Adaptive mechanical gripper

Abstract

This utility model discloses an adaptive mechanical gripper, belonging to the technical field of mechanical automation. It includes a first support plate, a drive mechanism, and a clamping mechanism. The drive mechanism is mounted on the first support plate, and the clamping mechanism is mounted below the first support plate. The drive mechanism includes a linkage assembly, a rotating shaft rotatably mounted on the first support plate, and a one-way locking member mounted on the first support plate, with the one-way locking member engaging with a first end of the rotating shaft. The first end of the linkage assembly engages with a second end of the rotating shaft, and the second end of the linkage assembly engages with the clamping mechanism. Under the action of the rotating shaft, the linkage assembly has a first moving position and a second moving position. In the first moving position, the clamping mechanism is in a clamping state; in the second moving position, the clamping mechanism is in a released state. The one-way locking member prevents the rotating shaft from rotating in the opposite direction, enabling the clamping mechanism to form a relatively balanced holding force. The clamping mechanism can be adjusted according to the size and weight of the workpiece, improving its stability.

Description

Technical Field

[0001] This utility model relates to the technical field of mechanical automation, and in particular to an adaptive mechanical gripper. Background Technology

[0002] As the world's manufacturing industry gradually shifts towards automation and intelligence, machines replacing manual labor has become a major development trend, and the widespread use of industrial robots has led to the emergence of various robotic arms or grippers.

[0003] However, existing electric mechanical grippers are quite heavy and bulky when they need to grip heavy objects, making them difficult to use in small spaces; while pneumatic manipulators are smaller in size, their applications are limited by the limitations of their power sources.

[0004] However, when clamping workpieces of varying weights, both pneumatic and electric systems require a power control unit. This unit adjusts the clamping force based on the workpiece's weight to improve the stability of the mechanical gripper. However, using a power control unit increases the hardware cost and energy consumption of the production line, as well as the complexity of measurement, control, and programming. Summary of the Invention

[0005] The purpose of this invention is to improve the problem that existing mechanical grippers need to be equipped with a power control unit to adjust the clamping force, and to provide an adaptive mechanical gripper.

[0006] The technical solutions for achieving the above objectives include the following:

[0007] An adaptive mechanical gripper includes: a first support plate, a drive mechanism, and a clamping mechanism, wherein the drive mechanism is mounted on the first support plate and the clamping mechanism is mounted below the first support plate;

[0008] The driving mechanism includes a linkage assembly, a rotating shaft rotatably mounted on a first support plate, and a one-way locking member mounted on the first support plate, wherein the one-way locking member cooperates with a first end of the rotating shaft; the first end of the linkage assembly cooperates with a second end of the rotating shaft, and the second end of the linkage assembly cooperates with a clamping mechanism.

[0009] Under the action of the rotating shaft, the connecting rod assembly has a first moving position and a second moving position. In the first moving position, the clamping mechanism is in a clamping state; in the second moving position, the clamping mechanism is in a released state.

[0010] In one embodiment, the drive mechanism further includes a gear and a rack, and the adaptive mechanical claw also has a second support plate, which is movably disposed on the first support plate. The gear is sleeved on the outside of the rotating shaft, and the rack is mounted on the second support plate. The gear meshes with the rack.

[0011] The rack has a third moving position and a fourth moving position. When the rack is in the third moving position, the connecting rod assembly is in the second moving position. When the rack is in the fourth moving position, the connecting rod assembly is in the first moving position. The gear has first clearance grooves on both sides, and each of the first clearance grooves allows the rack to move from the fourth moving position to the third moving position.

[0012] In one embodiment, the gear has a first convex tooth portion and a second convex tooth portion, the first convex tooth portion and the second convex tooth portion are distributed along the circumference of the gear and are symmetrically arranged, and the first convex tooth portion or the second convex tooth portion meshes with a rack.

[0013] Two opposing clearance grooves are formed between the two ends of the first protrusion and the two ends of the second protrusion.

[0014] In one embodiment, the rack has a third protruding tooth and a first paddle, and a second clearance groove is provided between the first paddle and the third protruding tooth;

[0015] The first paddle has a mounting part and a contact part, which are integral structures. The contact part is arc-shaped. The mounting part of the first paddle is located near the end of the rack, and the contact part of the first paddle faces the third protruding tooth.

[0016] On the rack, the height of the abutting portion is higher than the height of the third convex tooth portion, and the abutting portion abuts against the end of the first convex tooth portion or the second convex tooth portion.

[0017] In one embodiment, the drive mechanism further includes a second paddle, which is mounted on a second support plate;

[0018] When the rack is in the third moving position, the second paddle abuts against the one-way locking element.

[0019] In one embodiment, the connecting rod assembly includes a crank, a rocker arm, a first connecting shaft, a second connecting shaft, and a drive rod. The first end of the crank is fixedly connected to the shaft, the second end of the crank is sleeved on the first end of the first connecting shaft, the first end of the rocker arm is sleeved on the second end of the first connecting shaft, and the crank is rotatably connected to the rocker arm through the first connecting shaft.

[0020] The second end of the rocker arm is rotatably connected to the first end of the drive rod via a second connecting shaft, and the second end of the drive rod cooperates with the clamping mechanism.

[0021] In one embodiment, the one-way locking member includes a ratchet and a spring plate. The ratchet is sleeved on the first end of the rotating shaft, and the spring plate is mounted on a first support plate. The spring plate is at least partially bent. In a first direction, the end of the spring plate engages with the ratchet; in a second direction, the end of the spring plate abuts against the ratchet.

[0022] In one embodiment, the clamping mechanism includes a support frame and at least three transmission components. The support frame includes a support rod, a connecting rod, and an abutment plate. The number of support rods and the number of connecting rods correspond to the number of transmission components. The three connecting rods are connected end to end, and the connection between two connecting rods is fixedly connected to the first end of the support rod. The second end of the support rod is fixedly connected to the lower end of the first support plate.

[0023] The transmission components are disposed between two adjacent support rods. The first end of each transmission component is rotatably connected to the connecting rod assembly, and the second end of each transmission component is rotatably connected to the corresponding connecting rod. The three transmission components are equidistantly distributed around the connecting rod assembly in the circumference. The end of each transmission component has a claw, and the three claws form a pickup position.

[0024] The abutment plate is installed on the inside of the support rod and is located within the space enclosed by the three connecting rods. The abutment plate is located above the pickup position.

[0025] In one embodiment, the transmission component includes a first transmission rod, a second transmission rod, and a third connecting shaft. The first end of the first transmission rod is rotatably connected to the connecting rod assembly, and the second end of the first transmission rod is rotatably connected to the second transmission rod via the third connecting shaft. The second transmission rod is sleeved on the connecting rod and rotatably connected to the connecting rod. The pawl is installed at the end of the second transmission rod.

[0026] The hooks have a bent structure, and the bending direction of each hook is towards the pickup position.

[0027] The technical solution provided by this utility model has the following advantages and effects:

[0028] On one hand, under the action of the rotating shaft, the linkage assembly moves from the second moving position to the first moving position, and the clamping mechanism is in a clamping state. The clamping force of the clamping mechanism increases, and the clamping mechanism picks up the workpiece. When the first support plate is moved, the workpiece is suspended in the air. The workpiece's own weight will act on the linkage assembly, and a rotational torque will be generated between the clamping mechanism and the linkage assembly. Due to the cooperation of the one-way locking part at the first end of the rotating shaft, the one-way locking part has a reverse-proof function, preventing the rotating shaft from rotating in the opposite direction. This creates a relatively balanced holding force between the linkage assembly and the clamping mechanism, preventing the linkage assembly from moving towards the second moving position. The clamping mechanism can be adjusted according to the size and weight of the workpiece, improving the stability of the clamping mechanism and solving the problem that existing mechanical grippers need to be equipped with a power control unit to adjust the clamping force.

[0029] On the other hand, by locking the rotating shaft with a one-way locking component, the shaft cannot rotate counterclockwise, and the linkage assembly cannot move to the second moving position, thus ensuring a stable clamping force for the gripping mechanism. Furthermore, with one rotation of the shaft, the linkage assembly completes one cycle of moving from the second moving position to the first moving position and back to the second moving position. With half a rotation of the shaft, the linkage assembly moves from the second moving position to the first moving position, allowing the gripping mechanism to hold the workpiece; as the shaft continues to rotate, the linkage assembly moves from the first moving position to the second moving position, the clamping force of the gripping mechanism decreases until the workpiece is released, thereby completing the automated workpiece gripping and release operation. The shaft only needs to rotate continuously clockwise to repeatedly complete the gripping and release operations of the adaptive mechanical gripper. Attached Figure Description

[0030] The accompanying drawings illustrate specific examples of the technical solutions described in this utility model, and together with the detailed embodiments, form part of the specification, serving to explain the technical solutions, principles, and effects of this utility model.

[0031] Unless otherwise specified or defined, the same reference numerals in different figures represent the same or similar technical features, and different reference numerals may be used to represent the same or similar technical features.

[0032] Figure 1 This is a schematic diagram of the adaptive mechanical gripper in one embodiment of the present invention. Figure 1 ;

[0033] Figure 2 This is a schematic diagram of the adaptive mechanical gripper in one embodiment of the present invention. Figure 2 ;

[0034] Figure 3 This is a schematic diagram of the adaptive mechanical gripper in one embodiment of the present invention. Figure 3 ;

[0035] Figure 4This is one embodiment of the present invention. Figure 3 Enlarged view of point A;

[0036] Figure 5 This is a schematic diagram of the drive mechanism in one embodiment of the present invention;

[0037] Figure 6 This is a schematic diagram of the structure of a one-way locking component in one embodiment of the present invention;

[0038] Figure 7 This is a schematic diagram of the clamping mechanism in one embodiment of the present invention;

[0039] Figure 8 This is a schematic diagram of the gear structure in one embodiment of the present invention;

[0040] Explanation of reference numerals in the attached figures:

[0041] 100. Adaptive mechanical gripper;

[0042] 1. Outer shell; 11. First support plate; 12. Second support plate; 13. First sliding guide; 131. Inner rod; 132. Outer rod;

[0043] 2. Drive mechanism; 20. Rotating shaft; 21. Rack; 211. Third convex tooth; 22. Gear; 221. First convex tooth; 222. First clearance groove; 223. Second convex tooth; 23. Connecting rod assembly; 231. Crank; 232. Rocker arm; 233. First connecting shaft; 234. Second connecting shaft; 24. Drive rod; 25. One-way locking element; 251. Ratchet; 252. Spring; 26. First support; 27. Second support; 28. First paddle; 281. Second clearance groove; 282. Abutment part; 283. Mounting part; 29. ​​Second paddle;

[0044] 3. Clamping mechanism; 31. First transmission component; 311. Claw; 312. First transmission rod; 313. Second transmission rod; 314. Third connecting shaft; 32. Second transmission component; 33. Third transmission component; 34. Second sliding guide component; 35. Pick-up position; 36. Support frame; 361. Support rod; 362. Connecting rod; 363. Abutment plate. Detailed Implementation

[0045] To facilitate understanding of this utility model, the specific embodiments of this utility model will be described in more detail below with reference to the accompanying drawings.

[0046] Unless otherwise specified or defined, the terms "first," "second," etc., used in this document are for distinguishing names only and do not represent a specific number or order.

[0047] Unless otherwise stated or defined, the term “and / or” as used herein includes any and all combinations of one or more of the associated listed items.

[0048] It should be noted that when a component is considered "fixed" to another component, it can be directly fixed to the other component or there can be an intervening component; when a component is considered "connected" to another component, it can be directly connected to the other component or there can be an intervening component; when a component is considered "mounted" on another component, it can be directly mounted on the other component or there can be an intervening component; when a component is considered "placed" on another component, it can be directly placed on the other component or there can be an intervening component.

[0049] This utility model proposes an adaptive mechanical gripper 100, such as Figures 1 to 8 As shown, the device includes a first support plate 11, a drive mechanism 2, and a clamping mechanism 3. The drive mechanism 2 is mounted on the first support plate 11, and the clamping mechanism 3 is mounted below the first support plate 11. The drive mechanism 2 includes a linkage assembly 23, a rotating shaft 20 rotatably mounted on the first support plate 11, and a one-way locking member 25 mounted on the first support plate 11, with the one-way locking member 25 engaging with the first end of the rotating shaft 20. The first end of the linkage assembly 23 engages with the second end of the rotating shaft 20, and the second end of the linkage assembly 23 engages with the clamping mechanism 3. Under the action of the rotating shaft 20, the linkage assembly 23 has a movement path from top to bottom and from bottom to top. When the linkage assembly 23 moves from bottom to top, the clamping force of the clamping mechanism 3 decreases; when the linkage assembly 23 moves from top to bottom, the clamping force of the clamping mechanism 3 increases.

[0050] Specifically, the upper end of the first support plate 11 supports the drive mechanism 2, and the lower end of the first support plate 11 is used to fix the clamping mechanism 3. The drive mechanism 2 and the clamping mechanism 3 are arranged vertically. The rotating shaft 20 drives the connecting rod assembly 23, which in turn drives the clamping mechanism 3 to clamp the workpiece. The one-way locking member 25 cooperates with the rotating shaft 20 to lock the rotating shaft 20 in one direction, so that the rotating shaft 20 can only rotate clockwise. When the rotating shaft 20 rotates, when the connecting rod assembly 23 moves from the second moving position to the first moving position, the clamping mechanism 3 is in a clamping state, thus clamping the workpiece; when the connecting rod assembly 23 moves from the first moving position to the second moving position, the clamping mechanism 3 is in a releasing state, thus releasing the workpiece.

[0051] Furthermore, under the action of the rotating shaft 20, the connecting rod assembly 23 moves from the second moving position to the first moving position, the clamping mechanism 3 is in a clamping state, the clamping force of the clamping mechanism 3 increases, and the clamping mechanism 3 picks up the workpiece. When the first support plate 11 is moved, the workpiece is suspended in the air, and the workpiece's own weight will act on the connecting rod assembly 23. A rotational torque will be generated between the clamping mechanism 3 and the connecting rod assembly 23. Due to the cooperation of the one-way locking member 25 at the first end of the rotating shaft 20, the one-way locking member 25 has a reverse-rotation function, preventing the rotating shaft 20 from rotating in the opposite direction, so that a relatively balanced holding force is formed between the connecting rod assembly 23 and the clamping mechanism 3, preventing the connecting rod assembly 23 from moving towards the second moving position.

[0052] Furthermore, the rotating shaft 20 is locked by the one-way locking element 25, preventing it from rotating counterclockwise and the linkage assembly 23 from moving to the second moving position, thus ensuring a stable clamping force for the clamping mechanism 3. Moreover, with one full rotation of the rotating shaft 20, the linkage assembly 23 completes one cycle of moving from the second moving position to the first moving position and back to the second moving position; with half a full rotation, the linkage assembly 23 moves from the second moving position to the first moving position, allowing the clamping mechanism 3 to hold the workpiece; as the rotating shaft 20 continues to rotate, the linkage assembly 23 moves from the first moving position to the second moving position, the clamping force of the clamping mechanism 3 decreases until the workpiece is released, thereby completing the automated operation of gripping and releasing the workpiece. The rotating shaft 20 only needs to rotate continuously clockwise to repeatedly complete the gripping and releasing operations of the adaptive mechanical gripper 100.

[0053] In other embodiments, the drive mechanism 2 further includes a gear 22 and a rack 21. The adaptive mechanical gripper 100 also has a second support plate 12, which is movably mounted on the first support plate 11. The gear 22 is sleeved on the rotating shaft 20, and the rack 21 is mounted on the second support plate 12, with the gear 22 meshing with the rack 21. The rack 21 has a third moving position and a fourth moving position. When the rack 21 is in the third moving position, the connecting rod assembly 23 is in the second moving position; when the rack 21 is in the fourth moving position, the connecting rod assembly 23 is in the first moving position. The gear 22 has first clearance grooves 222 on both sides, each of which allows the rack 21 to move from the fourth moving position to the third moving position. The rack 21 drives the gear 22 to rotate, and the gear 22 drives the rotating shaft 20 to rotate, causing the connecting rod assembly 23 to have the first moving position and the second moving position.

[0054] Specifically, by sleeved gear 22 on the outside of rotating shaft 20 and movably set second support plate 12 on first support plate 11, rack 21 on second support plate 12 meshes with gear 22. When second support plate 12 moves downward, rack 21 moves from third moving position to fourth moving position. Rack 21 drives gear 22 to rotate clockwise, thereby driving rotating shaft 20 to rotate clockwise, causing linkage assembly 23 to move back and forth between second moving position and first moving position, and driving clamping mechanism 3 to complete the action of clamping or releasing workpiece.

[0055] Since gear 22 has first clearance grooves 222 on both sides, when the first clearance grooves 222 engage with rack 21, gear 22 stops rotating. At this time, gear 22 has just rotated half a turn. The first clearance grooves 222 make way for rack 21, so that rack 21 moves with second support plate 12 from fourth moving position to third moving position. Then, second support plate 12 is pushed down again, and rack 21 moves from third moving position to fourth moving position again, so that gear 22 completes the remaining half turn. At this time, linkage assembly 23 moves from first moving position to second moving position, and clamping force of clamping mechanism 3 decreases until clamping mechanism 3 releases workpiece, further completing the gripping and releasing action of adaptive mechanical claw 100.

[0056] Furthermore, by providing first clearance grooves 222 on both sides of gear 22, rack 21 can smoothly move from the fourth moving position to the third moving position. Even if there is slight interference between rack 21 and the teeth on gear 22, the rack 21 cannot drive gear 22 to rotate counterclockwise when the force of shaft 20 is applied by one-way locking member 25, thereby further improving the stability of linkage assembly 23. In this embodiment, adaptive mechanical claw 100 also includes housing 1, first support 26, and second support 27. The two ends of shaft 20 are used to be mounted on first support 26 and second support 27. First support 26 and second support 27 have bearing seats to support shaft 20, reducing the friction of shaft 20. Housing 1 is sleeved outside first support plate 11 and second support plate 12, and drive mechanism 2 is located inside housing 1 to avoid external environment affecting the normal operation of drive mechanism 2.

[0057] Furthermore, by providing first clearance grooves 222 on both sides of gear 22, the rack 21 can be easily reset when gear 22 rotates in one direction. Moreover, it is only necessary to drive rack 21 to move back and forth between the third and fourth moving positions. The downward movement of rack 21 drives gear 22, rotating shaft 20, and connecting rod assembly 23, so that clamping mechanism 3 clamps the workpiece. The way rack 21 moves back and forth between two fixed positions is extremely simple and easy to operate. When the workpiece moves in the air, one-way locking member 25 can lock the rotation direction of rotating shaft 20 to ensure the stability of connecting rod assembly 23.

[0058] Preferred, such as Figure 8 As shown, the gear 22 has a first tooth portion 221 and a second tooth portion 223. The first tooth portion 221 and the second tooth portion 223 are distributed along the circumference of the gear 22 and are symmetrically arranged. The first tooth portion 221 or the second tooth portion 223 meshes with the rack 21. Two opposing first clearance grooves 222 are formed between the two ends of the first tooth portion 221 and the two ends of the second tooth portion 223.

[0059] Specifically, when the rack 21 moves from the third moving position to the fourth moving position, the first protruding tooth 221 engages with the rack 21, causing the gear 22 to rotate half a turn; then one of the first clearance grooves 222 allows the rack 21 to move from the fourth moving position to the third moving position. When the rack 21 moves from the third moving position to the fourth moving position again, the second protruding tooth 223 engages with the rack 21, causing the rack 21 to continue rotating half a turn; through the engagement of the first protruding tooth 221 and the second protruding tooth 223 with the rack 21 respectively, the gear 22 rotates one turn, causing the connecting rod assembly 23 to drive the clamping mechanism 3 to complete the gripping and releasing function.

[0060] In some embodiments, the rack 21 has a third toothed portion 211 and a first paddle 28, with a second clearance groove 281 between the first paddle 28 and the third toothed portion 211; the first paddle 38 has a mounting portion 283 and an abutting portion 282, the mounting portion 283 and the abutting portion 282 are integral structures, the abutting portion 282 is arc-shaped, the mounting portion 283 of the first paddle 28 is disposed near the end of the rack 21, and the abutting portion 282 of the first paddle 28 faces the third toothed portion 211; on the rack 21, the height of the abutting portion 282 is higher than the height of the third toothed portion 211, and the abutting portion 282 abuts against the end of the first toothed portion 221 or the second toothed portion 223.

[0061] Specifically, the third tooth 211 is used to mesh with the first tooth 221 or the second tooth 223, thereby driving the gear 22 to rotate. When the third tooth 211 separates from the first tooth 221 or the second tooth 223, the rack 21 continues to move downward. The abutting part 282 of the first paddle 28 is slightly higher than the third tooth 211. When it moves, the abutting part 282 abuts against the first tooth 221 or the second tooth 223. The abutting part 282 of the first paddle 28 is arc-shaped and has a certain elasticity. The abutting part 282 pushes the gear 22 to rotate to a certain position, so that the rack 21 is located in the first clearance groove 222, which facilitates the rack 21 to move from the fourth moving position to the third moving position. The second clearance groove 281 is used to avoid the protruding teeth at the end of the first protruding tooth portion 221 or the second protruding tooth portion 223, so that the first paddle 28 can abut against the protruding teeth at the end of the first protruding tooth portion 221 or the second protruding tooth portion 223.

[0062] In some embodiments, the drive mechanism 2 further includes a second paddle 29, which is mounted on the second support plate 12. When the rack 21 moves from the fourth moving position to the third moving position, the second paddle 29 abuts against the one-way locking member 25. Specifically, when the rack 21 moves from the third moving position to the fourth moving position, the second paddle 29 separates from the one-way locking member 25. When the rack 21 moves from the fourth moving position to the third moving position, the second paddle 29 drives the one-way locking member 25 to move slightly. The one-way locking member 25 adjusts the movement of the rotating shaft 20 and the gear 22, so that the first tooth 221 or the second tooth 223 of the gear 22 meshes with the rack 21, facilitating the rack 21 to drive the gear 22 to rotate.

[0063] Preferably, the adaptive mechanical gripper 100 further includes a first sliding guide 13, which comprises an inner rod 131 and an outer rod 132. The first end of the inner rod 131 is mounted on the second support plate 12, and the first end of the outer rod 132 is mounted on the first support plate 11. The outer rod 132 is sleeved over the inner rod 131, and the second end of the inner rod 131 and the second end of the outer rod 132 are slidably engaged. By providing the first sliding guide 13, the inner rod 131 supports the second support plate 12, and the outer rod 132 is fixed on the first support plate 11. The inner rod 131 and the outer rod 132 are slidably connected, facilitating the vertical movement of the second support plate 12 and the first support plate 11. This allows the first support plate 11 to drive the rack 21 to move synchronously, enabling the rack 21 to move back and forth between the third and fourth moving positions.

[0064] In other embodiments, the connecting rod assembly 23 includes a crank 231, a rocker arm 232, a first connecting shaft 233, a second connecting shaft 234, and a drive rod 24. The first end of the crank 231 is fixedly connected to the rotating shaft 20, and the second end of the crank 231 is sleeved on the first end of the first connecting shaft 233. The first end of the rocker arm 232 is sleeved on the second end of the first connecting shaft 233. The crank 231 is rotatably connected to the rocker arm 232 through the first connecting shaft 233. The second end of the rocker arm 232 is rotatably connected to the first end of the drive rod 24 through the second connecting shaft 234. The second end of the drive rod 24 cooperates with the clamping mechanism 3.

[0065] Specifically, when the rotating shaft 20 rotates clockwise, the first end of the crank 231 rotates synchronously with the rotating shaft 20, and the second end of the crank 231 rotates around its first end. Since the two ends of the rocker arm 232 are rotatably connected to the crank 231 and the drive rod 24 respectively through the first connecting shaft 233 and the second connecting shaft 234, when the second end of the crank 231 rotates, it drives the rocker arm 232 to move through the first connecting shaft 233. The rocker arm 232 drives the drive rod 24 to move downward. One end of the drive rod 24 passes through the first support plate 11 and cooperates with the clamping mechanism 3. The rocker arm 232 moves in a relatively flexible manner, while the first support plate 11 restricts the direction of movement of the drive rod 24, so that the drive rod 24 can only move up and down. When the crank 231 rotates half a turn with the rotating shaft 20, the second end of the crank 231 is at the lowest point, that is, it has moved to the first moving position, and the connecting rod assembly 23 extends to its maximum distance. When the second end of the crank 231 moves from the lowest point to the highest point, that is, it has moved to the second moving position. Therefore, the linkage assembly 23 is driven by the rotating shaft 20 to move up and down.

[0066] Preferably, the one-way locking member 25 includes a ratchet 251 and a spring plate 252. The ratchet 251 is sleeved on the first end of the rotating shaft 20, and the spring plate 252 is mounted on the first support plate 11. The spring plate 252 is at least partially bent. In a first direction, the end of the spring plate 252 engages with the ratchet 251; in a second direction, the end of the spring plate 252 abuts against the ratchet 251. Specifically, the ratchet 251 is fixed to the rotating shaft 20 and rotates synchronously with the rotating shaft 20. When the ratchet 251 rotates in the first direction, the spring plate 252 engages with the ratchet 251. Based on the specific structure of the ratchet 251, the ratchet 251 applies a force to cause the spring plate 252 to deform slightly in the bending direction. When the ratchet 251 rotates in the second direction, the spring 252 abuts against the ratchet 251. Based on the specific structure of the ratchet 251, the rotation of the ratchet 251 in the second direction will drive the spring 252 to produce a large displacement. Due to the elasticity limitation of the spring 252 itself, the spring 252 will hinder the rotation of the ratchet 251, thereby realizing the unidirectional rotation of the ratchet 251.

[0067] Preferably, the spring 252 can also be replaced by a pawl, without any particular limitation here.

[0068] Preferably, the first direction is clockwise and the second direction is counterclockwise.

[0069] In other embodiments, the clamping mechanism 3 includes a support frame 36, a first transmission member 31, a second transmission member 32, and a third transmission member 33. The support frame 36 includes a support rod 361, a connecting rod 362, and an abutment plate 363. The number of support rods 361 and the number of connecting rods 362 correspond to the number of transmission members. The three connecting rods 362 are connected end to end, and the connection between two connecting rods 362 is fixedly connected to the first end of the support rod 361. The second end of the support rod 361 is fixedly connected to the lower end of the first support plate 11.

[0070] The first transmission component 31, the second transmission component 32, and the third transmission component 33 are each disposed between two adjacent connecting rods 362. The first end of each of the first transmission component 31, the second transmission component 32, and the third transmission component 33 is rotatably connected to the connecting rod assembly 23, and the second end of each of the first transmission component 31, the second transmission component 32, and the third transmission component 33 is rotatably connected to the corresponding connecting rod 362. The first transmission component 31, the second transmission component 32, and the third transmission component 33 are equidistantly distributed around the circumference of the connecting rod assembly 23. The ends of each of the first transmission component 31, the second transmission component 32, and the third transmission component 33 have hooks 311, and a pickup position 35 is formed between the three hooks 311.

[0071] The abutment plate 363 is installed inside the support rod 361 and is located within the enclosed space of the three connecting rods 362. The abutment plate 363 is located above the pickup position 35.

[0072] Specifically, three connecting rods 362 surround each other, and the connection points of adjacent connecting rods 362 are fixed to the first support plate 11 by support rods 361. The three support rods 361 are used to support the three connecting rods 362. The connecting rods 362 are also used to support the lower ends of the first transmission member 31, the second transmission member 32, and the third transmission member 33, so that the lower ends of the first transmission member 31, the second transmission member 32, and the third transmission member 33 can rotate around the connecting rods 362. The first ends of the first transmission member 31, the second transmission member 32, and the third transmission member 33 are rotatably connected to the second end of the drive rod 24.

[0073] Preferably, the claw 311 is made of an elastic material. When the claw 311 picks up the workpiece, the claw 311 squeezes the workpiece, and the reaction force generated by the claw 311 acts on the workpiece, thereby improving the stability of the claw 311 during picking.

[0074] Furthermore, the abutment plate 363 is installed inside the support rod 361 and located within the enclosed space of the three connecting rods 362. When the first support plate 11 moves to the upper end of the workpiece (in this embodiment, the upper end of the workpiece is disc-shaped), the abutment plate 363 abuts against the upper end surface of the workpiece, and the first support plate 11 cannot move downwards, indicating that the clamping mechanism 3 is ready to clamp the workpiece. The upper end of the workpiece is located within the pickup position 35, and the drive shaft 20 rotates clockwise. The lower ends of the first transmission member 31, the second transmission member 32, and the third transmission member 33 all rotate around the axis of the connecting rod 362. The three claws 311 hook onto the outer edge of the workpiece and pick it up. The greater the distance the drive rod 24 descends, the greater the force exerted by the three claws 311 on the outer edge of the workpiece, and the tighter the clamping mechanism 3 clamps.

[0075] Preferably, the transmission component includes a first transmission rod 312, a second transmission rod 313, and a third connecting shaft 314. The first end of the first transmission rod 312 is rotatably connected to the connecting rod assembly 23, and the second end of the first transmission rod 312 is rotatably connected to the second transmission rod 313 through the third connecting shaft 314. The second transmission rod 313 is sleeved on the outside of the connecting rod 362 and is rotatably connected to the connecting rod 362. The claw 311 is installed at the end of the second transmission rod 313. The claw 311 has a bent structure, and the bending direction of each claw 311 is towards the pickup position 35.

[0076] Specifically, since the first transmission rod 312 is rotatably connected to the second transmission rod 313 via the third connecting shaft 314, and the second transmission rod 313 is rotatably connected to the connecting rod 362, when the drive rod 24 moves downward, it drives the first transmission rod 312 to move. The first transmission rod 312 then drives the second transmission rod 313 to move via the third connecting shaft 314. The second transmission rod 313 rotates counterclockwise around the axis of the connecting rod 362, causing the claw 311 to close towards the pickup position 35, further clamping the workpiece. When the drive rod 24 moves upward, it drives the first transmission rod 312 to rotate the second transmission rod 313 clockwise around the axis of the connecting rod 362, causing the claw 311 to move away from the pickup position 35, further releasing the workpiece.

[0077] The hook 311 is bent. When the hook 311 rotates counterclockwise, it fits against the outer edge of the workpiece. When the hook 311 rotates clockwise, it separates from the outer edge of the workpiece, thus further realizing the gripping or release of the workpiece.

[0078] Preferably, the transmission component further includes a second sliding guide 34. The first end of the second sliding guide 34 is fixedly connected to the lower end of the first support plate 11, and the second end of the second sliding guide 34 is fixedly connected to the third connecting shaft 314. The structure of the second sliding guide 34 is similar to that of the first sliding guide 13. When the transmission component moves downward, the third connecting shaft 314 drives the second sliding guide 34 to move downward. The second sliding guide 34 is used to limit the movement direction of the third connecting shaft 314 and improve the stability of the transmission component in vertical movement.

[0079] This utility model also proposes a picking method for an adaptive mechanical gripper 100, comprising the following steps:

[0080] Step 1: The clamping mechanism 3 is in its initial state. Move the first support plate 11 so that the clamping mechanism 3 moves to the upper end of the workpiece.

[0081] Step 2: Drive the rotating shaft 20 to rotate clockwise, and the connecting rod assembly 23 moves from the second moving position to the first moving position, and the clamping mechanism 3 clamps the outer edge of the workpiece;

[0082] Step 3: Move the first support plate 11 to suspend the workpiece in the air. The weight of the workpiece acts on the connecting rod assembly 23; the one-way locking piece 25 locks the rotating shaft 20.

[0083] Specifically, when the adaptive mechanical gripper 100 needs to pick up a workpiece, it moves the first support plate 11, causing the clamping mechanism 3 to move to the upper end of the workpiece and abut against it. Then, it drives the rotating shaft 20, which in turn drives the connecting rod assembly 23, causing the clamping mechanism 3 to clamp the workpiece. Finally, it moves the first support plate 11 again, allowing the adaptive mechanical gripper 100 to pick up the workpiece to a preset position. The adaptive mechanical gripper 100 is simple to operate; simply driving the rotating shaft 20 to rotate clockwise completes the clamping and releasing actions of the clamping mechanism 3.

[0084] When referencing drawings, new features are explained. To avoid redundant references to drawings that would make the description less concise, features already described will not be referenced again on the drawings if the description is clear.

[0085] The purpose of the above embodiments is to reproduce and derive the technical solution of this utility model by way of example, and to fully describe the technical solution, purpose and effect of this utility model. The purpose is to enable the public to have a more thorough and comprehensive understanding of the disclosed content of this utility model, and it is not intended to limit the protection scope of this utility model.

[0086] The above embodiments are not an exhaustive list based on the present invention, and there may be other embodiments not listed. Any substitutions and improvements made without departing from the concept of the present invention are within the protection scope of the present invention.

Claims

1. An adaptive mechanical gripper, characterized in that, include: The system comprises a first support plate, a drive mechanism, and a clamping mechanism, wherein the drive mechanism is mounted on the first support plate and the clamping mechanism is mounted below the first support plate. The driving mechanism includes a linkage assembly, a rotating shaft rotatably mounted on a first support plate, and a one-way locking member mounted on the first support plate, wherein the one-way locking member cooperates with a first end of the rotating shaft; the first end of the linkage assembly cooperates with a second end of the rotating shaft, and the second end of the linkage assembly cooperates with a clamping mechanism. Under the action of the rotating shaft, the connecting rod assembly has a first moving position and a second moving position. In the first moving position, the clamping mechanism is in a clamping state; in the second moving position, the clamping mechanism is in a released state.

2. The adaptive mechanical gripper as described in claim 1, characterized in that, The drive mechanism also includes a gear and a rack. The adaptive mechanical claw also has a second support plate, which is movably mounted on the first support plate. The gear is sleeved on the outside of the rotating shaft, and the rack is mounted on the second support plate. The gear and the rack mesh. The rack has a third moving position and a fourth moving position. When the rack is in the third moving position, the connecting rod assembly is in the second moving position. When the rack is in the fourth moving position, the connecting rod assembly is in the first moving position. The gear has first clearance grooves on both sides, and each of the first clearance grooves allows the rack to move from the fourth moving position to the third moving position.

3. The adaptive mechanical gripper as described in claim 2, characterized in that, The gear has a first convex tooth portion and a second convex tooth portion, the first convex tooth portion and the second convex tooth portion are distributed along the circumference of the gear and are symmetrically arranged, and the first convex tooth portion or the second convex tooth portion meshes with the rack. Two opposing clearance grooves are formed between the two ends of the first protrusion and the two ends of the second protrusion.

4. The adaptive mechanical gripper as described in claim 3, characterized in that, The rack has a third convex tooth and a first paddle, and a second clearance groove is provided between the first paddle and the third convex tooth; The first paddle has a mounting part and a contact part, which are integral structures. The contact part is arc-shaped. The mounting part of the first paddle is located near the end of the rack, and the contact part of the first paddle faces the third protruding tooth. On the rack, the height of the abutting portion is higher than the height of the third convex tooth portion, and the abutting portion abuts against the end of the first convex tooth portion or the second convex tooth portion.

5. The adaptive mechanical gripper as described in claim 3, characterized in that, The driving mechanism further includes a second paddle, which is mounted on a second support plate; When the rack is in the third moving position, the second paddle abuts against the one-way locking element.

6. The adaptive mechanical gripper as described in any one of claims 1 to 5, characterized in that, The connecting rod assembly includes a crank, a rocker arm, a first connecting shaft, a second connecting shaft, and a drive rod. The first end of the crank is fixedly connected to the shaft, the second end of the crank is sleeved on the first end of the first connecting shaft, the first end of the rocker arm is sleeved on the second end of the first connecting shaft, and the crank is rotatably connected to the rocker arm through the first connecting shaft. The second end of the rocker arm is rotatably connected to the first end of the drive rod via a second connecting shaft, and the second end of the drive rod cooperates with the clamping mechanism.

7. The adaptive mechanical gripper as described in any one of claims 1 to 5, characterized in that, The one-way locking component includes a ratchet and a spring plate. The ratchet is sleeved on the first end of the rotating shaft, and the spring plate is mounted on the first support plate. The spring plate is at least partially bent. In a first direction, the end of the spring plate engages with the ratchet; in a second direction, the end of the spring plate abuts against the ratchet.

8. The adaptive mechanical gripper as described in any one of claims 1 to 5, characterized in that, The clamping mechanism includes a support frame and at least three transmission components. The support frame includes a support rod, a connecting rod, and an abutment plate. The number of support rods and the number of connecting rods correspond to the number of transmission components. The three connecting rods are connected end to end, and the connection between two connecting rods is fixedly connected to the first end of the support rod. The second end of the support rod is fixedly connected to the lower end of the first support plate. The transmission components are disposed between two adjacent support rods. The first end of each transmission component is rotatably connected to the connecting rod assembly, and the second end of each transmission component is rotatably connected to the corresponding connecting rod. The three transmission components are equidistantly distributed around the connecting rod assembly in the circumference. The end of each transmission component has a claw, and the three claws form a pickup position. The abutment plate is installed on the inside of the support rod and is located within the space enclosed by the three connecting rods. The abutment plate is located above the pickup position.

9. The adaptive mechanical gripper as described in claim 8, characterized in that, The transmission component includes a first transmission rod, a second transmission rod, and a third connecting shaft. The first end of the first transmission rod is rotatably connected to the connecting rod assembly, and the second end of the first transmission rod is rotatably connected to the second transmission rod through the third connecting shaft. The second transmission rod is sleeved on the outside of the connecting rod and rotatably connected to the connecting rod. The pawl is installed at the end of the second transmission rod. The hooks have a bent structure, and the bending direction of each hook is towards the pickup position.

Images