A mechanical gripper convenient to fold and store
Patent Information
- Application Number
- CN202522234275.8
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-10-22
- Publication Date
- 2026-09-11
- Estimated Expiration
- 2035-10-22
AI Technical Summary
[0003]但以往机械夹爪结构较为复杂，体积质量较大，占用空间很大，不便于移动和收纳，尤其运输过程中，难免有晃动，如海上船只处于漂浮状态，船只的晃动会传递给机械夹爪，带着机械夹爪一起摇摆，需要对机械夹爪采取一系列的保护措施，否则可能会造成损坏，运输成本很高
1、本申请通过第一固定座的设置，作为本机械夹爪的基座，便于与其他装置的安装连接；通过第一动力单元、第二动力单元、第三动力单元和第四动力单元的设置，实现了机械臂的多轴运动，结构简单，可以带动末端夹爪移动至任意位置，实现任意位置物品的夹取；并且第一摆臂和第二摆臂在动力单元的带动下摆动可以实现机械臂折叠，减小了空间占用，便于收纳，运输方便，磕碰损伤风险小。
Smart Images
Figure CN224738312U_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of mechanical gripper technology, and in particular to a mechanical gripper that is easy to fold and store. Background Technology
[0002] However, mechanical grippers consist of a robotic arm and an end effector. The end effector is mounted on the robotic arm and works in conjunction with it to perform functions such as gripping, transporting, and placing items. They are widely used in industries such as automotive, construction, 3C electronics, food, medical, and logistics. With the development of technology, underwater mechanical grippers have emerged to assist people in fishing operations, such as for sea cucumbers and sea urchins.
[0003] However, in the past, mechanical grippers had a relatively complex structure, large size and mass, and occupied a lot of space, making them inconvenient to move and store. Especially during transportation, there was bound to be some shaking. For example, when a ship is floating at sea, the ship's shaking will be transmitted to the mechanical gripper, causing it to sway along with the gripper. A series of protective measures need to be taken for the mechanical gripper, otherwise it may be damaged, resulting in high transportation costs.
[0004] Therefore, a mechanical gripper that is compact, low-cost, and easy to transport is needed. Utility Model Content
[0005] To address the aforementioned problems, improve the ease of storage of mechanical grippers, reduce transportation costs, enhance transportation convenience, and meet the needs of fishery operations, this application provides a mechanical gripper that is easy to fold and store.
[0006] The mechanical gripper provided in this application, which is easy to fold and store, adopts the following technical solution.
[0007] A foldable and easily stored mechanical gripper includes: a mechanical arm, the mechanical arm including a first fixed base, a second fixed base rotatably mounted on the first fixed base along a horizontal plane, the second fixed base being driven to rotate by a first power unit mounted on the first fixed base, the second fixed base being connected to one end of a first swing arm for vertical swinging, the first swing arm being driven to rotate by a second power unit mounted on the second fixed base, the other end of the first swing arm being connected to a third fixed base for vertical swinging, the third fixed base being driven to rotate by a third power unit mounted on the third fixed base, the third fixed base also being provided with a fourth power unit, the fourth power unit driving the second swing arm to swing, the second swing arm being provided with an end gripper for gripping items.
[0008] By adopting the above technical solution, the first fixed base serves as the base for the mechanical gripper, facilitating installation and connection with other devices. The first, second, third, and fourth power units enable multi-axis movement of the robotic arm, resulting in a simple structure that allows the end gripper to move to any position and grip items at any location. Furthermore, the swinging of the first and second swing arms, driven by the power units, allows the robotic arm to fold, reducing space occupation, facilitating storage and transportation, and minimizing the risk of collision damage.
[0009] Optionally, the end gripper includes a first elastic plate, and the second swing arm is provided with first elastic plates on both sides. The end of the first elastic plate is provided with a clamping block, and the end of the first elastic plate is connected to a pull wire. The pull wire is connected to a spool on the second swing arm, and the spool is driven to rotate by the fifth power unit.
[0010] By adopting the above technical solution, the first elastic sheet is set, and the pull line is tightened by the pulley, pulling the two first elastic sheets, so that the two clamping blocks come closer to each other, and thus can clamp the object. The structure is simple, and the first elastic sheet is flexible. When the pull line is released, the first elastic sheet can be reset, that is, the two clamping blocks separate.
[0011] Optionally, the first end of the first elastic sheet is connected to the side of the second swing arm, the end of the first elastic sheet is connected to the end of the second elastic sheet, the first ends of the two second elastic sheets are connected, and the pull wire is connected to the first ends of the two elastic sheets.
[0012] By adopting the above technical solution and setting the second elastic sheet, when the cable is tightened, the two clamping blocks clamp the item together, utilizing their flexibility to avoid hard contact with the item and prevent damage to the item; it can also be used to clamp items of different sizes, making it highly versatile.
[0013] Optionally, the second swing arm is provided with a cable groove, the cable wheel is located at the first end of the cable groove, and the first end of the second elastic plate is located at the end of the cable groove.
[0014] By adopting the above technical solution and setting the cable groove, the cable reel and cable can be hidden, thus improving protection.
[0015] Optionally, the end of the pull wire is provided with a pull ring, and the first end of the second elastic sheet is provided with a pull ring hole that mates with the pull ring.
[0016] By adopting the above technical solution, the connection and assembly of the pull wire and the second elastic sheet is facilitated through the cooperation between the pull ring and the pull ring hole.
[0017] Optionally, the clamping block includes a mounting portion connected to the first elastic sheet, and anti-slip sheets are provided on the adjacent sides of the two mounting portions.
[0018] By adopting the above technical solution and incorporating the anti-slip pads, it is easy to grip items and ensures normal use.
[0019] Optionally, a first rotation clearance groove is provided on both sides of the first fixing seat.
[0020] By adopting the above technical solution, the space occupied by the first fixed seat can be reduced by opening the first rotating clearance groove. When the first swing arm rotates, the collision with the first fixed seat can be reduced, which is conducive to increasing the rotation range and activity space of the first swing arm.
[0021] Optionally, a second rotation clearance groove is provided on the first swing arm.
[0022] By adopting the above technical solution, a second rotation avoidance groove is opened on the first swing arm. When the first swing arm rotates, the collision with the first fixed seat can be reduced, which is conducive to increasing the rotation range and activity space of the first swing arm.
[0023] Optionally, the first power unit, the second power unit, and the third power unit are all articulated motors.
[0024] By adopting the above technical solutions, the joint motor (also known as the servo motor) is an electric drive device specially designed to control the joints of a robot. It can achieve precise motion control by controlling the current, voltage and angle, which has a high impact on the robot's motion accuracy, stability and work efficiency.
[0025] In summary, this application includes at least the following beneficial effects: 1. This application uses the first fixed base as the base of the mechanical gripper, which facilitates the installation and connection with other devices. The first power unit, second power unit, third power unit and fourth power unit realize the multi-axis movement of the robotic arm. The structure is simple and can drive the end gripper to move to any position to realize the gripping of items at any position. Furthermore, the first swing arm and the second swing arm swing under the drive of the power unit can realize the folding of the robotic arm, which reduces the space occupation, facilitates storage, facilitates transportation and reduces the risk of collision damage.
[0026] 2. This application, through the setting of the first elastic plate, tightens the pull line via the spool, pulling the two first elastic plates, causing the two clamping blocks to move closer together, thereby clamping the item. The structure is simple, and the first elastic plate is flexible. When the pull line is released, the first elastic plate can return to its original position, that is, the two clamping blocks separate. Through the setting of the second elastic plate, when the pull line is tightened, the two clamping blocks clamp the item together, utilizing its flexibility to avoid hard contact with the item and avoid damaging the item; and it can be used to clamp items of different sizes, with strong applicability.
[0027] 3. In this application, the first fixed base has a first rotation avoidance groove on both sides and the first swing arm has a second rotation avoidance groove. When the first swing arm rotates, the collision with the first fixed base can be reduced, which is beneficial to increasing the rotation range and activity space of the first swing arm. Attached Figure Description
[0028] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.
[0029] Figure 1 This is a schematic diagram of a mechanical gripper (when folded) that is easy to fold and store.
[0030] Figure 2 This is a schematic diagram of another perspective of a mechanical gripper (when folded) that is easy to fold and store.
[0031] Figure 3 This is another structural diagram of a mechanical gripper that is easy to fold and store (when folded).
[0032] Figure 4 This is a schematic diagram of a mechanical gripper (at its rotational limit position) that is easy to fold and store.
[0033] Figure 5 This is a schematic diagram of a mechanical gripper (when unfolded) that is easy to fold and store.
[0034] Figure 6 This is a schematic diagram of the cross-sectional structure of the second swing arm.
[0035] Explanation of reference numerals in the attached drawings: 1. First fixed seat; 2. Second fixed seat; 3. First power unit; 4. First swing arm; 5. Second power unit; 6. Third fixed seat; 7. Third power unit; 8. Fourth power unit; 9. Second swing arm; 10. Pull cable groove; 11. First rotation clearance groove; 12. Second rotation clearance groove; 13. First elastic plate; 14. Second elastic plate; 15. Clamping block; 16. Pull cable; 17. Thread reel; 18. Fifth power unit; 19. Pull ring; 20. Anti-slip plate. Detailed Implementation
[0036] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.
[0037] The following is in conjunction with the appendix Figures 1 to 6 This application will be described in further detail.
[0038] This application discloses a mechanical gripper that is easy to fold and store.
[0039] Reference Figures 1 to 6 A mechanical gripper that is easy to fold and store includes: a robotic arm and an end gripper.
[0040] The robotic arm has two joints, both of which can rotate and swing.
[0041] It includes a first fixed seat 1, a second fixed seat 2, a first power unit 3, a first swing arm 4, a second power unit 5, a third fixed seat 6, a third power unit 7, a fourth power unit 8, and a second swing arm 9.
[0042] The first fixed seat 1 is a rectangular plate. The second fixed seat 2 is rotatably mounted on the first fixed seat 1 along the horizontal plane. The first power unit 3 is mounted on the first fixed seat 1 to drive the second fixed seat 2 to rotate. The first power unit 3 is a joint motor.
[0043] The second fixed base 2 is U-shaped. The first swing arm 4 includes two first side swing arms. One end of each of the two first side swing arms is hinged to the two sides of the second fixed base 2. The first swing arm 4 can swing up and down. The second power unit 5 is set on the second fixed base 2 to drive the first swing arm 4 to rotate and achieve up and down swing. The second power unit 5 is a joint motor.
[0044] The third fixed base 6 is U-shaped. The other ends of the two first side swing arms are respectively hinged to the two sides of one end of the third fixed base 6. The other end of the first swing arm 4 is connected to the third fixed base 6 to swing up and down. The third power unit 7 is set at one end of the third fixed base 6, which drives the third fixed base 6 to rotate and realizes the up and down swing of the third fixed base 6. The third power unit 7 is a joint motor.
[0045] The fourth power unit 8 is located at the other end of the third fixed base 6. The fourth power unit 8 drives the second swing arm 9 to rotate. The fourth power unit 8 is a joint motor, which can drive the second swing arm 9 to swing. The second swing arm 9 is a central control structure, which is a cable groove 10.
[0046] First rotation clearance grooves 11 are provided on both sides of the first fixed base 1, and second rotation clearance grooves 12 are provided on the first swing arm 4. By providing the first rotation clearance grooves 11 and the second rotation clearance grooves 12, the space occupied by the first fixed base 1 can be reduced. When the first swing arm 4 rotates, the collision with the first fixed base 1 can be reduced, which is conducive to increasing the rotation range of the first swing arm 4, with a larger rotation limit and a larger range of motion.
[0047] The first power unit 3, the second power unit 5, and the third power unit 7 are all joint motors. Joint motors (also known as servo motors) are electric drive devices specifically designed to control robot joints. They can achieve precise motion control by controlling current, voltage, and angle, resulting in high motion accuracy, stability, and work efficiency for the robot.
[0048] The end gripper is mounted on the second swing arm 9 and is used to grip items.
[0049] The end gripper includes a first elastic plate 13, a second elastic plate 14, a clamping block 15, a pull wire 16, a spool 17, and a fifth power unit 18.
[0050] Both the first elastic sheet 13 and the second elastic sheet 14 have good elasticity and toughness, like a spring steel strip.
[0051] There are two first elastic plates 13 and two second elastic plates 14. The first ends of the two first elastic plates 13 are respectively connected to the two sides of the second swing arm 9, the end of the first elastic plate 13 is connected to the end of the second elastic plate 14, the first ends of the two second elastic plates 14 are connected, the first end of the second elastic plate 14 extends into the pull wire groove 10 from the end of the pull wire groove 10, and the first end of the second elastic plate 14 is provided with a pull ring 19 hole.
[0052] The fifth power unit 18 and the reel 17 are located at the beginning of the pull groove 10. The fifth power unit 18 drives the reel 17 to rotate and pull the pull line 16. The pull line 16 is located in the pull groove 10. The end of the pull line 16 is provided with a pull ring 19. The pull ring 19 is engaged with the pull ring 19 hole. By setting the pull groove 10, the reel 17 and the pull line 16 can be hidden to improve protection. By engaging the pull ring 19 with the pull ring 19 hole, it is convenient to connect and assemble the pull line 16 with the second elastic sheet 14.
[0053] A clamping block 15 is provided at the end of the first elastic sheet 13. The clamping block 15 includes a mounting part connected to the first elastic sheet 13. Anti-slip plates 20 are provided on the adjacent sides of the two mounting parts. These plates can be made of rubber. The anti-slip plates 20 facilitate the clamping of items and ensure normal use.
[0054] By using the first elastic plate 13, the pull line 16 is tightened via the reel 17, pulling the two second elastic plates 14 and bringing the two clamping blocks 15 closer together, thus enabling the clamping of objects. The structure is simple, and the first elastic plate 13 is flexible; when the pull line 16 is released, the first elastic plate 13 can return to its original position, meaning the two clamping blocks 15 separate. With the second elastic plates 14, when the pull line 16 is tightened, the two clamping blocks 15 clamp the object together, utilizing their flexibility to avoid hard contact with the object and prevent damage. This is highly suitable for fishing, such as harvesting sea cucumbers and sea urchins from the seabed, and can be used to clamp objects of different sizes, making it highly versatile.
[0055] In this application, the first fixed base 1 serves as the base for the mechanical gripper, facilitating installation and connection with other devices. The first power unit 3, the second power unit 5, the third power unit 7, and the fourth power unit 8 enable multi-axis movement of the robotic arm. The structure is simple and can move the end gripper to any position, allowing for the gripping of items at any location. Furthermore, the swinging of the first swing arm 4 and the second swing arm 9, driven by the power units, allows the robotic arm to fold, reducing space occupation, facilitating storage and transportation, and minimizing the risk of collision damage.
[0056] In the description of this utility model, it should be understood that the terms "first end," "last end," "one end," "other end," "both sides," etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and 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, and therefore should not be construed as a limitation of this utility model. In the description of this utility model, unless otherwise specified and limited, it should be noted that the term "connection" should be interpreted broadly, for example, it can be a mechanical connection or an electrical connection, or it can be a connection within two elements, which can be a direct connection or an indirect connection through an intermediate medium. For those skilled in the art, the specific meaning of the above terms can be understood according to the specific circumstances.
[0057] The above are merely preferred embodiments of the utility model and are not intended to limit the utility model. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the utility model should be included within the protection scope of the utility model.
Claims
1. A mechanical gripper that is easy to fold and store, characterized in that, include: A robotic arm includes a first fixed base, a second fixed base rotatably mounted on the first fixed base along a horizontal plane, the second fixed base being driven to rotate by a first power unit mounted on the first fixed base, the second fixed base being connected to one end of a first swing arm that swings up and down, the first swing arm being driven to rotate by a second power unit mounted on the second fixed base, the other end of the first swing arm being connected to a third fixed base that swings up and down, the third fixed base being driven to rotate by a third power unit mounted on the third fixed base, and a fourth power unit mounted on the third fixed base, the fourth power unit driving the second swing arm to swing, the second swing arm being provided with end grippers for holding objects.
2. The mechanical gripper for easy folding and storage according to claim 1, characterized in that, The end gripper includes a first elastic plate, and the second swing arm is provided with first elastic plates on both sides. The end of the first elastic plate is provided with a clamping block, and the end of the first elastic plate is connected to a pull line. The pull line is connected to a spool on the second swing arm, and the spool is driven to rotate by the fifth power unit.
3. The mechanical gripper for easy folding and storage according to claim 2, characterized in that, The first end of the first elastic plate is connected to the side of the second swing arm, the end of the first elastic plate is connected to the end of the second elastic plate, the first ends of the two second elastic plates are connected, and the pull line is connected to the first ends of the two elastic plates.
4. A mechanical gripper for easy folding and storage according to claim 3, characterized in that, The second swing arm is provided with a cable groove, the cable wheel is located at the first end of the cable groove, and the first end of the second elastic plate is located at the end of the cable groove.
5. A mechanical gripper for easy folding and storage according to claim 4, characterized in that, The end of the pull wire is provided with a pull ring, and the first end of the second elastic sheet is provided with a pull ring hole that mates with the pull ring.
6. A mechanical gripper for easy folding and storage according to claim 2, characterized in that, The clamping block includes a mounting portion connected to the first elastic sheet, and anti-slip sheets are provided on the adjacent sides of the two mounting portions.
7. A mechanical gripper for easy folding and storage according to claim 1, characterized in that, The first fixed base has first rotation clearance grooves on both sides.
8. A mechanical gripper for easy folding and storage according to claim 1, characterized in that, The first swing arm is provided with a second rotation clearance groove.
9. A mechanical gripper for easy folding and storage according to claim 1, characterized in that, The first power unit, the second power unit, and the third power unit are all articulated motors.