A mechanical gripper

Abstract

The utility model relates to mechanical grab hand technical field discloses a kind of mechanical grab hand, including fixed disc, the bottom of the fixed disc is equipped with suction disc subassembly, the top of the fixed disc is equipped with driving assembly, multiple mounting holes are opened in the fixed disc along circumference, each the rotationally connected pivot in the mounting hole, the pivot outer wall is fixedly connected with the clamping arm that can rotate around it, multiple sets of limiting structures are opened in the length direction along its clamping arm, each set of limiting structure includes a limiting hole, the hole wall shape of the limiting hole is structured as can prevent limiting rod from rotating in it circumference. The structure design of the utility model, make mechanical grab hand simultaneously have adsorption and clamping function, realize the clamping to object, make mechanical grab hand have adsorption and clamping two kinds of functions, solve the problem that current single grabbing structure cannot consider smooth, soft, rough and other different surface characteristics object grabbing.

Description

Technical Field

[0001] This utility model relates to the field of mechanical gripper technology, and more specifically, to a mechanical gripper. Background Technology

[0002] In current automated operations such as warehousing, logistics, and express sorting, end effectors frequently need to grasp items with various materials, shapes, and surface characteristics, such as smooth-coated boxes, woven bags or soft bags, and rough-surfaced wooden boards or crates. These items have significant differences in physical properties, which puts forward diverse requirements for grasping technology.

[0003] Common end effectors include vacuum suction cups and gripper mechanisms. Vacuum suction cups connect to a corrugated silicone suction cup via a flange and an air circuit, generating normal adsorption force by creating a negative pressure difference on the workpiece surface. This structure is suitable for smooth, dense, and airtight objects, but its adsorption effect is poor for easily deformable or leaky soft bags or woven bags. Gripper mechanisms, on the other hand, use finger root hinges in conjunction with a transmission mechanism to drive the fingertips to close. This type of gripper is suitable for grasping bags with well-defined edges or that can be lifted, but it is prone to slippage when grasping large, smooth surfaces. Both of these existing end effectors are mostly single-grip structures, which cannot accommodate smooth, soft, and rough surface characteristics, leading to frequent gripping failures in actual mixed-line operations. Utility Model Content

[0004] To address the technical problem that existing end effectors mostly use a single gripping structure, which cannot accommodate smooth, soft, and rough surface characteristics, leading to gripping failures in actual mixed-line operations, this utility model provides a mechanical gripper.

[0005] To achieve the above objectives, this utility model proposes a mechanical gripper, which adopts the following technical solution:

[0006] A mechanical gripper includes a fixed plate, a suction cup assembly mounted on the bottom of the fixed plate, and a drive assembly mounted on the top of the fixed plate. The fixed plate has multiple mounting holes along its circumference, and a rotating shaft is rotatably connected to each mounting hole. A clamping arm, rotatable around the shaft, is fixedly connected to the outer wall of the rotating shaft. The clamping arm has multiple sets of limiting structures along its length, each set including a limiting hole. The shape of the hole wall is configured to prevent a limiting rod from rotating circumferentially within it. The limiting rod slidably passes through the limiting hole, with a limiting plate fixed to one end and a clamping element mounted to the other end. A return spring is sleeved on the limiting rod. The drive assembly is connected to the suction cup assembly. The drive assembly applies a driving force to the suction cup assembly, creating a negative pressure inside it. This pressure presses against the end of the clamping arm, driving the clamping arm to rotate around the rotating shaft. One end of the return spring is fixedly connected to the limiting plate, and the other end is fixedly connected to the clamping arm. The mechanical gripper also includes a housing, a top cover fixedly connected to the top of the housing, a fixing plate fixedly connected to the inner wall of the housing, a cylinder fixedly connected inside the fixing plate, and a fixing disc fixedly connected to the inner wall of the housing.

[0007] Through the above technical solution, the suction cup assembly can use the principle of negative pressure to adsorb objects, the driving assembly can provide power for the movement of the suction cup assembly and the clamping arm, and the clamping arm is rotatably connected to the fixed plate through the rotating shaft, so that the clamping arm can rotate around the rotating shaft under the action of the driving assembly to achieve the clamping of objects. This makes the mechanical gripper have both adsorption and clamping functions, solving the problem that the existing single gripping structure cannot take into account the gripping of objects with different surface characteristics such as smooth, soft and rough.

[0008] Preferably, the clamping member includes a mounting plate, a rubber block, and a connector, wherein the rubber block is fixedly connected to the mounting plate, and the rubber block is connected to the limiting rod through the connector.

[0009] Through the above technical solution, the mounting plate in the clamping component is used to fix the rubber block and the connecting component. The rubber block itself has a certain degree of elasticity and a large coefficient of friction. When the clamping component contacts an object, the rubber block can increase the friction between the rubber block and the object, effectively preventing the object from slipping during the gripping process. At the same time, due to the elasticity of the rubber block, it can play a cushioning role when gripping easily deformable objects, avoiding damage to the objects.

[0010] Preferably, the connector includes a connecting frame, which is fixedly connected to the mounting plate. A connecting shaft is rotatably connected to the inner wall of the connecting frame. The outer wall of the connecting shaft is fixedly connected to the end of the limiting rod. Both ends of the connecting shaft pass through the connecting frame and extend to its outer side. Limiting sleeves are fixedly connected to both ends of the connecting shaft. Torsion springs are sleeved on both ends of the connecting shaft. One end of the torsion spring is fixedly connected to the limiting sleeve, and the other end of the torsion spring is fixedly connected to the connecting frame.

[0011] Through the above technical solution, when the clamping component comes into contact with an irregularly shaped object, the torsion spring will undergo elastic deformation, allowing the connecting shaft to rotate at a certain angle relative to the connecting frame, thereby automatically adjusting the angle of the clamping component, so that the rubber block can better fit the object surface, improving the stability and adaptability of gripping.

[0012] Preferably, the suction cup assembly includes a connecting tube, a suction nozzle, and a piston. The piston is slidably connected inside the connecting tube, the connecting tube is fixedly connected to the inner wall of the fixed plate, the suction nozzle is fixedly connected to the bottom end of the connecting tube, and a sealing ring is fixedly connected to the outer wall of the piston. The sealing ring is slidably connected to the inner wall of the connecting tube.

[0013] Through the above technical solution, the piston slides inside the connecting pipe, changing the size of the space within the pipe and thus altering the gas pressure. The sealing ring is fixed to the outer wall of the piston and slidably connects with the inner wall of the connecting pipe, improving the piston's sealing performance.

[0014] Preferably, the drive assembly includes a cylinder, a connecting rod is fixedly connected to the output end of the cylinder, the bottom end of the connecting rod passes through a connecting pipe and is slidably connected thereto, the bottom end of the connecting rod is fixedly connected to a piston, and a cone is fixedly connected to the outer circumference of the connecting rod.

[0015] Through the above technical solution, the connecting rod transmits the output force of the cylinder to the piston and the cone, causing the piston to move inside the connecting tube and realize the negative pressure generation action of the suction cup assembly; at the same time, the cone moves under the drive of the connecting rod to drive the clamping arm to rotate.

[0016] Preferably, a roller is rotatably connected to the end of the clamping arm, and the roller is located between the cone and the baffle. The narrower end of the cone faces upward, and when its conical surface moves upward, it can compress multiple rollers.

[0017] Through the above technical solution, when the cone rises and squeezes the roller, the friction between the roller and the cone is rolling friction, which has less frictional force than sliding friction. This allows the gripper arm to rotate more smoothly around the axis when subjected to the squeezing force of the cone, reducing energy loss and wear of mechanical parts, improving the sensitivity and reliability of the mechanical gripper's actions, and ensuring that the gripper arm can complete the clamping action.

[0018] Compared with the prior art, the present invention has the following beneficial effects:

[0019] 1. The suction cup assembly consists of a connecting tube, a suction nozzle, and a piston. When the cylinder of the drive assembly operates, it moves the connecting rod, causing the piston to slide inside the connecting tube. The change in space within the connecting tube creates a negative pressure, which is used to suction objects through the suction nozzle. The rollers, under the pressure of the conical head, drive the clamping arm to rotate around the axis, gripping the object through the clamping device at the end of the limiting rod. This design allows the mechanical gripper to simultaneously perform suction and clamping functions, solving the problem that existing single-grip structures cannot handle objects with different surface characteristics such as smooth, soft, and rough surfaces.

[0020] 2. By setting up a connecting piece, when the clamping piece comes into contact with an irregularly shaped object, the torsion spring will undergo elastic deformation, allowing the connecting shaft to rotate at a certain angle relative to the connecting frame, thereby automatically adjusting the angle of the clamping piece, so that the rubber block can better fit the surface of the object, improving the stability and adaptability of the gripping. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0022] Figure 2 This is a schematic diagram of the internal structure of the present invention;

[0023] Figure 3 This is a schematic diagram of the structure of the clamping arm of this utility model;

[0024] Figure 4 This is a schematic diagram of the internal structure of the connecting pipe of this utility model;

[0025] Figure 5 This is a schematic diagram of the installation structure of the rubber block of this utility model;

[0026] Figure 6 This is a schematic diagram of the installation structure of the connecting frame of this utility model.

[0027] In the diagram: 1. Outer shell; 2. Top cover; 3. Fixing plate; 4. Cylinder; 5. Connecting rod; 6. Baffle; 7. Cone; 8. Piston; 9. Sealing ring; 10. Connecting pipe; 11. Fixing plate; 12. Mounting hole; 13. Rotating shaft; 14. Clamping arm; 15. Roller; 16. Limiting hole; 17. Limiting rod; 18. Limiting plate; 19. Return spring; 20. Connecting shaft; 21. Limiting sleeve; 22. Torsion spring; 23. Connecting frame; 24. Mounting plate; 25. Rubber block; 26. Suction nozzle. Detailed Implementation

[0028] 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.

[0029] like Figures 1-6 As shown, a mechanical gripper includes a fixed plate 11. A suction cup assembly is mounted on the bottom of the fixed plate 11, and a drive assembly is mounted on the top of the fixed plate. Multiple mounting holes 12 are circumferentially formed on the fixed plate 11. A rotating shaft 13 is rotatably connected to each mounting hole 12. A gripping arm 14, which can rotate around the rotating shaft 13, is fixedly connected to the outer wall of the rotating shaft 13. Multiple sets of limiting structures are formed along the length of the gripping arm 14. Each set of limiting structures includes a limiting hole 16. The shape of the hole wall of the limiting hole 16 is configured to prevent the limiting rod 17 from... The circumferentially rotating limit rod 17 slides through the limit hole 16, with a limit plate 18 fixed at one end and a clamping component installed at the other end. A return spring 19 is sleeved on the limit rod 17. The drive assembly is connected to the suction cup assembly, and the driving force of the drive assembly acts on the suction cup assembly, creating a negative pressure inside it. On the other hand, it can press against the end of the clamping arm 14 to drive the clamping arm 14 to rotate around the rotating shaft 13. One end of the return spring 19 is fixedly connected to the limit plate 18, and the other end of the return spring 19 is fixedly connected to the clamping arm 14. The mechanical gripper also includes a housing 1, with a top cover 2 fixedly connected to the top of the housing 1, a fixing plate 3 fixedly connected to the inner wall of the housing 1, a cylinder 4 fixedly connected inside the fixing plate 3, and a fixing plate 11 fixedly connected to the inner wall of the housing 1. The suction cup assembly can use the principle of negative pressure to adsorb objects, and the driving assembly can provide power for the movement of the suction cup assembly and the clamping arm 14. The clamping arm 14 is rotatably connected to the fixed plate 11 through the rotating shaft 13, so that the clamping arm 14 can rotate around the rotating shaft 13 under the action of the driving assembly to achieve the clamping of objects. This makes the mechanical gripper have both adsorption and clamping functions, solving the problem that the existing single gripping structure cannot take into account the gripping of objects with different surface characteristics such as smooth, soft and rough.

[0030] like Figure 5 and Figure 6 As shown, the clamping component includes a mounting plate 24, a rubber block 25, and a connector. The rubber block 25 is fixedly connected to the mounting plate 24 and is connected to the limiting rod 17 via the connector. The mounting plate 24 in the clamping component is used to fix the rubber block 25 and the connector. The rubber block 25 itself has a certain degree of elasticity and a relatively high coefficient of friction. When the clamping component contacts an object, the rubber block 25 can increase the friction between the object and the object, effectively preventing the object from slipping during the gripping process. Simultaneously, due to the elasticity of the rubber block 25, it can act as a buffer when gripping easily deformable objects, avoiding damage to the object.

[0031] As shown in Figure 6, the connector includes a connecting frame 23, which is fixedly connected to the mounting plate 24. A connecting shaft 20 is rotatably connected to the inner wall of the connecting frame 23, and the outer wall of the connecting shaft 20 is fixedly connected to the end of the limiting rod 17. Both ends of the connecting shaft 20 pass through the connecting frame 23 and extend to its outer side. Limiting sleeves 21 are fixedly connected to both ends of the connecting shaft 20, and torsion springs 22 are sleeved on both ends of the connecting shaft 20. One end of the torsion spring 22 is fixedly connected to the limiting sleeve 21, and the other end of the torsion spring 22 is fixedly connected to the connecting frame 23. When the clamping component contacts an irregularly shaped object, the torsion spring 22 will undergo elastic deformation, allowing the connecting shaft 20 to rotate at a certain angle relative to the connecting frame 23, thereby automatically adjusting the angle of the clamping component, so that the rubber block 25 better conforms to the surface of the object, improving the stability and adaptability of the gripping.

[0032] like Figure 2 and Figure 4 As shown, the suction cup assembly includes a connecting tube 10, a suction nozzle 26, and a piston 8. The piston 8 is slidably connected inside the connecting tube 10, which is fixedly connected to the inner wall of the fixed plate 11. The suction nozzle 26 is fixedly connected to the bottom end of the connecting tube 10. A sealing ring 9 is fixedly connected to the outer wall of the piston 8, and the sealing ring 9 is slidably connected to the inner wall of the connecting tube 10. The piston 8 slides within the connecting tube 10, changing the size of the space within the connecting tube 10, thereby achieving changes in gas pressure. The sealing ring 9, fixed to the outer wall of the piston 8 and slidably connected to the inner wall of the connecting tube 10, improves the sealing performance of the piston 8.

[0033] like Figure 3 As shown, the drive assembly includes a cylinder 4, with a connecting rod 5 fixedly connected to the output end of the cylinder 4. The bottom end of the connecting rod 5 passes through and is slidably connected to the connecting pipe 10, and the bottom end of the connecting rod 5 is fixedly connected to the piston 8. A cone 7 is fixedly connected to the outer circumference of the connecting rod 5. The connecting rod 5 transmits the output force of the cylinder 4 to the piston 8 and the cone 7, causing the piston 8 to move within the connecting pipe 10, thereby generating negative pressure in the suction cup assembly. Simultaneously, the cone 7 moves under the drive of the connecting rod 5, driving the clamping arm 14 to rotate.

[0034] like Figure 3 As shown, a roller 15 is rotatably connected to the end of the gripper arm 14, and the roller 15 is located between the cone head 7 and the baffle plate 6. The narrower end of the cone head 7 is positioned upwards, and when its conical surface moves upwards, it can compress multiple rollers 15. When the cone head 7 rises and compresses the rollers 15, there is rolling friction between the rollers 15 and the cone head 7. Compared with sliding friction, rolling friction has less frictional force. This allows the gripper arm 14 to rotate more smoothly around the pivot 13 when subjected to the compressive force of the cone head 7, reducing energy loss and wear of mechanical parts, improving the sensitivity and reliability of the mechanical gripper's actions, and ensuring that the gripper arm 14 can complete the gripping action.

[0035] The implementation principle of this application is as follows: When started, the cylinder 4 outputs power, which drives the piston 8 to slide in the connecting pipe 10 through the connecting rod 5. When the piston 8 slides away from the suction nozzle 26, the space in the connecting pipe 10 increases, the gas pressure decreases, and a negative pressure is formed. Under the action of the negative pressure, outside air is drawn into the connecting pipe 10, thereby forming a negative pressure at the suction nozzle 26. When the mechanical gripper approaches the object, it can rely on the negative pressure at the suction nozzle 26 to adsorb the object.

[0036] When the connecting rod 5 moves, it drives the cone head 7 to move. When the cone head 7 rises, its narrower end facing upwards gradually squeezes multiple rollers 15. Under the squeezing force of the cone head, the rollers 15 are subjected to an oblique component force, causing the clamping arm 14 to rotate around the pivot 13. The rotation of the clamping arm 14 drives the limiting rod 17 to move. The rubber block 25 at the end of the limiting rod 17 clamps the object. When clamping, the return spring 19 is stretched. When the drive assembly stops working, the return spring 19 contracts under the action of the return spring 19, pulling the limiting rod 17 and the clamping arm 14 back to their initial positions.

[0037] When the clamping component comes into contact with the object, the torsion spring 22 will undergo elastic deformation due to the irregular shape of the object's surface, allowing the connecting shaft 20 to rotate at a certain angle relative to the connecting frame 23, thereby adjusting the angle of the clamping component and making the rubber block 25 better fit the object's surface for clamping.

[0038] The above are merely preferred embodiments of this utility model, but the scope of protection of this utility model is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in this utility model, based on the technical solution and inventive concept of this utility model, should be included within the scope of protection of this utility model.

Claims

1. A mechanical gripper, comprising a fixed disk (11), characterized in that: A suction cup assembly is installed at the bottom of the fixed plate (11), and a driving assembly is installed at the top of the fixed plate (11). The driving force of the driving assembly acts on the suction cup assembly, causing negative pressure to be generated inside it. The fixed plate (11) has multiple mounting holes (12) along its circumferential direction. A rotating shaft (13) is rotatably connected in each mounting hole (12). A clamping arm (14) that can rotate around the outer wall of the rotating shaft (13) is fixedly connected. The clamping arm (14) has multiple sets of limiting structures along its length direction. Each set of limiting structures includes a limiting hole (16), the shape of the hole wall of the limiting hole (16) is configured to prevent the limiting rod (17) from rotating circumferentially therein, the limiting rod (17) slides through the limiting hole (16), one end of the limiting rod (17) is fixed with a limiting plate (18), and the other end is equipped with a clamping member, a return spring (19) is sleeved on the limiting rod (17), the driving assembly is connected to the suction cup assembly, and the driving force of the driving assembly drives the clamping arm (14) to rotate around the rotating shaft (13).

2. The mechanical gripper according to claim 1, characterized in that: One end of the reset spring (19) is fixedly connected to the limiting plate (18), and the other end of the reset spring (19) is fixedly connected to the clamping arm (14).

3. The mechanical gripper according to claim 2, characterized in that: The clamping component includes a mounting plate (24), a rubber block (25), and a connector. The rubber block (25) is fixedly connected to the mounting plate (24), and the rubber block (25) is connected to the limiting rod (17) through the connector.

4. The mechanical gripper according to claim 3, characterized in that: The connector includes a connecting frame (23), which is fixedly connected to the mounting plate (24). A connecting shaft (20) is rotatably connected to the inner wall of the connecting frame (23). The outer wall of the connecting shaft (20) is fixedly connected to the end of the limiting rod (17). Both ends of the connecting shaft (20) pass through the connecting frame (23) and extend to its outer side. Limit sleeves (21) are fixedly connected to both ends of the connecting shaft (20). Torsion springs (22) are sleeved on both ends of the connecting shaft (20).

5. The mechanical gripper according to claim 4, characterized in that: One end of the torsion spring (22) is fixedly connected to the limiting sleeve (21), and the other end of the torsion spring (22) is fixedly connected to the connecting frame (23).

6. The mechanical gripper according to claim 5, characterized in that: The suction cup assembly includes a connecting tube (10), a suction nozzle (26), and a piston (8). The piston (8) is slidably connected inside the connecting tube (10). The connecting tube (10) is fixedly connected to the inner wall of the fixed plate (11). The suction nozzle (26) is fixedly connected to the bottom end of the connecting tube (10). A sealing ring (9) is fixedly connected to the outer wall of the piston (8). The sealing ring (9) is slidably connected to the inner wall of the connecting tube (10).

7. The mechanical gripper according to claim 6, characterized in that: The drive assembly includes a cylinder (4), and a connecting rod (5) is fixedly connected to the output end of the cylinder (4). The bottom end of the connecting rod (5) passes through the connecting pipe (10) and is slidably connected thereto. The bottom end of the connecting rod (5) is fixedly connected to the piston (8).

8. The mechanical gripper according to claim 7, characterized in that: The end of the clamping arm (14) is rotatably connected to a roller (15), which is located between the cone (7) and the baffle (6).

9. The mechanical gripper according to claim 8, characterized in that: The connecting rod (5) has a cone (7) fixedly connected to its outer circumference. The narrower end of the cone (7) is set upwards, and when its cone surface moves upwards, it can squeeze multiple rollers (15).

10. The mechanical gripper according to claim 9, characterized in that: It also includes a housing (1), a top cover (2) fixedly connected to the top of the housing (1), a fixing plate (3) fixedly connected to the inner wall of the housing (1), the cylinder (4) fixedly connected inside the fixing plate (3), and the fixing disk (11) fixedly connected to the inner wall of the housing (1).

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