Rope-driven jaw type clamp
Patent Information
- Application Number
- CN202522202915.7
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-10-17
- Publication Date
- 2026-10-27
- Estimated Expiration
- 2035-10-17
AI Technical Summary
[0002]在果蔬分选技术领域中，采用安装在机械臂上的夹爪来对果蔬如马铃薯等进行分选转移是较为常见的，但是现有的夹爪结构，驱动来源都在安装在夹爪上，导致末端夹爪重量大、尺寸结构复杂，对机械臂造成额外负载，产生巨大负担
[0009]本实用新型实施例的有益效果是：右夹爪和左夹爪由拉绳牵引以实现张开和收拢，这种夹爪在结构上更为简单，重量较轻，布置在末端机械时能使得末端机械臂重量极大的减少，能够增加有效负载，可以广泛的应用在马铃薯的抓取、分选等工作中。
Smart Images
Figure CN224897250U_ABST
Abstract
Description
Technical Field
[0001] This utility model belongs to the field of gripper technology, and in particular relates to a rope-driven jaw gripper. Background Technology
[0002] In the field of fruit and vegetable sorting technology, it is common to use grippers mounted on robotic arms to sort and transfer fruits and vegetables such as potatoes. However, in existing gripper structures, the driving source is mounted on the gripper, resulting in heavy end grippers with complex size and structure, which puts an extra load on the robotic arm and creates a huge burden. Utility Model Content
[0003] The purpose of this utility model embodiment is to provide a rope-driven jaw gripper, which aims to solve the technical problems existing in the prior art mentioned in the background art.
[0004] This utility model embodiment is implemented as follows: a rope-driven jaw gripper includes a gripper frame and a right gripper and a left gripper hinged to the gripper frame, wherein the right gripper and the left gripper are pulled by a pull rope to open and close.
[0005] Preferably, the end of the right gripper is connected to the second and fourth pull ropes, and the end of the left gripper is connected to the first and third pull ropes. The first, second, third, and fourth pull ropes all extend into the controller frame and connect to the connecting plate after passing through the gripper frame. The connecting plate is driven by a cylinder.
[0006] More preferably, the first pull rope, the second pull rope, the third pull rope and the fourth pull rope are all steel wire ropes.
[0007] More preferably, both the right and left grippers are comb-shaped structures and the ends of both the right and left grippers are curved, and the comb teeth of the right and left grippers are staggered.
[0008] More preferably, the right and left grippers are connected to the corresponding pull ropes by binding and locking.
[0009] The beneficial effects of this utility model embodiment are: the right and left grippers are pulled by a pull rope to open and close. This gripper is simpler in structure and lighter in weight. When arranged in the end-effector, it can greatly reduce the weight of the end-effector and increase the effective load. It can be widely used in potato gripping, sorting and other work. Attached Figure Description
[0010] Figure 1 A schematic diagram of the structure of a rope-driven jaw gripper provided in an embodiment of this utility model;
[0011] Figure 2A side view of a rope-driven jaw gripper provided for an embodiment of this utility model;
[0012] Figure 3 This is a schematic diagram of the internal structure of the controller frame provided in the embodiment of this utility model.
[0013] In the diagram: 1-gripper frame, 2-right gripper, 3-left gripper, 4-first pull rope, 5-second pull rope, 6-third pull rope, 7-fourth pull rope, 8-connecting plate, 9-cylinder, 10-controller frame. Detailed Implementation
[0014] To make the objectives, technical solutions, and advantages of this utility model clearer, the present utility model will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present utility model and are not intended to limit the present utility model.
[0015] It is understood that the terms “first,” “second,” etc., used in this application may be used herein to describe various elements, but unless otherwise stated, these elements are not limited by these terms. These terms are used only to distinguish one element from another.
[0016] like Figures 1 to 3 As shown, in one embodiment, a rope-driven jaw gripper is proposed, including a gripper frame 1 and a right gripper 2 and a left gripper 3 hinged to the gripper frame 1, wherein the right gripper 2 and the left gripper 3 are pulled by a pull rope to open and close.
[0017] In this embodiment of the invention, the right gripper 2 and the left gripper 3 are pulled by a pull rope to open and close. This gripper is simpler in structure and lighter in weight. When arranged in the end-effector, it can greatly reduce the weight of the end-effector and increase the effective load. It can be widely used in potato gripping, sorting and other operations.
[0018] like Figures 1 to 3 As shown, in a preferred embodiment of this utility model, the end of the right gripper 2 is connected to the second pull rope 5 and the fourth pull rope 7, and the end of the left gripper 3 is connected to the first pull rope 4 and the third pull rope 6. The first pull rope 4, the second pull rope 5, the third pull rope 6, and the fourth pull rope 7 all extend into the controller frame 10 after passing through the gripper frame 1 and connect to the connecting plate 8. The connecting plate 8 is controlled and driven by the cylinder 9. Preferably, the first pull rope 4, the second pull rope 5, the third pull rope 6, and the fourth pull rope 7 are all steel wire ropes. The connection method between the right gripper 2 and the left gripper 3 and their corresponding pull ropes can be binding and locking, or other connection methods can also be used.
[0019] In practical application, when the cylinder 9 extends outward, the first pull rope 4 and the fourth pull rope 7 relax, while the second pull rope 5 and the third pull rope 6 tighten, causing the left gripper 3 and the right gripper 2 to open. Similarly, when the cylinder 9 retracts inward, the first pull rope 4 and the fourth pull rope 7 tighten, while the second pull rope 5 and the third pull rope 6 relax, causing the left gripper 3 and the right gripper 2 to close.
[0020] It is necessary to explain that in this embodiment, the controller frame 10, the connecting plate 8 and the cylinder 9 are all externally mounted on the gripper frame 1. Preferably, they can be installed inside the ground control box. In the connection or control of the first pull rope 4, the second pull rope 5, the third pull rope 6 and the fourth pull rope 7, fixed pulleys or the like can be added to facilitate their arrangement or control. In detail, this embodiment will not be described in detail here.
[0021] like Figure 1 As shown, in a preferred embodiment of the present invention, both the right gripper 2 and the left gripper 3 are comb-shaped structures and the ends of both the right gripper 2 and the left gripper 3 are curved, and the comb teeth of the right gripper 2 and the left gripper 3 are staggered.
[0022] In this embodiment of the invention, the right gripper 2 and the left gripper 3 of the comb-like structure can overlap when they are closed, so as to facilitate the gripping and transfer of potatoes.
[0023] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.
[0024] The embodiments described above are merely illustrative of several implementations of this utility model, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of this utility model patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this utility model, and these all fall within the protection scope of this utility model. Therefore, the protection scope of this utility model patent should be determined by the appended claims.
[0025] The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.
Claims
1. A rope-driven jaw gripper, characterized in that, The device includes a gripper frame (1) and a right gripper (2) and a left gripper (3) hinged on the gripper frame (1). The right gripper (2) and the left gripper (3) are pulled by pull ropes to open and close. The end of the right gripper (2) is connected to the second pull rope (5) and the fourth pull rope (7). The end of the left gripper (3) is connected to the first pull rope (4) and the third pull rope (6). The first pull rope (4), the second pull rope (5), the third pull rope (6) and the fourth pull rope (7) all extend into the controller frame (10) after passing through the gripper frame (1) and are connected to the connecting plate (8). The connecting plate (8) is controlled and driven by a cylinder (9).
2. The rope-driven jaw gripper according to claim 1, characterized in that, The first pull rope (4), the second pull rope (5), the third pull rope (6) and the fourth pull rope (7) are all steel wire ropes.
3. The rope-driven jaw gripper according to claim 1, characterized in that, Both the right gripper (2) and the left gripper (3) are comb-shaped structures and the ends of both the right gripper (2) and the left gripper (3) are curved. The comb teeth of the right gripper (2) and the left gripper (3) are staggered.
4. The rope-driven jaw gripper according to claim 2, characterized in that, The connection method between the right clamp (2) and the left clamp (3) and the corresponding pull rope is binding and locking.