A gripper finger structure

Abstract

This application relates to the field of gripper technology, specifically disclosing a gripper finger structure. This structure includes at least a left gripper finger and a right gripper finger. The left gripper finger includes at least one gripping module, and the right gripper finger also includes at least one gripping module. Each gripping module includes a clamping plate, a reset component, a rotating shaft, and a bearing. When gripping an object, the clamping plate rotates accordingly. The two surfaces of the clamping plate that contact the object can either be concave to form a V-shape or convex to form an inverted V-shape. Overall, the contact surface formed by these two clamping plates has a certain curvature, and this curvature matches the curvature of the object being gripped. For objects with curved contact surfaces, these two clamping plates can better conform to the object's surface, increasing the contact area and thus increasing friction, making it less likely for the object to fall off when gripped.

Description

Technical Field

[0001] This application relates to the field of gripper technology, specifically to a gripper finger structure. Background Technology

[0002] See Figures 13 to 15 Generally, when grippers pick up objects, the side of the gripper that contacts the object is flat. For objects with a flat contact surface, such as books and PCB boards, they can grip tightly and are not easy to fall off. However, for objects with curved or smooth contact surfaces, such as cylindrical items like bowls, cups, and bottles, they cannot fit tightly, resulting in larger gaps when gripping (e.g., Figure 13 The gaps (K) in the middle create a problem where things can easily fall out. Summary of the Invention

[0003] To address the aforementioned problems, the purpose of this application is to provide a gripper structure for clamping fingers, thereby solving the problems mentioned above.

[0004] To achieve the above objectives, this application adopts the following technical solution: a gripper finger structure, the gripper finger structure including at least a left gripper finger and a right gripper finger, the left gripper finger including at least one gripping module, and the right gripper finger also including at least one of the gripping modules; the gripping module includes a clamping plate, a reset component, a rotating shaft, and a bearing.

[0005] Furthermore, the left clamping finger and / or the right clamping finger have exactly two clamping modules.

[0006] Furthermore, the left clamping finger includes a first clamping module and a second clamping module, and the right clamping finger includes a third clamping module and a fourth clamping module. When clamping an object, under the action of force, the rotation direction of the first clamping module is opposite to the rotation direction of the second clamping module, and the rotation direction of the third clamping module is opposite to the rotation direction of the fourth clamping module.

[0007] Furthermore, the first clamping module and the third clamping module are arranged opposite to each other and rotate in the same direction, and the second clamping module and the fourth clamping module are arranged opposite to each other and rotate in the same direction.

[0008] Furthermore, the first clamping module and the second clamping module are arranged symmetrically in general, and the third clamping module and the fourth clamping module are arranged symmetrically in general.

[0009] Furthermore, the reset element is a spring, the rotating shaft is fixedly connected to the upper end of the clamping plate, the spring is wound around the rotating shaft, and one end of the spring is fixedly connected to the rotating shaft.

[0010] Furthermore, the clamping module also includes a lever, which is fixed on the rotating shaft, and the spring is located above the lever or one end of the spring is fixed on the lever.

[0011] Furthermore, the finger clamping structure also includes a mounting cover, and the other end of the spring is fixedly connected to the mounting cover.

[0012] Furthermore, the pivot is not located in the middle of the clamping plate, but rather at a position where the force-bearing point generates a large eccentric force when the clamping plate grips the curved object.

[0013] Beneficial Effects: The gripper structure provided in this application includes at least two gripping fingers, and each gripping finger includes at least two gripping modules. When gripping an object, an interaction force / pressure is generated between the gripper and the object. If the surface of the object in contact with the gripper is flat, the gripper will not rotate, and it grips the object normally, just like a regular gripper. However, if the surface of the object in contact with the gripper is curved, the force point and rotation axis between the gripper and the object will not be concentric when the gripper grips, resulting in an eccentric effect. Under the action of force, the gripper will rotate until the force point and rotation axis between the gripper and the object are concentric, at which point the rotation stops. Figure 11 , Figure 12 As shown, after rotation stops, the points of force application between the clamps and the object are concentric with the axis of rotation. This allows the clamps to fit very snugly against the object, and the two surfaces of the clamps in contact with the object can either form a concave V-shape or a convex inverted V-shape, as shown. Figure 11 , Figure 12 As shown; from an overall perspective, the contact surface formed by these two clamps has a certain curvature, and this curvature is consistent with the curvature of the object being clamped. For objects with curved contact surfaces, these two clamps can better fit the surface of the object, increase the contact area, thereby increasing the friction and making it less likely for the object to fall off when clamped. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of a finger clamping structure provided in an embodiment of this application;

[0015] Figure 2 yes Figure 1 The structural diagram of the first and second connecting blocks has been removed.

[0016] Figure 3 yes Figure 2 A structural diagram with the first and second mounting covers removed;

[0017] Figure 4 This is a structural diagram of the first clamping module and the second clamping module;

[0018] Figure 5 This is an exploded structural diagram of the first clamping module;

[0019] Figure 6 yes Figure 1 A schematic diagram of the structure with a rubber protective sleeve installed on the clamping plate;

[0020] Figure 7 This is a schematic diagram of the gripper provided in one embodiment of the present application when gripping a bowl;

[0021] Figure 8 yes Figure 7 A schematic diagram of the finger-gripping structure in the image when gripping a bowl;

[0022] Figure 9 yes Figure 8 A magnified structural diagram at point F in the diagram;

[0023] Figure 10 This is a schematic diagram of the gripper in another embodiment of this application when gripping a bowl;

[0024] Figure 11 yes Figure 10 Sectional view at point C;

[0025] Figure 12 yes Figure 7 A schematic diagram of the structure of the four clamping modules;

[0026] Figure 13 This is a schematic diagram of the structure of a gripper in the prior art when gripping a bowl;

[0027] Figure 14 yes Figure 13 A structural diagram from another perspective;

[0028] Figure 15 yes Figure 14 Sectional view at point D. Detailed Implementation

[0029] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. The components of the embodiments of this application described and shown in the accompanying drawings can generally be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely represents selected embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0030] In view of the problems existing in the prior art, this application provides a gripper finger structure to solve the problem, which will be described in detail below with reference to the accompanying drawings. The gripper finger structure provided in this application is mainly used in dishwashers or dishwasher robots, and the gripper finger structure is used to grip tableware.

[0031] In one embodiment, see [reference] Figure 1 , Figure 2 , Figure 3 The finger clamping structure provided in this application includes at least two fingers, namely a left finger clamping finger A and a right finger clamping finger B. The left finger clamping finger A includes at least two clamping modules, preferably exactly two: a first clamping module 10 and a second clamping module 20. The right finger clamping finger B also includes at least two clamping modules, preferably exactly two: a third clamping module 30 and a fourth clamping module 40. The third clamping module 30 is positioned opposite to the first clamping module 10, and the fourth clamping module 40 is positioned opposite to the second clamping module 20. Preferably, the first clamping module 10 and the second clamping module 20 are symmetrically arranged and adjacent to each other; the third clamping module 30 and the fourth clamping module 40 are also symmetrically arranged and adjacent to each other.

[0032] Further, see Figure 1 , Figure 2 The clamping finger structure also includes mounting covers. Specifically, the left clamping finger A further includes a first mounting cover 51 for mounting the first clamping module 10 and the second clamping module 20, and the right clamping finger B further includes a second mounting cover 52 for mounting the third clamping module 30 and the fourth clamping module 40. (See reference...) Figure 1 The finger clamping structure also includes a first connecting block 61 and a second connecting block 62, which are used to install and fix the left finger clamping A and the right finger clamping B on other parts of the clamping claw, respectively. The first connecting block 61 is fixedly connected to one side of the first mounting cover 51, and the second connecting block 62 is fixedly connected to one side of the second mounting cover 52.

[0033] Further, see Figures 2 to 5The clamping mechanism contains four clamping modules. The following description, using the first clamping module 10 as an example, details the structure of the clamping module. The first clamping module 10 includes a first clamping plate 11, a first rotating shaft 12, a first resetting member 13, and a first finger 14. The first clamping plate 11 is used to contact the object when clamping it. One end of the first rotating shaft 12 is fixedly connected to the upper end of the first clamping plate 11. Specifically, the "fixed connection" can take several forms; for example, the first rotating shaft 12 and the first clamping plate 11 can be designed and manufactured as a single unit, or they can be designed and manufactured separately and then fixed together. The first ring 14 is fixed on the outer periphery of the first rotating shaft 12. The first reset member 13 is a spring, preferably a torsion spring, which is wound around the outer periphery of the first rotating shaft 12. One end of the spring is fixedly connected to the first rotating shaft 12, specifically fixed to the first ring 14 (for example, one end of the spring is hinged to the first ring 14 or directly inserted into the first ring 14). The other end of the spring is fixed to the inner side of the first mounting cover 51 (for example, directly inserted into the inner side of the first mounting cover 51, or directly abutting / hinged to the inner side of the first mounting cover 51, or the two are glued together). Similarly, the structure of other clamping modules is similar to that of the first clamping module 10. For example, the second clamping module 20 includes a second clamping plate 21, a second rotating shaft 22, a second reset member 23, and a second wrench 24. One end of the second rotating shaft 22 is fixedly connected to the upper end of the second clamping plate 21. The second wrench 24 is fixed on the outer periphery of the second rotating shaft 22. One end of the second reset member 23 is fixed on the second wrench 24, and the other end of the second reset member 23 is fixed on the first mounting cover 51.

[0034] Furthermore, the pivot is not located in the center of the clamping plate, but rather at a position where the force-bearing point generates a larger eccentric force when the clamping plate grips a curved object. For details, please refer to... Figure 3 , 1112. In the clamping plates of the left clamping finger A, the side adjacent to the clamping plates is the inner side, and the side opposite to the inner side is the outer side. The first rotating shaft 12 and the second rotating shaft 22 are both located near the outer side (not in the center of the clamping plates). Similarly, in the clamping plates of the right clamping finger B, the side adjacent to the clamping plates is the inner side, and the side opposite to the inner side is the outer side. The third rotating shaft 32 in the third clamping module 30 and the fourth rotating shaft 42 in the fourth clamping module 40 are both located near the inner side (again, not in the center of the clamping plates). In this way, the first clamping module 10 and the second clamping module 20 will form an arc that fits against the outer surface of the bowl, and the third clamping module 30 and the fourth clamping module 40 will form an arc that fits against the inner surface of the bowl. These four clamping modules work together to adapt to the curvature of the bowl, making it less likely for objects to fall. When gripping an object with a curved contact surface (such as a bowl), the force points and rotation axes between the clamp and the object will not be concentric due to the curved contact surface, resulting in an eccentric effect. Under the action of force, the clamp will rotate until the force points and rotation axes between the clamp and the object are concentric, at which point the rotation stops. Therefore, the clamp can rotate under the action of force. The rotation of the clamp will cause the spring to deform. After the pressure is removed, the spring will drive the clamp to return to its original position. Thus, the clamp can automatically return to its original position under the action of the spring to facilitate the next gripping. If it cannot automatically return to its original position, it may affect the next gripping.

[0035] Further, see Figures 1 to 6 The first mounting cover 51 is generally a hollow cuboid, and this hollow part is mainly used for the installation of the clamping module. The first mounting cover 51 is located above the first clamping plate 11 and the second clamping plate 21. The bottom surface and the top surface of the first mounting cover 51 are respectively provided with two through holes. The other ends of the first rotating shaft 12 and the second rotating shaft 22 pass through these through holes and are installed on the first mounting cover 51. The first clamping module 10 also includes several bearings (referred to as the first bearing 151 and the second bearing 152, respectively), a first gasket 16 (preferably a wave-shaped gasket), and a first retaining spring 17. The first bearing 151 is installed in one of the through holes on the bottom surface of the first mounting cover 51, and the second bearing 152 is installed in one of the through holes on the top surface of the first mounting cover 51. The first rotating shaft 12 passes through the first bearing 151 and the second bearing 152 sequentially from bottom to top. The first washer 16 and the first retaining spring 17 are used to limit the axial movement of the first rotating shaft 12. These structures together make the rotation of the first rotating shaft 12 more stable and smooth. Similarly, other clamping modules also have corresponding structures, which will not be described in detail here. See reference. Figure 2 , 312. One side of the first finger 14 is tightly pressed against an inner side of the first mounting cover 51. This serves as a limiting mechanism, ensuring that the first clamping plate 11 can only rotate in one direction. When the first clamping plate 11 rotates counterclockwise, the inner side of the first mounting cover 51 blocks the first finger 14, leaving no room for rotation. Therefore, the first clamping plate 11 can only rotate clockwise. Similar arrangements exist in other clamping modules, ensuring that the clamping plates in other clamping modules can only rotate in one direction, thus making the clamping more stable. It should be noted that the terms "clockwise" and "counterclockwise" mentioned in this specification refer to... Figures 2 to 4 as well as Figure 12 This is from [their] perspective. (See also...) Figure 6 Preferably, in order to avoid damage to the clamping plate and to increase the friction between the clamping plate and the object contact surface to prevent the object from falling during clamping, the first clamping module 10 also includes a first rubber protective sleeve 71 sleeved on the outer surface of the first clamping plate 11. Similarly, the clamping plates in other clamping modules are also sleeved with rubber protective sleeves, for example, the outer surface of the second clamping plate 21 is also sleeved with a second rubber protective sleeve 72.

[0036] Further, see Figure 3 , Figures 9 to 12 The third clamping module 30 is generally symmetrically arranged with the first clamping module 10. However, to better conform to the curvature of the object being clamped, the "third lever and third reset component" in the third clamping module 30 are not symmetrical with those in the first clamping module 10. Instead, they are obtained by rotating the first lever 14 and the first reset component 13 by 180°. Similarly, the "fourth lever and fourth reset component" in the fourth clamping module 40 are not symmetrical with those in the second clamping module 20. Instead, they are obtained by rotating the second lever 24 and the second reset component 23 by 180°. Figures 2 to 4 From the perspective of [the device], when gripping an object, the rotation direction of the third clamping plate 31 in the third clamping module 30 is the same as the rotation direction of the first clamping plate 11, both rotating clockwise; the rotation direction of the fourth clamping plate 41 in the fourth clamping module 40 is the same as the rotation direction of the second clamping plate 21, both rotating counterclockwise. See [reference]. Figure 8 as well as Figure 11Taking the clamping of a bowl as an example, since each clamp can rotate accordingly during clamping, the side of the first clamp 11 that contacts the bowl and the side of the second clamp 21 that contacts the bowl can be concave to form a V-shape. Overall, the contact surface formed by these two clamps has a certain curvature, so the first clamp 11 and the second clamp 21 can better fit against the outer surface of the bowl; the side of the third clamp 31 that contacts the bowl and the side of the fourth clamp 41 that contacts the bowl can be convex to form an inverted V-shape. Overall, the contact surface formed by these two clamps also has a certain curvature, so the third clamp 31 and the fourth clamp 41 can better fit against the inner surface of the bowl. This reduces the gap, increases friction, and makes the bowl less likely to fall. To improve the versatility of the gripper in this embodiment, the side of the clamp that contacts the object can be made flat, while the other side can be made into a concave shape, similar to the shape of a human fingernail. This can also reduce the weight and space occupied by the clamp, making the gripper more flexible and compact. In addition, the clamp can be made of metal, which can increase the rigidity during gripping and ensure sufficient clamping force, allowing for the gripping of more or heavier objects.

[0037] In the description of this application, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product is in use. These terms are used only for the convenience of describing this application and for 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 application. Furthermore, the terms "first," "second," and "third," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance. It should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," "connect," and "link" should be interpreted broadly. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0038] Finally, it should be noted that the above-described embodiments are merely specific implementations of this application, used to illustrate the technical solutions of this application, and not to limit them. The protection scope of this application is not limited thereto. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that any person skilled in the art can still modify or easily conceive of changes to the technical solutions described in the foregoing embodiments, or make equivalent substitutions for some of the technical features, within the scope of the technology disclosed in this application; and these modifications, changes, or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application. All should be covered within the protection scope of this application. Therefore, the protection scope of this application should be determined by the protection scope of the claims.

Claims

1. A gripper structure for clamping fingers, said gripper structure comprising at least a left gripper finger (A) and a right gripper finger (B), characterized in that: The left clamping finger (A) includes at least one clamping module, and the right clamping finger (B) also includes at least one of the clamping modules; The clamping module includes a clamping plate, a reset component, a rotating shaft, and a bearing.

2. The interdigitated structure of claim 1 wherein, The left clamping finger (A) and / or the right clamping finger (B) have one and only two clamping modules.

3. The interdigitated structure of claim 2, wherein, The left gripper (A) includes a first gripping module (10) and a second gripping module (20), and the right gripper (B) includes a third gripping module (30) and a fourth gripping module (40). When gripping an object, under the action of force, the rotation direction of the first gripping module (10) is opposite to the rotation direction of the second gripping module (20), and the rotation direction of the third gripping module (30) is opposite to the rotation direction of the fourth gripping module (40).

4. The interdigitated structure of claim 3, wherein, The first clamping module (10) and the third clamping module (30) are arranged opposite to each other and rotate in the same direction. The second clamping module (20) and the fourth clamping module (40) are arranged opposite to each other and rotate in the same direction.

5. A finger-clamping structure according to claim 3, characterized in that, The first clamping module (10) and the second clamping module (20) are arranged symmetrically in the whole, and the third clamping module (30) and the fourth clamping module (40) are arranged symmetrically in the whole.

6. A finger-clamping structure according to claim 1, characterized in that, The reset element is a spring, the rotating shaft is fixedly connected to the upper end of the clamping plate, the spring is wound around the rotating shaft, and one end of the spring is fixedly connected to the rotating shaft.

7. A finger-clamping structure according to claim 6, characterized in that, The clamping module also includes a lever (14), which is fixed on the rotating shaft, and the spring is located above the lever or one end of the spring is fixed on the lever.

8. A finger clamping structure according to claim 6, characterized in that, The finger clamping structure also includes a mounting cover, and the other end of the spring is fixedly connected to the mounting cover.

9. A finger clamping structure according to claim 1, characterized in that, The pivot is not located in the middle of the clamping plate, but in a position where the force is greater when the clamping plate grips a curved object.

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