An adaptive flexible grasping device

Abstract

The utility model discloses a kind of self-adaptive flexible grabbing devices, including mounting plate, the mounting plate is circular plate, four connecting plates are fixedly connected on the side wall of the mounting plate, the below of four The connecting plate is uniformly provided with claw body, the side of the claw body close to mounting plate axle is fixedly connected with clamping plate, the clamping plate adopts silica gel material, two pressure sensors are provided on the clamping end surface of the clamping plate, the utility model controls the height of adjusting block by drive mechanism, to drive driving arm to move, driving arm will drive one transmission arm to rotate, when one transmission arm rotates downward, four claw bodies will gather to workpiece and be grabbed, when one transmission arm rotates upward, four claw bodies will be scattered to workpiece and be released, the clamping force can be detected in real time by the pressure sensor set on clamping plate, to ensure that the device can self-adaptively guarantee clamping force when grabbing different workpieces.

Description

Technical Field

[0001] This utility model relates to the field of gripping equipment technology, specifically an adaptive flexible gripping device. Background Technology

[0002] Flexible grippers are highly adaptable and safe grasping devices. Utilizing flexible materials, adaptive structures, and intelligent control technology, they can flexibly handle objects of different shapes, materials, and fragility, solving the problem of traditional rigid grippers struggling to grasp complex or fragile objects in the field of automation. Made of elastic materials such as silicone and rubber, flexible grippers conform to the contours of objects through their own deformation, avoiding damage caused by rigid compression. They are particularly suitable for grasping fragile items such as eggs, fruits, glassware, and electronic chips.

[0003] Existing flexible grippers have limitations in their adaptive grasping capabilities; they cannot adaptively adjust the grasping force when gripping objects of different sizes. Therefore, an adaptive flexible gripping device is proposed. Utility Model Content

[0004] The purpose of this invention is to provide an adaptive flexible gripping device to solve the problems mentioned in the background art.

[0005] To achieve the above objectives, this utility model provides the following technical solution: an adaptive flexible gripping device, comprising a mounting plate, the mounting plate being a circular plate, four connecting plates fixedly connected to the side wall of the mounting plate, the four connecting plates being arranged in a circular array around the axis of the mounting plate, a claw body being provided below each of the four connecting plates, and a clamping plate being fixedly connected to the side of each claw body near the axis of the mounting plate, the clamping plate being made of silicone material, two pressure sensors being provided on the clamping end face of the clamping plate, the pressure sensors being fixedly embedded inside the clamping plate, the probes of the pressure sensors protruding from the clamping end face of the clamping plate, and a first transmission arm being rotatably connected to the bottom two sides of the connecting plate respectively. The other end of the first transmission arm is rotatably connected to both sides of the upper end of the claw body. The bottom sides of the connecting plate are also rotatably connected to the second transmission arm. The other ends of the two second transmission arms are also rotatably connected to both sides of the upper end of the claw body. The first and second transmission arms are the same in size and structure. An adjustment block is provided at the center of the lower part of the mounting plate. A drive mechanism acting on the adjustment block is provided on the mounting plate. The four end faces of the adjustment block correspond one-to-one with the four connecting plates. An integrally formed U-shaped plate is provided on each of the four end faces of the adjustment block. A drive arm is rotatably connected between the two parallel plates of the U-shaped plate. The other end of the drive arm is rotatably connected between the two first transmission arms.

[0006] As a further preferred embodiment of this technical solution, the first transmission arm and the second transmission arm are parallel to each other, the rotation centers on the upper sides of the first transmission arm and the second transmission arm are located at the same height on the side wall of the connecting plate, and the rotation centers on the lower sides of the first transmission arm and the second transmission arm are located at the same height on the side wall of the claw body.

[0007] As a further preferred embodiment of this technical solution, the drive mechanism includes a motor and an adjusting screw. The motor is fixedly mounted on the upper end of the mounting plate, and the output shaft of the motor passes through the mounting plate and is fixedly connected to the adjusting screw. The adjusting block is threaded onto the outer wall of the adjusting screw.

[0008] As a further preferred embodiment of this technical solution, a limiting block is fixedly sleeved at the bottom of the adjusting screw.

[0009] As a further preferred embodiment of this technical solution, the output shaft of the motor is rotatably connected to the mounting plate, and a bearing is provided between the mounting plate and the output shaft of the motor.

[0010] As a further preferred embodiment of this technical solution, the clamping end face of the clamping plate is provided with multiple anti-slip grooves.

[0011] As a further preferred embodiment of this technical solution, four columns are fixedly installed on the upper end of the mounting plate. The four columns are arranged in a circular array with the axis of the mounting plate as the center. A fixing plate is fixedly installed on the upper end of the four columns, and the fixing plate is used to connect the robotic arm.

[0012] This invention provides an adaptive flexible gripping device, which has the following advantages:

[0013] This invention controls the height of the adjusting block through a drive mechanism, thereby moving the drive arm. The drive arm then drives the first transmission arm to rotate. When the first transmission arm rotates downward, the four claws converge to grip the workpiece. When the first transmission arm rotates upward, the four claws disperse to release the workpiece. The clamping force can be detected in real time by a pressure sensor installed on the clamping plate. When the clamping force reaches a preset value, the pressure sensor transmits a signal to the PLC control system. The PLC control system then controls the robotic arm to move the device to a suitable position, thus ensuring that the device can adaptively maintain the clamping force when gripping different workpieces. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0015] Figure 2 This is a schematic diagram of the overall structure of this utility model from another perspective;

[0016] Figure 3This is a schematic diagram of the claw body in this utility model;

[0017] Figure 4 This is a schematic diagram of the structure of the claw body, the first transmission arm, and the second transmission arm in this utility model.

[0018] Figure 5 This is a schematic diagram of the structure of the adjusting block in this utility model;

[0019] In the diagram: 1. Mounting plate; 2. Connecting plate; 3. Claw body; 4. First transmission arm; 5. Second transmission arm; 6. Adjusting block; 7. Drive arm; 8. Adjusting screw; 9. Motor; 10. Limiting block; 11. Column; 12. Connecting plate; 13. Clamping plate; 14. Anti-slip groove; 15. U-shaped plate; 16. Pressure sensor. Detailed Implementation

[0020] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention.

[0021] This utility model provides a technical solution: such as Figures 1 to 5 As shown, in this embodiment, an adaptive flexible gripping device includes a mounting plate 1, which is a circular plate. Four connecting plates 2 are fixedly connected to the side wall of the mounting plate 1. The four connecting plates 2 are arranged in a circular array with the axis of the mounting plate 1 as the center. A claw body 3 is provided below each of the four connecting plates 2. A clamping plate 13 is fixedly connected to the side of the claw body 3 near the axis of the mounting plate 1. The clamping plate 13 is made of silicone. Two pressure sensors 16 are provided on the clamping end face of the clamping plate 13. The pressure sensors 16 are fixedly embedded inside the clamping plate 13, and the probes of the pressure sensors 16 protrude from the clamping end face of the clamping plate 13. A first transmission arm 4 is rotatably connected to both sides of the bottom of the connecting plate 2. The other end of the transmission arm 4 is rotatably connected to the upper two sides of the claw body 3. The bottom two sides of the connecting plate 2 are also rotatably connected to the second transmission arm 5. The other ends of the two second transmission arms 5 are also rotatably connected to the upper two sides of the claw body 3. The first transmission arm 4 and the second transmission arm 5 are the same in size and structure. An adjustment block 6 is set at the center of the lower part of the mounting plate 1. A drive mechanism acting on the adjustment block 6 is set on the mounting plate 1. The four end faces of the adjustment block 6 correspond one-to-one with the four connecting plates 2. The four end faces of the adjustment block 6 are respectively provided with an integrally formed U-shaped plate 15. A drive arm 7 is rotatably connected between the two parallel plates of the U-shaped plate 15. The other end of the drive arm 7 is rotatably connected between the two first transmission arms 4.

[0022] All of the above-mentioned rotating connection methods are connected through a rotating shaft. As can be seen from the attached drawings, there are reserved rotating holes for installing the rotating shaft. The rotating connection structure of the rotating shaft is also a common existing technology, and will not be described in detail here.

[0023] Among them, the first transmission arm 4 and the second transmission arm 5 are parallel to each other. The rotation centers on the upper side of the first transmission arm 4 and the second transmission arm 5 are located at the same height on the side wall of the connecting plate 2, and the rotation centers on the lower side of the first transmission arm 4 and the second transmission arm 5 are located at the same height on the side wall of the claw body 3.

[0024] This configuration ensures that the bottom of the first transmission arm 4, the second transmission arm 5, the connecting plate 2, and the top of the claw body 3 form a parallelogram. As a result, when the drive arm 7 pulls the first transmission arm 4 to rotate, the claw body 3 remains in a vertical position during the movement, thus ensuring that the clamping end face of the claw body 3 is always vertical.

[0025] The drive mechanism includes a motor 9 and an adjusting screw 8. The motor 9 is fixedly installed on the upper end of the mounting plate 1. The output shaft of the motor 9 passes through the mounting plate 1 and is fixedly connected to the adjusting screw 8. The adjusting block 6 is threaded onto the outer wall of the adjusting screw 8.

[0026] In use, the motor 9 is connected to an external power source. Starting the motor 9 drives the adjusting screw 8 to rotate. The adjusting block 6 is restricted from rotating by the four drive arms 7. When the adjusting screw 8 rotates, the adjusting block 6 will move along the axis of the adjusting screw 8, thereby achieving the purpose of controlling the height of the adjusting block 6. When the adjusting block 6 moves upward, it will drive the first drive arm 4 and the second drive arm 5 to rotate downward, thereby driving the four claw bodies 3 to converge, thus starting the gripping effect. When the adjusting block 6 moves downward, it will drive the first drive arm 4 and the second drive arm 5 to rotate upward, thereby driving the four claw bodies 3 to separate and put down the gripped item.

[0027] The bottom of the adjusting screw 8 is fixedly fitted with a limit block 10.

[0028] The limiting block 10 can limit the bottom of the adjusting screw 8 to prevent the adjusting block 6 from falling off the bottom of the adjusting screw 8.

[0029] The output shaft of the motor 9 is rotatably connected to the mounting plate 1, and a bearing is provided between the mounting plate 1 and the output shaft of the motor 9.

[0030] This configuration allows the output shaft of motor 9 to rotate more smoothly.

[0031] The clamping end face of the clamping plate 13 is provided with multiple anti-slip grooves 14.

[0032] This configuration improves the gripping ability of the clamping plate 13.

[0033] The mounting plate 1 has four columns 11 fixedly installed on its upper end. The four columns 11 are arranged in a circular array with the axis of the mounting plate 1 as the center. The upper end of the four columns 11 is fixedly installed with a fixing plate 12, which is used to connect the robotic arm.

[0034] This utility model provides an adaptive flexible gripping device, the specific working principle of which is as follows:

[0035] Among them, pressure sensor 16 is a diaphragm pressure sensor of model FSG15N1A, which is connected to the PLC control system. The PLC control system is not shown in the figure, but a PLC of model ST20 can be used. It will not be described in detail here.

[0036] In use, the fixing plate 12 is fixed to the robotic arm with fixing bolts. Under the control of the PLC control system, the robotic arm controls the device to grasp the workpiece. During grasping, the device is moved so that the workpiece to be grasped is positioned between the four claws 3. The PLC control system controls the motor 9 to drive the adjusting screw 8 to rotate. The adjusting block 6 is restricted from rotating by the four drive arms 7. When the adjusting screw 8 rotates, the adjusting block 6 will move along the axial direction of the adjusting screw 8, thereby achieving the purpose of controlling the height of the adjusting block 6. When the adjusting block 6 moves upward, it will drive the first drive arm 4 and the second drive arm 5 to rotate downward, thereby driving the four claws 3 to converge, thus starting the grasping process. As the adjusting block 6 moves downward, it drives the first transmission arm 4 and the second transmission arm 5 to rotate upward, thereby causing the four claws 3 to separate and put down the gripped item. During the gripping process, the pressure sensor 16 on the clamping plate 13 can detect the clamping force in real time. When the clamping force reaches the preset value, the pressure sensor 16 will transmit a signal to the PLC control system. The PLC control system will then control the robotic arm to move the device to the appropriate position, thereby ensuring that the device can adaptively maintain the clamping force when gripping different workpieces. The clamping plate 13 is made of silicone material, which can ensure that the device can flexibly clamp the workpiece and reduce wear on the workpiece.

[0037] 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. An adaptive flexible gripping device, comprising a mounting plate (1), characterized in that: The mounting plate (1) is a circular plate. Four connecting plates (2) are fixedly connected to the side wall of the mounting plate (1). The four connecting plates (2) are arranged in a ring array with the axis of the mounting plate (1) as the center. A claw body (3) is provided below each of the four connecting plates (2). A clamping plate (13) is fixedly connected to the side of the claw body (3) near the axis of the mounting plate (1). The clamping plate (13) is made of silicone. Two pressure sensors (16) are provided on the clamping end face of the clamping plate (13). The pressure sensors (16) are fixedly embedded inside the clamping plate (13). The probe of the pressure sensor (16) protrudes from the clamping end face of the clamping plate (13). A first transmission arm (4) is rotatably connected to the bottom two sides of the connecting plate (2). The other ends of the two first transmission arms (4) are rotatably connected to... On both sides of the upper end of the claw body (3), the bottom sides of the connecting plate (2) are respectively rotatably connected to the second transmission arm (5). The other ends of the two second transmission arms (5) are also rotatably connected to the upper ends of the claw body (3). The first transmission arm (4) and the second transmission arm (5) are the same in size and structure. An adjustment block (6) is provided at the center of the lower part of the mounting plate (1). A drive mechanism acting on the adjustment block (6) is provided on the mounting plate (1). The four end faces of the adjustment block (6) correspond one-to-one with the four connecting plates (2). The four end faces of the adjustment block (6) are respectively provided with an integrally formed U-shaped plate (15). A drive arm (7) is rotatably connected between the two parallel plates of the U-shaped plate (15). The other end of the drive arm (7) is rotatably connected between the two first transmission arms (4).

2. The adaptive flexible gripping device according to claim 1, characterized in that: The first transmission arm (4) and the second transmission arm (5) are parallel to each other. The rotation centers on the upper side of the first transmission arm (4) and the second transmission arm (5) are located at the same height on the side wall of the connecting plate (2). The rotation centers on the lower side of the first transmission arm (4) and the second transmission arm (5) are located at the same height on the side wall of the claw body (3).

3. The adaptive flexible gripping device according to claim 1, characterized in that: The drive mechanism includes a motor (9) and an adjusting screw (8). The motor (9) is fixedly installed on the upper end of the mounting plate (1). The output shaft of the motor (9) passes through the mounting plate (1) and is fixedly connected to the adjusting screw (8). The adjusting block (6) is threaded onto the outer wall of the adjusting screw (8).

4. The adaptive flexible gripping device according to claim 3, characterized in that: The bottom of the adjusting screw (8) is fixedly fitted with a limiting block (10).

5. The adaptive flexible gripping device according to claim 3, characterized in that: The output shaft of the motor (9) is rotatably connected to the mounting plate (1), and a bearing is provided between the mounting plate (1) and the output shaft of the motor (9).

6. The adaptive flexible gripping device according to claim 1, characterized in that: The clamping end face of the clamping plate (13) is provided with multiple anti-slip grooves (14).

7. The adaptive flexible gripping device according to claim 1, characterized in that: Four columns (11) are fixedly installed on the upper end of the mounting plate (1). The four columns (11) are arranged in a ring array with the axis of the mounting plate (1) as the center. A fixing plate (12) is fixedly installed on the upper end of the four columns (11). The fixing plate (12) is used to connect the robotic arm.

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