A mechanical gripper structure

Abstract

This utility model relates to the field of robotic arm technology and discloses a mechanical gripper structure, including a gripper base and at least three sets of finger assemblies disposed on opposite sides of the gripper base. Each finger assembly includes a first phalanx, a second phalanx, and a third phalanx. The lower end of the first phalanx is fixedly connected to the second phalanx via a first drive shaft, and a first power assembly is provided within the first phalanx to drive it to rotate around the first drive shaft. The lower end of the second phalanx is fixedly connected to the third phalanx via a second drive shaft, and a second power assembly is provided within the second phalanx to drive it to rotate around the second drive shaft. The third phalanx is connected to the gripper base. This utility model has the advantages of a compact and stable structure, independently bendable finger assemblies, and flexible movement.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, and in particular to a mechanical gripper structure. Background Technology

[0002] In the field of robotics, a robot's grasping fingers play a crucial role in the stability and flexibility of object grasping. With the development of robotic applications, more and more delicate and complex tasks are emerging, and simple, cumbersome robotic hands can no longer meet the demands. Existing robot fingers are typically composed of knuckles connected by cables. Power is used to pull the cables at their ends to achieve finger bending. Each knuckle in this type of finger is controlled by a single power source; individual knuckles cannot bend independently, and the cables have a certain degree of elasticity, making it impossible to grasp heavy objects. Utility Model Content

[0003] In order to solve the above-mentioned problems in the prior art, this utility model provides a mechanical gripper structure that is compact and stable, with each finger joint capable of independent movement and greater gripping force.

[0004] To achieve the above objectives, the present invention adopts the following technical solution:

[0005] A mechanical gripper structure includes a gripper base and at least three sets of finger assemblies disposed on opposite sides of the gripper base. Each finger assembly includes a first phalanx, a second phalanx, and a third phalanx. The lower end of the first phalanx is fixedly connected to the second phalanx via a first drive shaft, and a first power assembly is provided within the first phalanx to drive the first phalanx to rotate around the first drive shaft. The lower end of the second phalanx is fixedly connected to the third phalanx via a second drive shaft, and a second power assembly is provided within the second phalanx to drive the second phalanx to rotate around the second drive shaft. The third phalanx is connected to the gripper base.

[0006] By adopting the above technical solution: the first and second phalanges in each group of finger components are controlled to bend by their own independent power components, which is very flexible; the independent power components can effectively improve the gripping force of the mechanical gripper; and the power components are built into the corresponding phalanges, making the structure more stable and compact.

[0007] Preferably, the first drive shaft is rotatably connected to the first finger joint, and the first drive shaft is provided with a first drive wheel. The first power assembly includes a first motor and a first transmission component. The output end of the first motor is connected to the first transmission component and causes the first transmission component to rotate relative to the first drive wheel (212). The upper end of the second finger joint is provided with second connecting ears on both sides. The two ends of the first drive shaft are respectively fixedly connected to the second connecting ears. The second drive shaft is rotatably connected to the lower end of the second finger joint. The second drive shaft is provided with a second drive wheel. The second power assembly includes a second motor and a second transmission component. The output end of the second motor is connected to the second transmission component and causes the second transmission component to rotate relative to the second drive wheel. The outer end of the third finger joint is provided with a third connecting ear. The two ends of the second drive shaft are respectively fixedly connected to the third connecting ear.

[0008] Preferably, both the first and second transmission wheels are configured as worm gears, and both the first and second transmission components are configured as worms. This worm gear structure simplifies the clamping action, increases output torque, and provides a more stable clamping force.

[0009] Preferably, the first phalanx comprises two interlocking first phalanx bodies, which are detachably connected; the second phalanx comprises two interlocking second phalanx bodies, which are detachably connected. The first phalanx adopts a split structure with two interlocking first phalanx bodies, facilitating the installation of internal power components and subsequent maintenance.

[0010] Preferably, the first phalanx body is provided with a motor receiving groove, the motor receiving groove is provided with a motor positioning groove, and the first motor is provided with a motor positioning seat, which is snapped into the motor positioning groove. The first motor is positioned conveniently and stably through the motor receiving groove and the motor positioning groove.

[0011] Preferably, the finger assembly is configured in three groups, with two groups of finger assemblies distributed on one side of the gripper base and the other group of finger assemblies distributed on the other side of the gripper base; the third phalanx of the two groups of finger assemblies located on the same side of the gripper base is connected to the gripper base via an independent third drive shaft, and the third phalanx of the remaining group of finger assemblies is fixedly connected to the gripper base.

[0012] Preferably, the finger assembly is configured in four groups, with two groups of finger assemblies distributed on one side of the gripper base and the other two groups of finger assemblies distributed on the other side of the gripper base; the third phalanx of each of the four groups of finger assemblies is connected to the gripper base via an independent third drive shaft.

[0013] Preferably, the third drive shaft is vertically disposed within the gripper seat and rotatably connected to the gripper seat. Both ends of the third drive shaft are fixedly connected to the third phalanx. A third drive wheel is fixedly mounted on each third drive shaft. The gripper seat contains a third power assembly for driving the third drive wheels to rotate. The third power assembly includes a third motor and a third transmission component connected to the third motor. The third motor drives the corresponding third drive wheel to rotate via the third transmission component. By using the third motor, third transmission component, third drive wheel, and third drive shaft to drive the third phalanx to rotate, and with the rotation direction perpendicular to the first and second drive shafts, the degree of freedom of the finger assembly in the direction of the third drive shaft is increased, further enhancing the degree of freedom of the finger assembly.

[0014] Preferably, the upper side of the gripper base is provided with a cover plate for concealing the third power component, and the lower side of the gripper base is provided with a wrist connector. The cover plate protects the third power component, and the wrist connector facilitates connection with the robot arm.

[0015] Therefore, this utility model has the advantages of compact and stable structure, independent bending of the knuckle components, and flexible movement. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of one structure of the present utility model.

[0017] Figure 2 This is a schematic diagram of the finger assembly.

[0018] Figure 3 This is an exploded view of the finger component.

[0019] Figure 4 This is a schematic diagram showing the connection between the finger assembly and the gripper base.

[0020] Figure 5 This is an implementation method for four sets of finger components.

[0021] Figure 6 for Figure 5 A partial exploded view.

[0022] In the diagram: gripper base 1, cover plate 10, wrist connector 11, finger assembly 2, first phalanx 21, first drive shaft 210, first phalanx body 2100, motor receiving slot 2101, motor positioning slot 2102, first power assembly 211, first drive wheel 212, first motor 213, motor positioning seat 2130, first transmission component 214; second phalanx 22, second drive shaft 220, second phalanx body 2200, second power assembly 221, second connecting ear 222, second drive wheel 223, second motor 224, second transmission component 225; third phalanx 23, third connecting ear 230, third drive shaft 231, third drive wheel 232, third power assembly 233, third motor 234, third transmission component 235. Detailed Implementation

[0023] To make the technical problem to be solved, the technical solution, and the beneficial technical effects of this utility model clearer, the present utility model will be further described in detail below with reference to the accompanying drawings and several exemplary embodiments. It should be understood that the specific embodiments described herein are only for explaining the present utility model and are not intended to limit the scope of protection of the present utility model.

[0024] It should be understood that the terms "first," "second," etc., used herein are for descriptive purposes only and should not be construed as indicating or implying relative importance, nor should they be construed as implicitly specifying the number of technical features indicated. Features specified as "first" or "second" may expressly or implicitly indicate that at least one of those features is included.

[0025] like Figures 1-4 The mechanical gripper structure shown includes a gripper base 1 and at least three sets of finger assemblies 2 disposed on opposite sides of the gripper base 1. Each finger assembly 2 includes a first phalanx 21, a second phalanx 22, and a third phalanx 23. The lower end of the first phalanx 21 is fixedly connected to the second phalanx 22 via a first drive shaft 210. The first phalanx 21 contains a first power assembly 211 that drives the first phalanx 21 to rotate around the first drive shaft 210. The lower end of the second phalanx 22 is fixedly connected to the third phalanx 23 via a second drive shaft 220. The second phalanx 22 contains a second power assembly 221 that drives the second phalanx 22 to rotate around the second drive shaft 220. The third phalanx 23 is connected to the gripper base 1.

[0026] The first drive shaft 210 is rotatably connected to the first finger joint 21. The first drive shaft 210 is provided with a first drive wheel 212. The first power assembly 211 includes a first motor 213 and a first transmission component 214. The output end of the first motor is connected to the first transmission component and causes the first transmission component to rotate relative to the first drive wheel. The upper end of the second finger joint 22 is provided with second connecting ears 222 on both sides. The two ends of the first drive shaft 210 are fixedly connected to the second connecting ears 222 respectively. The second drive shaft 220 is rotatably connected to the lower end of the second finger joint 22. The second drive shaft 220 is provided with a second drive wheel 223. The second power assembly 221 includes a second motor 224 and a second transmission component 225. The output end of the second motor is connected to the second transmission component and causes the second transmission component to rotate relative to the second drive wheel. The outer end of the third finger joint 23 is provided with a third connecting ear 230. The two ends of the second drive shaft 220 are fixedly connected to the third connecting ear 230 respectively.

[0027] The first phalanx 21 includes two interlocking first phalanx bodies 2100, which are detachably connected; the second phalanx 22 includes two interlocking second phalanx bodies 2200, which are detachably connected; the first phalanx 21 body has a motor receiving groove 2101, and the motor receiving groove 2101 has a motor positioning groove 2102; the first motor 213 has a motor positioning seat 2130, which is engaged with the motor positioning groove 2102.

[0028] Figure 1 , Figure 4 In one embodiment with three sets of finger assemblies, two sets of finger assemblies 2 are distributed on one side of the gripper base 1, and another set of finger assemblies 2 are distributed on the other side of the gripper base 1; the third phalanx 23 of the two sets of finger assemblies 2 located on the same side of the gripper base 1 is connected to the gripper base 1 through an independent third drive shaft 231, and the third phalanx 23 of the other set of finger assemblies 2 is fixedly connected to the gripper base 1. The third drive shaft 231 is vertically installed inside the gripper seat 1 and rotatably connected to the gripper seat 1. Both ends of the third drive shaft 231 are fixedly connected to the third finger joint 23. Each third drive shaft 231 is fixedly provided with a third drive wheel 232. The gripper seat 1 is provided with a third power assembly 233 for driving the third drive wheel 232 to rotate. The third power assembly 233 includes a third motor 234 and a third transmission component 235 connected to the third motor 234. The third motor 234 drives the corresponding third drive wheel 232 to rotate through the third transmission component 235. The upper side of the gripper seat 1 is provided with a cover plate 10 for covering the third power assembly 233, and the lower side of the gripper seat 1 is provided with a wrist connecting seat 11.

[0029] Figure 5 and Figure 6In the implementation of the four-finger assembly, specifically: the finger assembly 2 is configured as four groups, of which two groups of finger assemblies 2 are distributed on one side of the gripper base 1, and the other two groups of finger assemblies 2 are distributed on the other side of the gripper base 1; the third phalanx 23 of the four groups of finger assemblies 2 are all connected to the gripper base 1 through an independent third drive shaft 231.

[0030] In the above embodiments, the first transmission wheel 212, the second transmission wheel 223, and the third transmission wheel 232 are all configured as worm gears, and the first transmission component 214, the second transmission component 225, and the third transmission component 235 are all configured as worms. To further improve the rotational stability of the transmission shafts (first transmission shaft, second transmission shaft, and third transmission shaft), bearings are provided at both ends of the transmission shafts. To improve the reliability of the connection between the transmission shafts and the connecting ears, limiting grooves are provided at both ends of the transmission shafts, and threaded holes are provided at the bottom of the limiting grooves. Limiting protrusions are provided at the corresponding positions of the connecting ears and the limiting grooves. After the limiting protrusions are engaged with the limiting grooves, bolts are tightened to achieve a fixed connection.

[0031] In both of the aforementioned mechanical grippers, the first and second phalanges of the finger assembly are controlled by an independent internal power component, resulting in more flexible overall movement. Furthermore, the power component employs a worm gear structure, which outputs greater torque and can rotate and self-position, thereby enhancing the gripping force of the mechanical gripper.

[0032] In the description of this utility model, it should be understood that the directions or positional relationships indicated by up, down, left, right, inner end, outer end, one end, and the other end are based on the orientation or positional relationships shown in the accompanying drawings. They are only for the purpose of more clearly describing the technical solution of this utility model, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and should not be construed as a limitation of this utility model.

[0033] Although specific embodiments of the present invention are described in detail herein, they are given for illustrative purposes only and should not be construed as limiting the scope of the present invention. Various substitutions, alterations, and modifications may be conceived without departing from the spirit and scope of the present invention.

Claims

1. A mechanical gripper structure, characterized by, It includes a gripper base (1) and at least three sets of finger assemblies (2) disposed on opposite sides of the gripper base (1), wherein the finger assembly (2) includes a first phalanx (21), a second phalanx (22), and a third phalanx (23); The lower end of the first finger joint (21) is fixedly connected to the second finger joint (22) via the first drive shaft (210). The first finger joint (21) is provided with a first power component (211) that drives the first finger joint (21) to rotate around the first drive shaft (210). The lower end of the second finger joint (22) is fixedly connected to the third finger joint (23) via the second drive shaft (220). The second finger joint (22) is provided with a second power component (221) that drives the second finger joint (22) to rotate around the second drive shaft (220). The third finger joint (23) is connected to the gripper seat (1).

2. A mechanical gripper structure according to claim 1, characterised in that The first drive shaft (210) is rotatably connected to the first finger joint (21), and the first drive shaft (210) is provided with a first drive wheel (212). The first power assembly (211) includes a first motor (213) and a first transmission component (214). The output end of the first motor (213) is connected to the first transmission component (214) and causes the first transmission component (214) to rotate relative to the first drive wheel (212). The second finger joint (22) has a second connecting ear (222) on both sides of its upper end. The two ends of the first drive shaft (210) are fixedly connected to the second connecting ear (222). The second drive shaft (220) is rotatably connected to the lower end of the second finger joint (22). The second drive shaft (220) is provided with a second drive wheel (223). The second power assembly (221) includes a second motor (224) and a second transmission component (225). The output end of the second motor (224) is connected to the second transmission component (225) and causes the second transmission component (225) to rotate relative to the second drive wheel (223). The outer end of the third finger joint (23) is provided with a third connecting ear (230), and the two ends of the second drive shaft (220) are respectively fixedly connected to the third connecting ear (230).

3. A mechanical gripper structure according to claim 2, characterised in that The first transmission wheel (212) and the second transmission wheel (223) are both configured as worm gears, and the first transmission component (214) and the second transmission component (225) are both configured as worms.

4. A mechanical gripper structure according to claim 2, wherein The first phalanx (21) includes two interlocking first phalanx bodies (2100), which are detachably connected; the second phalanx (22) includes two interlocking second phalanx bodies (2200), which are detachably connected.

5. A mechanical gripper structure according to claim 4, characterised in that The first phalanx (21) has a motor receiving groove (2101) inside its body, and a motor positioning groove (2102) is provided inside the motor receiving groove (2101). The first motor (213) has a motor positioning seat (2130) on its body, and the motor positioning seat (2130) is snapped into the motor positioning groove (2102).

6. A mechanical gripper structure according to claim 1, wherein The finger assembly (2) is configured in three groups, with two groups of finger assemblies (2) distributed on one side of the gripper seat (1) and the other group of finger assemblies (2) distributed on the other side of the gripper seat (1); the third phalanx (23) of the two groups of finger assemblies (2) located on the same side of the gripper seat (1) is connected to the gripper seat (1) through an independent third drive shaft (231), and the third phalanx (23) of the remaining group of finger assemblies (2) is fixedly connected to the gripper seat (1).

7. A mechanical gripper structure according to claim 1, wherein The finger assembly (2) is configured in four groups, with two groups of finger assemblies (2) distributed on one side of the gripper base (1) and the other two groups of finger assemblies (2) distributed on the other side of the gripper base (1); the third phalanx (23) of the four groups of finger assemblies (2) are all connected to the gripper base (1) through an independent third drive shaft (231).

8. A mechanical gripper structure according to claim 6 or 7, characterized in that, The third drive shaft (231) is vertically arranged inside the gripper seat (1) and rotatably connected to the gripper seat (1). The two ends of the third drive shaft (231) are fixedly connected to the third finger joint (23). A third drive wheel (232) is fixedly provided on each third drive shaft (231). A third power assembly (233) for driving the third drive wheel (232) to rotate is provided inside the gripper seat (1). The third power assembly (233) includes a third motor (234) and a third transmission component (235) connected to the third motor (234). The third motor (234) drives the corresponding third transmission wheel (232) to rotate through the third transmission component (235).

9. A mechanical gripper structure according to claim 8, characterized in that, The upper side of the gripper base (1) is provided with a cover plate (10) for covering the third power assembly (233), and the lower side of the gripper base (1) is provided with a wrist connection seat (11).

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