An adaptive mechanical gripper

Abstract

The utility model discloses a kind of self-adaptive mechanical claws, including pedestal, pedestal is equipped with rudder, pedestal is connected with two claw bodies, opposite two ends of any claw body form connecting part and clamping part, connecting part is driven by rudder, the opposite two sides of clamping part are equipped with connecting column, rotating sleeve is equipped with clamping piece on connecting column, two clamping pieces are oppositely arranged to form clamping space.The utility model drives connecting part by rudder, and then drives clamping part to move, so that two clamping pieces are relatively close or far away, to realize the clamping or release of object, the design that clamping piece is relatively movable and overturning connecting column, can let clamping piece better adhere object surface in clamping process.

Description

Technical Field

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

[0002] In the field of LEGO building and creative applications, mechanical claws, as the core component for realizing the "grasping-manipulation" function, are widely used in LEGO robots, interactive scene installations, and dynamic models. As LEGO enthusiasts' demands for model functionality and scene adaptability increase, existing LEGO-compatible mechanical claw solutions are gradually revealing many technical pain points, making it difficult to meet the needs of flexible building and stable grasping.

[0003] Traditional LEGO-compatible mechanical grippers typically use point or line contact designs at their gripping ends. This design results in a narrow contact area between the gripper and the object, concentrating force in a localized area and failing to create a stable gripping or securing effect. In actual gripping, especially with uneven surfaces or slightly heavier objects, the object can easily slip due to imbalanced force, directly affecting the gripper's stability and user experience. Utility Model Content

[0004] To address the technical problem of narrow contact area at the gripping end of existing mechanical claws, this utility model provides a solution.

[0005] To achieve the above objectives, this utility model provides an adaptive mechanical gripper, including a base, a servo motor mounted on the base, and two gripper bodies connected to the base. Each gripper body has a connecting part and a clamping part formed at opposite ends. The connecting part is driven by the servo motor. Connecting posts are provided on opposite sides of the two clamping parts. Clamping plates are rotatably sleeved on the connecting posts. The two clamping plates are arranged opposite each other to form a clamping space.

[0006] As an improvement of this utility model, the connecting part is provided with a through hole, the base is provided with a fixed shaft corresponding to the through hole, and the connecting part is sleeved on the fixed shaft through the through hole; Each connecting part is provided with meshing teeth, and the two connecting parts are connected by meshing teeth; The output shaft of the servo motor is fixedly connected to a drive gear, which meshes with the meshing teeth of one of the connecting parts.

[0007] As an improvement of this utility model, the side of the clamping part is provided with at least two insertion holes so that the external LEGO connecting shaft can be inserted into the insertion holes.

[0008] As an improvement of this utility model, the base is provided with at least two expansion holes, and copper nuts are embedded in the expansion holes to connect external sensors.

[0009] As an improvement of this utility model, the gripping pieces are provided with protrusions on their opposite sides, which are used to increase the friction of the gripping pieces.

[0010] As an improvement of this utility model, grooves are formed on the opposite sides of the two gripping pieces.

[0011] The beneficial effects of this utility model are as follows: Compared with the prior art, this utility model provides an adaptive mechanical gripper, including a base, a servo motor mounted on the base, and two gripper bodies connected to the base. Each gripper body has a connecting portion and a clamping portion formed at opposite ends. The connecting portion is driven by the servo motor. Connecting posts are provided on opposite sides of the two clamping portions, and gripping plates are rotatably sleeved on the connecting posts. The two gripping plates are arranged opposite each other to form a clamping space. This utility model drives the connecting portion through the servo motor, thereby causing the clamping portion to move, making the two gripping plates move closer or further apart, thus achieving the clamping or release of an object. The design of the gripping plates rotating relative to the connecting posts allows them to better conform to the object surface during clamping. Attached Figure Description

[0012] Figure 1 This is the first perspective view of the present invention; Figure 2 This is an exploded view of the present invention; Figure 3 This is an exploded view of the claw body and gripping piece of this utility model; Figure 4 This is an exploded view of the base and copper nut of this utility model; Figure 5 This is a schematic diagram of the servo motor of this utility model.

[0013] The symbols for the main components are explained below: 1. Base; 11. Expansion hole; 12. Copper nut; 13. Fixed shaft; 2. Claw body; 21. Connecting part; 211. Meshing teeth; 212. Through hole; 22. Clamping part; 221. Connecting post; 222. Insertion hole; 3. Servo motor; 31. Drive gear; 4. Gripping plate; 41. Connecting hole; 42. Protrusion; 43. Groove. Detailed Implementation

[0014] To more clearly illustrate this utility model, the following description, in conjunction with the accompanying drawings, will provide a further picture.

[0015] In the following description, specific examples are given to provide a more in-depth understanding of the present invention. It is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of them. It should be understood that the specific embodiments described are only used to explain the present invention and are not intended to limit the present invention.

[0016] It should be understood that when the terms “comprising” and / or “including” are used in this specification, they indicate the presence of the said feature, integral, step, operation, element, or component, but do not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components, or combinations thereof.

[0017] Please see Figure 1-5 The present invention relates to an adaptive mechanical gripper, comprising a base 1, a servo motor 3 mounted on the base 1, and two gripper bodies 2 connected to the base 1. Each gripper body 2 has a connecting part 21 and a clamping part 22 formed at opposite ends. The connecting part 21 is driven by the servo motor 3. The two clamping parts 22 have connecting posts 221 on opposite sides. A clamping piece 4 is rotatably sleeved on the connecting post 221. The two clamping pieces 4 are arranged opposite each other to form a clamping space.

[0018] The following section uses specific application scenarios to illustrate the solution proposed in this application: In practical applications, the adaptive mechanical gripper is installed at the end of a robot arm or other equipment requiring grasping operations. The gripper can be connected to the end of the robot arm or other equipment via a copper nut 12. When a grasping task is required, the servo motor 3 is activated, driving the connecting part 21 to rotate. The connecting part 21 then drives the clamping part 22 to rotate. Since the clamping part 22 has connecting posts 221 on its two opposing sides and rotating gripping plates 4, during the rotation of the clamping part 22, the two opposing gripping plates 4 automatically adjust their angle and position according to the shape and size of the object being grasped, thus closely adhering to the object's surface and forming a stable and suitable gripping space to firmly grasp the object. After grasping, to release the object, simply control the servo motor 3 to rotate in the opposite direction. The connecting part 21 then drives the clamping part 22 to move in the opposite direction, causing the gripping plates 4 to release, and the object can be easily released.

[0019] In this embodiment, the connecting part 21 is provided with a through hole 212, and the base 1 is provided with a fixed shaft 13 corresponding to the through hole 212. The connecting part 21 is sleeved on the fixed shaft 13 through the through hole 212. Each connecting part 21 is provided with a meshing tooth 211, and the two connecting parts 21 are connected by meshing teeth 211. The output shaft of the servo motor 3 is fixedly connected to a drive gear 31, and the drive gear 31 is meshed with the meshing tooth 211 of one of the connecting parts 21. When the servo motor 3 is working, its output shaft drives the drive gear 31 to rotate. Since the drive gear 31 is meshed with the meshing tooth 211 of one of the connecting parts 21, it will drive the connecting part 21 to rotate. The two connecting parts 21 are also connected by meshing teeth 211, so the rotation of one connecting part 21 will cause the other connecting part 21 to rotate synchronously in the opposite direction, ultimately realizing the opening and closing action of the mechanical claw body 2. This meshing connection method makes the opening and closing movement of the mechanical claw body 2 more precise and stable, and can better adapt to the needs of different grasping tasks. The connecting part 21 rotates flexibly around the fixed shaft 13, allowing for free adjustment of the opening and closing angle of the claw body 2. This connection method is not only simple in structure and easy to manufacture, but also ensures the stability of the claw body 2 during rotation, effectively reducing wobbling and errors caused by unstable connection.

[0020] The output shaft of the servo motor 3 drives the connecting part 21 to rotate via a drive gear 31, doubling the output torque. The increased output torque makes the mechanical claw more stable during the gripping process, reducing the likelihood of objects slipping due to insufficient force.

[0021] In this embodiment, the clamping part 22 is provided with a connecting post 221, and the gripping piece 4 is provided with a connecting hole 41 corresponding to the connecting post 221. The connecting post 221 is inserted into the connecting hole 41 to realize the hinge between the claw body 2 and the gripping piece 4. This hinge structure allows the gripping piece 4 to flexibly rotate around the connecting post 221 as the axis. During the gripping process, when the gripping piece 4 contacts the surface of an object of different shapes, due to the cooperation between the connecting post 221 and the connecting hole 41, the gripping piece 4 can freely adjust its angle. At the same time, the cooperation between the connecting post 221 and the connecting hole 41 also ensures the connection stability between the claw body 2 and the gripping piece 4, avoiding loosening or falling off during the gripping process.

[0022] In this embodiment, the clamping part 22 has at least two insertion holes 222 on its side to facilitate the insertion of an external LEGO connecting shaft into the insertion holes 222. LEGO is a modular accessory that can be assembled into various shapes through different splicing methods. LEGO includes components such as connecting rods and connecting shafts. The connecting rods have LEGO holes distributed on them, and the two ends of the connecting shaft are inserted into different LEGO holes to connect different connecting rods. The insertion holes 222 are of LEGO hole specifications, and the spacing between adjacent insertion holes 222 is consistent with the spacing between the LEGO holes on the LEGO connecting rods, facilitating the connection of the LEGO connecting rods to the clamping part 22 via the LEGO connecting shafts. When clamping a larger item, if the clamping piece 4 is insufficient to complete the clamping, the LEGO connecting shaft can be inserted through the insertion holes 222 to connect a LEGO connecting rod that matches the size of the larger item. By utilizing the extension effect of the LEGO connecting rods, the clamping range is increased, allowing the mechanical claw to adapt to the gripping needs of items of different sizes. Because the LEGO connecting shaft and LEGO linkage can be combined in various ways, the connection position and angle of the LEGO linkage can be flexibly adjusted according to the shape and size of the actual object being gripped, thereby achieving a more precise and stable gripping operation and expanding the functionality and application scenarios of the claw body 2. The setting of the insertion hole 222 not only enhances the compatibility of the claw body 2, but also provides users with room for innovation, which can meet the personalized needs of different scenarios.

[0023] In this embodiment, the base 1 is provided with at least two expansion holes 11, and copper nuts 12 are embedded in the expansion holes 11 to connect external sensors. By embedding the copper nuts 12 in the expansion holes 11, the external sensors can be securely connected to the base 1, which not only ensures the stability of the sensor installation, but also facilitates the disassembly and replacement of the sensors. The provision of at least two expansion holes 11 provides users with more connection options, allowing for the flexible installation of different types of sensors, such as pressure sensors and temperature sensors, according to actual needs. This enables comprehensive monitoring and data acquisition of the working environment of the claw body 2, further enhancing the functionality and intelligence level of the claw body 2.

[0024] In this embodiment, the gripping piece 4 has protrusions 42 on its opposing sides, which are used to increase the friction between the opposing sides. When the claw body 2 performs a gripping operation, the protrusions 42 can fit against the surface of the object being gripped, increasing the friction between the opposing sides and the object, and effectively preventing the object from sliding or falling off during the gripping process.

[0025] In this embodiment, grooves 43 are formed on opposite sides of the two gripping pieces 4. The grooves 43 can better conform to the shape of the object being gripped. Especially for objects with irregular shapes or uneven surfaces, the grooves 43 can provide a more stable gripping effect and reduce the risk of the object falling during transportation.

[0026] The advantages of this utility model are: This invention utilizes a servo motor to drive the connecting part, which in turn drives the clamping part to move, causing the two gripping plates to move closer or further apart, thereby achieving the clamping or release of an object. The design of the gripping plates being movable and flippable relative to the connecting post allows the gripping plates to better conform to the surface of the object during the clamping process.

[0027] The above-disclosed embodiments are only a few specific examples of this utility model. However, this utility model is not limited thereto. Any variations that can be conceived by those skilled in the art should fall within the protection scope of this utility model.

Claims

1. An adaptive mechanical gripper, characterized in that, The device includes a base on which a servo motor is mounted. The base is connected to two claws. Each claw has a connecting part and a clamping part at opposite ends. The connecting part is driven by the servo motor. Each of the two clamping parts has a connecting post on its opposite sides. A clamping plate is rotatably sleeved on the connecting post. The two clamping plates are arranged opposite each other to form a clamping space.

2. The adaptive mechanical gripper according to claim 1, characterized in that, The connecting part is provided with a through hole, and the base is provided with a fixed shaft corresponding to the through hole. The connecting part is sleeved on the fixed shaft through the through hole. Each of the connecting parts is provided with meshing teeth, and the two connecting parts are connected by meshing teeth; The output shaft of the servo motor is fixedly connected to a drive gear, and the drive gear meshes with the meshing teeth of one of the connecting parts.

3. The adaptive mechanical gripper according to claim 1, characterized in that, The side of the clamping part is provided with at least two insertion holes so that the external LEGO connecting shaft can be inserted into the insertion holes.

4. The adaptive mechanical gripper according to claim 1, characterized in that, The base is provided with at least two expansion holes, and copper nuts are embedded in the expansion holes to connect external sensors.

5. An adaptive mechanical gripper according to claim 1, characterized in that, The gripping piece has protruding strips on its two opposing sides, which are used to increase the friction of the gripping piece.

6. An adaptive mechanical gripper according to claim 1, characterized in that, Grooves are formed on opposite sides of the two gripping tabs.

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