rotatably connected to a central housing. A motor is mounted in the central housing. The rotary support has teeth that extend cyclically to form a ring. The output shaft of the motor is connected to a gear that meshes with the teeth, and the gear moves cyclically along the direction of the ring-shaped extension of the teeth.

[0004] The central housing has two mechanical claws that are symmetrically rotated together, and the drive ends of the two mechanical claws are connected by a telescopic rod.

[0005] Preferably, the driving ends of both mechanical claws are provided with control shafts. The two mechanical claws include a first mechanical claw and a second mechanical claw. The two ends of the telescopic rod are respectively hinged to the control shafts of the first mechanical claw and the second mechanical claw. The driving end of the first mechanical claw is provided with a connecting rod shaft and also includes a connecting rod. One end of the connecting rod is hinged to the connecting rod shaft of the first mechanical claw, and the other end of the connecting rod is hinged to the control shaft of the second mechanical claw.

[0006] Preferably, the middle housing is provided with a base plate in the direction away from the connecting part. At the rotation axis angle of the middle housing, the axial distance corresponding to the maximum distance between the connecting rod shaft and the connecting part is greater than the axial distance corresponding to the distance between the hinge point of the first mechanical claw and the middle housing and the connecting part, and the axial distance corresponding to the distance between the base plate and the connecting part is greater than the axial distance corresponding to the maximum distance between the connecting rod shaft and the connecting part.

[0007] Preferably, both mechanical claws have a limiting block at their drive end, and when the two mechanical claws open, both limiting blocks are in contact with the central housing.

[0008] Preferably, the ends of the gripping parts of the two mechanical claws are provided with pressure plates. When the two mechanical claws grip, the two pressure plates are joined together and the surfaces of the two pressure plates are coplanar.

[0009] Preferably, both mechanical claws are toothed claws, and a central limiting block is provided on the side of the gripping part of one of the mechanical claws. When the two mechanical claws grip each other, the central limiting block abuts against the other mechanical claw.

[0010] Preferably, the telescopic rod is a hydraulic telescopic rod.

[0011] Compared with the prior art, the present invention has the following beneficial effects:

[0012] 1. By setting a toothed rotary support at the connection part, the motor is inverted in the middle housing, and a gear that meshes with the toothed part of the rotary support is set on the output shaft of the motor, the limitation of the length of the motor itself on the length of the entire gripper is removed, and the length of the entire gripper is significantly reduced.

[0013] 2. By controlling the hinge point between the intermediate housing and the first mechanical claw and the position of the base plate, the setting position of the connecting rod shaft is restricted, so that the connecting rod shaft is always protected by the base plate, preventing the grabbed goods from damaging the connecting rod shaft and connecting rod, and significantly improving the service life of the equipment.

[0014] 3. Improvements are made without changing the specific shape of the mechanical gripper. By replacing the mechanical gripper with various shapes, multiple gripping functions can be achieved while still significantly reducing the overall length of the gripper.

[0015] Other advantages, objectives and features of this invention will be set forth in part in the description which follows, and in part will be apparent to those skilled in the art from the following examination or study, or may be taught from the practice of this invention. Attached Figure Description

[0016] Figure 1 This is a perspective view of an embodiment of the present utility model;

[0017] Figure 2 This is a sectional view of a perspective view of an embodiment of the present utility model;

[0018] Figure 3 This is a front view of an embodiment of the present utility model.

[0019] Explanation of reference numerals in the attached figures:

[0020] 1. Connecting part; 2. Rotary support; 3. Middle housing; 4. Motor; 401. Gear; 5. First mechanical claw; 6. Second mechanical claw; 7. Connecting rod; 8. Limiting block; 9. Pressure plate. Detailed Implementation

[0021] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings. 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.

[0022] Please see Figures 1-3 This utility model provides a low-profile, rotatable, multi-functional gripper. It includes a connecting part 1, with a rotating support 2 fixedly mounted on the connecting part 1. The rotating support 2 is rotatably connected to a central housing 3, allowing the central housing 3 to rotate relative to both the rotating support 2 and the connecting part 1. The rotatable connection between the rotating support 2 and the central housing 3 employs conventional existing technology; for example, the rotating support 2 is coaxially provided with a connecting column, and the central housing 3 has a bearing at the corresponding position of the connecting column. The rotatable connection between the rotating support 2 and the central housing 3 is achieved by connecting the connecting column to the bearing. Simultaneously, the rotating support 2 can... Figure 2 As shown in the embodiment, the connection to the connecting part 1 is fixed by bolts. Other conventional technologies can also be used to connect to the connecting part 1. Alternatively, the slewing support 2 can be integrally formed with the connecting part 1.

[0023] The central housing 3 is equipped with a motor 4, and the rotary support 2 has teeth that extend in a circular pattern. The output shaft of the motor 4 is connected to a gear 401 that meshes with the teeth of the rotary support 2. The gear 401 moves in a circular motion along the direction of the circular extension of the teeth. The motor 4 drives the gear 401 to rotate, causing the gear 401 to move along the direction of the circular teeth. This causes the central housing 3 to rotate around the rotational connection point between the central housing 3 and the rotary support 2, driven by the gear 401. Simultaneously, by providing the rotary support 2 with circular teeth, the positional limitations of the motor 4 are eliminated, allowing the motor 4 to be positioned at any point where it can mesh with the teeth of the rotary support 2. That is, the axis of the motor 4's output shaft no longer coincides with the rotational axis of the entire gripper, as in existing technologies. Without changing the connecting part 1, the length of the entire gripper, originally determined by the length of the motor 4, is changed to be determined by the thickness of the rotary support 2. By simply setting a rotary support 2 of appropriate thickness, the distance between the connecting part 1 and the central housing 3 can be significantly shortened, thereby reducing the overall length of the gripper. It is even possible to provide a groove in the connecting part 1 to accommodate the slewing support 2 and the gear 401, further shortening the overall length of the gripper. In this embodiment, the motor 4 is disposed inside the middle housing 3, so that the middle housing 3 can protect the motor 4.

[0024] The central housing 3 has two symmetrically hinged mechanical claws. The drive ends of the two claws are connected by a telescopic rod, allowing each claw to rotate around its hinge point with respect to the central housing 3. When the telescopic rod retracts, the gripping parts of the two claws open; when the telescopic rod extends, the gripping parts of the two claws clamp. The symmetrical hinged connection of the two claws to the central housing 3 is a conventional existing design.

[0025] Furthermore, in this embodiment, the connection method of the two mechanical grippers adopts a conventional existing technology with a connecting rod 7. Specifically, both mechanical grippers have a control shaft at their drive end. The two mechanical grippers include a first mechanical gripper 5 and a second mechanical gripper 6. The two ends of the telescopic rod are respectively hinged to the control shafts of the first mechanical gripper 5 and the second mechanical gripper 6. The clamping part of the first mechanical gripper 5 is provided with a connecting rod 7 shaft, which is arranged parallel to the control shaft. It also includes a connecting rod 7, one end of which is hinged to the connecting rod 7 shaft of the first mechanical gripper 5, and the other end of which is hinged to the control shaft of the second mechanical gripper 6. The connecting rod 7 improves the overall synchronous movement of the two mechanical grippers.

[0026] Unlike existing technologies, the middle housing 3 has a base plate in the direction away from the connecting part 1. At the rotation axis angle of the middle housing 3, the axial distance corresponding to the maximum distance between the connecting rod 7 shaft and the connecting part 1 is greater than the axial distance corresponding to the distance between the hinge point of the first mechanical claw 5 and the middle housing 3 and the connecting part 1. This is used to determine the position of the connecting rod 7 shaft located in the clamping part of the first mechanical claw 5, and able to rotate around the hinge point between the first mechanical claw 5 and the middle housing 3 as the first mechanical claw 5 rotates. The axial distance corresponding to the distance between the base plate and the connecting part 1 is greater than the axial distance corresponding to the maximum distance between the connecting rod 7 shaft and the connecting part 1, ensuring that the connecting rod 7 shaft is always closer to the connecting part 1 than the base plate. The hinge point between the first mechanical claw 5 and the middle housing 3, and the position of the base plate, define the setting position of the connecting rod 7 shaft in the first mechanical claw 5. This ensures that no matter how the connecting rod 7 shaft is positioned in the first mechanical claw 5, the base plate is always further away from the connecting part 1 than the connecting rod 7 shaft. In other words, the base plate is always closer to the clamped goods. This ensures that the clamped goods are always blocked by the base plate. Therefore, no matter how the first mechanical claw 5 rotates, the clamped goods cannot cause damage to the connecting rod 7 shaft or the connecting rod 7, significantly improving the service life of the connecting rod 7 and related structures.

[0027] Specifically, the control axis and the 7th axis of the connecting rod are both rotatably connected to the corresponding mechanical claws via pins.

[0028] Furthermore, to precisely control the posture of the two mechanical grippers when they open, for example, to ensure that the ends of the two grippers can insert into the ground or goods located below the gripper at an angle perpendicular to the ground, each of the two mechanical grippers is equipped with a limiting block 8 at its drive end. When the two mechanical grippers open, both limiting blocks 8 contact the central housing 3. By using the positioning blocks to abut against the central housing 3, the opening range of the two mechanical grippers is limited, ensuring that when the limiting blocks 8 of the two mechanical grippers abut against the central housing 3, the ends of the two mechanical grippers are precisely perpendicular to the ground.

[0029] Furthermore, to enable the gripper to achieve a compaction effect, each of the two mechanical claws has a pressure plate 9 at its end of the gripping part. When the two mechanical claws grip, the two pressure plates 9 are joined together, and the outer surfaces of the two pressure plates 9 are coplanar to form a single plate surface. This allows the joined two pressure plates 9 to compact the ground or the goods.

[0030] Furthermore, the shapes of the two mechanical grippers include any shape found in the prior art, including both grippers having the same shape or both grippers having different shapes. When both grippers are toothed, one gripper has a central limiting block on its side of the gripping portion. When the two grippers are clamping, the limiting block 8 abuts against the other gripper. In any number of toothed grippers, such as three-jaw or four-jaw grippers, a central limiting block can be provided on the side of any one of the toothed grippers. By reasonably setting the position of the central limiting block, the clamping degree of the two grippers can be controlled.

[0031] Furthermore, the telescopic rod is driven by conventional existing technology. In this embodiment, the telescopic rod is a hydraulically driven telescopic rod.

[0032] Working principle: The gripper is connected to the robotic arm through the connecting part 1, and the motor 4 and the telescopic rod are connected to the external control device. The opening and closing action of the two mechanical grippers is controlled by controlling the telescopic rod, and the direction of the entire gripper is changed by controlling the motor 4.

[0033] Based on the above implementation scheme, the processor, module, corresponding control program, algorithm program and other supporting technologies mentioned in this utility model can be implemented in combination with existing electrical technology, information technology, software technology and general protocols, and are not within the protection scope claimed by this utility model. This application will not describe them in detail.

[0034] It will be apparent to those skilled in the art that this invention is not limited to the details of the exemplary embodiments described above, and that it can be implemented in other specific forms without departing from the spirit or essential characteristics of this invention. Therefore, the embodiments should be considered exemplary and non-limiting in all respects.

Claims

1. A low-profile, rotatable, multi-functional gripper, comprising a connecting part (1), characterized in that, The connecting part (1) is fixedly provided with a rotary support (2), the rotary support (2) is rotatably connected to a middle housing (3), the middle housing (3) is provided with a motor (4), the rotary support (2) is provided with teeth, the teeth extend cyclically to form a ring, the output shaft of the motor (4) is connected to a gear (401) that meshes with the teeth, the gear (401) moves circumferentially along the circumferential extension direction of the teeth; The middle shell (3) has two mechanical claws that are symmetrically hinged together, and the drive ends of the two mechanical claws are connected by a telescopic rod.

2. The low-profile, rotatable, multi-functional gripper according to claim 1, characterized in that, Both mechanical claws have a control shaft at their drive ends. The two mechanical claws include a first mechanical claw (5) and a second mechanical claw (6). The two ends of the telescopic rod are respectively hinged to the control shaft of the first mechanical claw (5) and the control shaft of the second mechanical claw (6). The drive end of the first mechanical claw (5) is provided with a connecting rod (7) shaft and also includes a connecting rod (7). One end of the connecting rod (7) is hinged to the connecting rod (7) shaft of the first mechanical claw (5), and the other end of the connecting rod (7) is hinged to the control shaft of the second mechanical claw (6).

3. The low-profile, rotatable, multi-functional gripper according to claim 2, characterized in that, The middle housing (3) is provided with a base plate in the direction away from the connecting part (1). At the rotation axis angle of the middle housing (3), the axial distance corresponding to the maximum distance between the connecting rod (7) shaft and the connecting part (1) is greater than the axial distance corresponding to the distance between the hinge point of the first mechanical claw (5) and the middle housing (3) and the connecting part (1). The axial distance corresponding to the distance between the base plate and the connecting part (1) is greater than the axial distance corresponding to the maximum distance between the connecting rod (7) shaft and the connecting part (1).

4. The low-profile, rotatable, multi-functional gripper according to claim 1, characterized in that, Both mechanical claws are provided with limiting blocks (8) at their driving ends. When the two mechanical claws open, both limiting blocks (8) contact the central housing (3).

5. The low-profile, rotatable, multi-functional gripper according to claim 1, characterized in that, The ends of the gripping parts of the two mechanical claws are provided with pressure plates (9). When the two mechanical claws grip, the two pressure plates (9) are joined together and the surfaces of the two pressure plates (9) are coplanar.

6. The low-profile, rotatable, multi-functional gripper according to claim 1, characterized in that, Both of the mechanical claws are toothed claws, and a central limiting block is provided on the side of the gripping part of one of the mechanical claws. When the two mechanical claws grip each other, the central limiting block abuts against the other mechanical claw.

7. The low-profile, rotatable, multi-functional gripper according to claim 1, characterized in that, The telescopic rod is a hydraulic telescopic rod.

Images