A kind of special-shaped object can be clamped jaw structure

Abstract

The utility model discloses a kind of gripper structures that can clamp special-shaped object, it is related to mechanical arm clamping equipment field.It includes driving element, support, two slide rails, gear, two rack sheet metals, rudder disc and two flexible grippers;Driving element and slide rail are fixed in support;Rudder disc is fixed in driving element output shaft;Gear is fixed in rudder disc, and it rotates synchronously with it;Two slide rails are arranged in parallel on support;Two rack sheet metals are located at gear two sides respectively, and rack sheet metal is equipped with rack portion engaged with gear, and two rack portions are opposite each other;Rack sheet metal is connected with sliding block, and sliding block is slidably arranged in slide rail;Two flexible grippers are fixed in two rack sheet metals respectively;Gear rotates, can drive two rack sheet metals to move along slide rail synchronously by sliding block towards each other or away from each other, to make two flexible grippers close or open.The utility model is simple in structure, reliable, transmission efficient, can realize gripper high-precision linear opening and closing movement, and also can reliably clamp special-shaped object.

Description

Technical Field

[0001] This utility model relates to the field of robotic arm gripping equipment technology, specifically to a gripper structure capable of gripping irregularly shaped objects. Background Technology

[0002] Existing robotic arm grippers typically employ a linkage mechanism composed of metal components and servo motors to achieve the gripping function. For example, a linkage mechanism gripper converts the rotational motion of the gripper servo motor's output shaft into the reciprocating motion of the gripper's end to complete the gripping task. However, such robotic arm grippers are difficult to meet the special operational requirements of high-precision or irregularly shaped object gripping. Their design suffers from drawbacks such as insufficiently precise motion trajectory, low gripping accuracy, and inability to effectively grip irregularly shaped objects.

[0003] In addition, there is a guide rail type gripper, which adds a guide rail to the linkage mechanism, so that the gripper always moves along the same trajectory. Although this type of robotic arm can maintain the accuracy of the motion trajectory, the gripper driven by the linkage mechanism will not move at a uniform speed during the gripping or opening process due to the change of linkage torque. This may cause uneven force on irregularly shaped objects, resulting in deviation and wear between the gripped object and the gripper. Or, because the gripper force is difficult to control, it may cause the servo motor to stall or accelerate wear. Utility Model Content

[0004] In order to solve the problems existing in the prior art, the purpose of this utility model is to provide a gripper structure that can grasp irregularly shaped objects, solve the above-mentioned problems existing in the prior art, and realize high-precision, adaptive, and strong gripping force for grasping irregularly shaped objects.

[0005] This utility model provides the following technical solution: This utility model provides a gripper structure for gripping irregularly shaped objects, comprising a drive component, a bracket, two slide rails, a gear, two rack sheet metals, a rudder disk, and two flexible grippers. The drive component and slide rails are fixed to the bracket. The rudder disk is fixed to the output shaft of the drive component. The gear is fixed to the rudder disk and rotates synchronously with it. The two slide rails are arranged parallel to each other on the bracket. The two rack sheet metals are located on both sides of the gear, each rack sheet metal having a rack portion that meshes with the gear, and the two rack portions facing each other. Each rack sheet metal is connected to a slider, which is slidably disposed within the two slide rails. The roots of the two flexible grippers are fixed to the two rack sheet metals respectively, and the two flexible grippers are arranged opposite each other. When the gear rotates, it can drive the two rack sheet metals to move synchronously towards or away from each other along the slide rails via the sliders, thereby causing the two flexible grippers to close or open.

[0006] Furthermore, the flexible gripper is made of a type of polyurethane material.

[0007] Furthermore, the flexible gripper includes a flexible gripper body and a cavity structure disposed inside the flexible gripper body. The cavity structure has good energy absorption characteristics, which can provide shock absorption and cushioning while making the gripper lightweight. In addition, the cavity structure also provides lateral deformation space for the flexible gripper when gripping irregularly shaped objects, so that the gripper can better fit the surface of the irregularly shaped objects and improve gripping stability.

[0008] Preferably, the cavity structure is a through-hole structure that runs longitudinally through the flexible gripper, so that when the flexible gripper bends, the deformation along its entire length is more coordinated and consistent, and the gripping action is more gentle and stable.

[0009] Furthermore, the cavity structure includes a transverse support member. This transverse support member significantly enhances the longitudinal bending stiffness of the flexible gripper, enabling it to provide greater clamping force. The transverse support frame ensures the controllability of the gripper's longitudinal stiffness and bending. Preferably, there are multiple transverse support members, and the multiple transverse support members are distributed at equal intervals along the length direction of the flexible gripper.

[0010] Preferably, the spacing between the plurality of transverse support members is 0-60mm to ensure the smoothness and controllability of the deformation of the flexible gripper and to avoid stress concentration.

[0011] Preferably, the thickness of the flexible gripper body is 2 mm.

[0012] Furthermore, the outer surface of the flexible gripper body is distributed with a honeycomb structure, which significantly increases the static friction between the flexible gripper and the object surface, effectively preventing slippage when gripping smooth or hard objects and improving gripping reliability.

[0013] Preferably, the honeycomb structure is a uniformly arranged protrusion or groove. The protrusion or groove can improve the surface roughness of the flexible gripper and absorb the impact energy during gripping, thus achieving the technical effect of buffering and absorbing energy.

[0014] Preferably, the protrusion or groove is a regular hexagonal structure with a side length of 1.85 mm.

[0015] Preferably, the flexible gripper and the cavity structure are narrow at the front and wide at the back (i.e., gradually tapering from the root near the rack sheet metal towards the head away), which achieves a stiffness gradient distribution and optimizes stress distribution. Furthermore, the flexible gripper and the cavity structure can deform together when gripping an item, ensuring the stability of the flexible gripper during the bending process of gripping the item. In addition, the narrow front and wide back structure can further achieve weight reduction.

[0016] Preferably, the two slide rails are arranged parallel to each other vertically. The vertical arrangement of the two slide rails forms a stable support frame and guide structure, preventing structural deformation when gripping heavy or unbalanced objects.

[0017] Furthermore, the driving component is a servo motor.

[0018] Preferably, the gear is a 24-tooth gear.

[0019] Furthermore, it also includes two flexible gripper mounting seats, which are disposed between the rack sheet metal and the flexible grippers, and the root of the flexible gripper is fixed to the rack sheet metal by the flexible gripper mounting seats.

[0020] Preferably, the bracket is a flange sheet metal; the flexible gripper mounting base is a fixed sheet metal.

[0021] Preferably, the rudder is a plastic rudder.

[0022] Through the above design scheme, the beneficial effects of this utility model are: This utility model features a gripper structure for grasping irregularly shaped objects with a reasonable structural design, stable connections between components, high transmission efficiency, and strong overall reliability. Through a gear and rack mechanism combined with a linear guide rail, the flexible gripper achieves high-precision, wobbly-free translational movement along a single axis. The torque remains constant and the movement speed is stable during transmission, solving the problem of inaccurate trajectory caused by torque and speed variations in linkage mechanisms. The flexible gripper design at the gripping end allows it to passively deform to conform to the contours of irregularly shaped objects, enabling safe and stable grasping of irregularly shaped items with strong adaptability. Attached Figure Description

[0023] To more clearly illustrate the technical solutions of the embodiments of this utility model, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0024] Figure 1 This is a schematic diagram of the gripper structure for gripping irregularly shaped objects provided in Embodiment 1 of this utility model.

[0025] Figure 2 This is an exploded structural diagram of the gripper structure for gripping irregularly shaped objects provided in Embodiment 1 of this utility model.

[0026] Figure 3 This is a schematic diagram of the working state of the gripper structure for gripping irregularly shaped objects provided in Embodiment 1 of this utility model, which grips a triangular prism.

[0027] Figure 4 This is a schematic diagram of the working state of the gripper structure for gripping irregularly shaped objects provided in Embodiment 1 of this utility model, which grips a cylinder.

[0028] Figure 5 This is a schematic diagram of the working state of the gripper structure for gripping irregularly shaped objects, as provided in Embodiment 1 of this utility model, gripping a cube. Explanation of the markings in the image: 1-Servo motor; 2-Bracket; 3-Gear; 4-Slide rail; 5-Rack sheet metal; 6-Flexible gripper mounting base; 7-Flexible gripper; 701-Flexible gripper body; 702-Cavity structure; 703-Transverse support; 704-Honeycomb structure; 8-Servo disc; 9-Slider. Detailed Implementation

[0029] The technical solution of this utility model will be clearly and completely described below with reference to its embodiments. Obviously, the described embodiments are only some, not all, of the embodiments of this utility model. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this utility model.

[0030] It should be understood that, when used in this specification and the appended claims, the terms "comprising" and "including" indicate the presence of the described features, integrals, steps, operations, elements and / or components, but do not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components and / or collections thereof.

[0031] In the description of this utility model, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "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 utility model product is in use. They are only for the convenience of describing this utility model and 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 utility model.

[0032] In the description of this utility model, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0033] Example 1 Please see Figure 1 and Figure 2 The gripper structure shown is capable of gripping irregularly shaped objects and includes a servo motor 1, a servo disc 8, a bracket 2, a gear 3, two slide rails 4, two rack sheet metal parts 5, two flexible gripper mounting bases 6, two flexible grippers 7, and two sliders 9.

[0034] The bracket 2 is a flange sheet metal structure. The servo motor 1, as the driving component, is fixedly mounted on the rear side of the bracket 2 with bolts. A channel is provided in the middle of the bracket 2, and the output end of the servo motor 1 passes through this channel and extends to the front side of the bracket 2. The servo disc 8 is fixed to the outside of the output end of the servo motor 1. The gear 3 is located on the front side of the bracket 2 and is fixed to the servo disc 8 with bolts, rotating synchronously with the servo disc 8. In this embodiment, the servo disc is a plastic servo disc, and the gear is a 24-tooth gear.

[0035] Two slide rails 4 are fixed parallel to each other at the front end of the bracket 2 by bolts, and the gear 3 is located between the two slide rails 4. Each of the two slide rails 4 has a slider 9 inside, which can reciprocate along the two slide rails respectively. The slide rails 4 and sliders 9 together form a guide support mechanism.

[0036] Two rack sheet metal pieces 5 are respectively fixedly mounted on corresponding sliders 9 with screws, allowing the rack sheet metal pieces 5 to move precisely in a straight line along the slide rail 4 with the sliders 9. The rack sheet metal pieces 5 include a mounting part and a rack part that can mesh with the gear 3. The two rack parts are arranged vertically opposite each other and mesh with the upper and lower ends of the gear 3 respectively. The two mounting parts are located on the left and right sides of the gear 3 respectively. The rack sheet metal pieces 5 and the gear 3 constitute a gear transmission mechanism with a gripper structure that can grasp irregularly shaped objects.

[0037] Two flexible gripper mounting bases 6 are fixedly mounted on two mounting parts by bolts, respectively, to assist in the installation of the flexible gripper 7. The flexible gripper mounting bases 6 are fixed sheet metal.

[0038] The roots of the two flexible grippers 7 are fixed to the two flexible gripper mounting seats 6 by bolts, and the two flexible grippers 7 are arranged opposite each other. The flexible grippers 7 are mounted on the rack sheet metal 5 through the flexible gripper mounting seats 6. When the gear 3 rotates, it can drive the two rack sheet metal 5 to move synchronously towards or away from each other along the slide rail 4 via the slider 9, thereby causing the two flexible grippers 7 to close or open. The two flexible grippers 7 form a gripping mechanism with a gripper structure that can grasp irregularly shaped objects.

[0039] The flexible gripper 7 includes a flexible gripper body 701 and a cavity structure 702 inside the flexible gripper body 701. The cavity structure 702 has good energy absorption characteristics, providing shock absorption and cushioning while making the flexible gripper 7 lightweight. Furthermore, the cavity structure 702 provides lateral deformation space for the flexible gripper 7 when gripping irregularly shaped objects, allowing it to better conform to the surface of the object and improve gripping stability. The cavity structure 702 is a through-hole structure that runs longitudinally through the flexible gripper 7, making the deformation along the entire length of the flexible gripper 7 more coordinated and consistent when bending, resulting in a smoother and more stable gripping action. In some specific embodiments, the cavity structure 702 can also be a closed cavity.

[0040] The cavity structure 702 contains six equally spaced transverse support members 703. The transverse support members 703 significantly enhance the longitudinal bending stiffness of the flexible gripper 7, enabling it to provide greater clamping force. The transverse support frame ensures the controllability of the gripper's longitudinal stiffness and bending. In some specific embodiments, one or more transverse support members 703 may be provided. Specifically, in this embodiment, the spacing between the transverse support members 703 is 8.5 mm.

[0041] Specifically, in this embodiment, the outer surface of the flexible gripper body 701 is distributed with a honeycomb structure 704. The honeycomb structure 704 is a uniformly arranged hexagonal protrusion structure, which significantly increases the static friction between the flexible gripper 7 and the object surface, effectively preventing slippage when gripping smooth or hard objects, improving gripping reliability, and at the same time absorbing the impact energy during gripping, achieving the technical effect of buffering and absorbing energy.

[0042] Specifically, in this embodiment, the flexible gripper 7 and the cavity structure 702 are a wedge-shaped structure that is narrow at the front and wide at the back (i.e., gradually tapering from the root near the rack sheet metal 5 towards the head away), and the opposing surfaces of the two flexible grippers 7 are arranged parallel to each other. This achieves a stiffness gradient distribution and optimizes stress distribution. Furthermore, the flexible gripper 7 and the cavity structure 702 can deform collaboratively when gripping an item, ensuring the stability of the flexible gripper 7 during the bending process of gripping the item. In addition, the narrow-at-the-front, wide-at-the-back structure further achieves weight reduction. In some other embodiments, the flexible gripper 7 and the cavity structure 702 can also be other structures (such as a conical structure).

[0043] In this embodiment, the flexible gripper 7 is made of polyurethane.

[0044] Please combine Figure 3 , Figure 4 , Figure 5 The working state diagram shown below illustrates the following working process: When an object needs to be grasped, servo motor 1 rotates counterclockwise. Servo motor 1 then drives servo disc 8 and gear 3 to rotate counterclockwise in sequence. Gear 3 simultaneously drives the rack sheet metal 5 on both sides, causing it to move synchronously and smoothly along the slide rail 4 towards the center line via slider 9, thereby causing the two flexible grippers 7 to close. When the fingertips of the flexible grippers 7 contact objects of different shapes (such as triangular prisms, cylinders, and cubes), under the action of continuous centripetal clamping force, the flexible grippers 7 will adaptively bend and deform outward according to the shape contour of the object. This deformation allows it to wrap around the object with the largest contact surface, achieving a stable and damage-free enveloping grasp.

[0045] When an object needs to be released, the servo motor 1 rotates clockwise. Through the reverse movement of the aforementioned drive components and gear transmission mechanism, the rack sheet metal 5 on both sides is driven to move backward along the slide rail 4, thereby causing the two flexible grippers 7 to open and release the object.

[0046] This embodiment achieves high-precision linear opening and closing motion of the gripper through the cooperation of gear 3, rack sheet metal 5, slide rail 4, and slider 9, overcoming the problem of inaccurate trajectory of linkage mechanisms. The flexible gripper 7 at the end enables it to grasp irregularly shaped objects. The entire structure is compact, highly efficient in transmission, and highly reliable.

[0047] The above description is merely a specific embodiment of this utility model, but the protection scope of this utility model is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this utility model, and these modifications or substitutions should all be covered within the protection scope of this utility model. Therefore, the protection scope of this utility model should be determined by the scope of the claims.

Claims

1. A gripper structure for gripping irregularly shaped objects, characterized in that, The device includes a drive unit, a bracket, two slide rails, a gear, two rack sheet metals, a rudder disk, and two flexible grippers. The drive unit and slide rails are fixed to the bracket. The rudder disk is fixed to the output shaft of the drive unit. The gear is fixed to the rudder disk and rotates synchronously with it. The two slide rails are arranged parallel to each other on the bracket. The two rack sheet metals are located on both sides of the gear, and each rack sheet metal has a rack portion that meshes with the gear, with the two rack portions facing each other. Each rack sheet metal is connected to a slider, which is slidably disposed within the two slide rails. The roots of the two flexible grippers are fixed to the two rack sheet metals respectively, and the two flexible grippers are arranged opposite each other. When the gear rotates, it can drive the two rack sheet metals to move synchronously towards or away from each other along the slide rails via the sliders, thereby causing the two flexible grippers to close or open.

2. The gripper structure for gripping irregularly shaped objects as described in claim 1, characterized in that, The flexible gripper includes a flexible gripper body and a cavity structure disposed inside the flexible gripper body.

3. The gripper structure for gripping irregularly shaped objects as described in claim 2, characterized in that, The cavity structure is provided with a transverse support.

4. The gripper structure for gripping irregularly shaped objects as described in claim 3, characterized in that, The lateral support members are provided in multiple quantities, and the multiple lateral support members are distributed at equal intervals along the length direction of the flexible gripper.

5. The gripper structure for gripping irregularly shaped objects as described in claim 4, characterized in that, The spacing between the plurality of the lateral support members is 0-60mm.

6. The gripper structure for gripping irregularly shaped objects as described in claim 2, characterized in that, The outer surface of the flexible gripper body is covered with a honeycomb structure.

7. The gripper structure for gripping irregularly shaped objects as described in claim 6, characterized in that, The honeycomb structure consists of evenly arranged regular hexagonal protrusions or grooves.

8. The gripper structure for gripping irregularly shaped objects as described in claim 1, characterized in that, The two slide rails are arranged parallel to each other vertically.

9. The gripper structure for gripping irregularly shaped objects as described in claim 1, characterized in that, The driving component is a servo motor.

10. The gripper structure for gripping irregularly shaped objects as described in any one of claims 1-9, characterized in that, It also includes two flexible gripper mounting seats, which are disposed between the rack sheet metal and the flexible grippers, and the root of the flexible gripper is fixed to the rack sheet metal by the flexible gripper mounting seats.

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