Mechanical gripper device for positioning the center of an object

Abstract

The utility model discloses a kind of mechanical gripper devices of object center positioning, including mechanical arm, still including the fixed setting of connecting structure below mechanical arm, the connecting structure includes limit seat, rotating seat and fixed seat, the limit seat is located below mechanical arm, the rotating seat limit rotation is located below limit seat, the fixed seat is fixedly arranged below rotating seat, fixed seat below is fixed with locating seat, locating seat is equipped with clamping structure and rotating adjusting structure, clamping structure and rotating adjusting structure are mutually matched to complete center positioning clamping.The utility model belongs to the technical field of mechanical gripper equipment, specifically refers to a kind of mechanical gripper device of object center positioning, effectively solve the mechanical gripper device can only realize simple grabbing action, difficult to accurately position the center position of object, prone to unstable, object deviation even falling situation of grabbing, affect work efficiency and the problem of security.

Description

Technical Field

[0001] This utility model belongs to the technical field of mechanical gripper equipment, specifically referring to a mechanical gripper device that can locate the center of an object. Background Technology

[0002] In industrial production and logistics handling, mechanical grippers are frequently used to grasp and move objects. Many of these objects are irregularly shaped products with an unstable center.

[0003] However, existing mechanical gripper devices can only perform simple gripping actions and are difficult to accurately locate the center position of an object. This can easily lead to unstable gripping, object displacement, or even falling, affecting work efficiency and safety. Utility Model Content

[0004] In order to overcome the shortcomings of the prior art, this utility model proposes a mechanical gripper device that can locate the center of an object. This effectively solves the problem that mechanical grippers can only perform simple gripping actions, making it difficult to accurately locate the center of an object, which can easily lead to unstable gripping, object displacement, or even falling, thus affecting work efficiency and safety.

[0005] The technical solution adopted by this utility model is as follows: This utility model proposes a mechanical gripper device for locating the center of an object, including a mechanical arm and a connecting structure fixedly disposed below the mechanical arm. The connecting structure includes a limiting seat, a rotating seat, and a fixed seat. The limiting seat is disposed below the mechanical arm, the rotating seat is rotatably limited and disposed below the limiting seat, and the fixed seat is fixedly disposed below the rotating seat. A positioning seat is fixedly disposed below the fixed seat. The positioning seat is provided with a clamping structure and a rotation adjustment structure. The clamping structure and the rotation adjustment structure cooperate with each other to complete the center positioning clamping.

[0006] Preferably, the clamping structure includes a data processor, a scanner, a protective glass plate, a fixed shell, a hydraulic cylinder, and a clamping head. The data processor is fixedly disposed inside the fixed seat above the positioning seat. The scanner is electrically connected below the data processor. The upper part of the positioning seat is provided with a protective glass plate located below the scanner. Three sets of fixed shells are arranged at 60-degree intervals on the side of the positioning seat. A hydraulic cylinder is fixedly disposed inside the fixed shell. A clamping head is provided at the front end of the hydraulic cylinder.

[0007] To achieve better adjustment, the rotation adjustment structure includes a first gear, a motor, and a second gear. The first gear is wrapped around the outside of the fixed seat, the motor is fixed above the positioning seat, and the second gear is fixed on the output shaft above the motor. The second gear meshes with the first gear.

[0008] To achieve the goal of locating the center more quickly, the data processor is equipped with the following calculation system formula:

[0009] Xc=(m1X1+m2X2+...+mnXn) / (m1+m2+...+mn)

[0010] Yc=(m1Y1+m2Y2+...+mnYn) / (m1+m2+...+mn)

[0011] Where Xc and Yc represent the coordinates of the object's center of gravity on the X-axis and Y-axis, respectively; m1, m2, ..., mn represent the mass of each part; and X1, X2, ..., Xn and Y1, Y2, ..., Yn represent the coordinates of the center of gravity of each part on the X-axis and Y-axis, respectively.

[0012] Furthermore, the clamping head is made of rubber material to increase friction and is suitable for clamping on various inclined surfaces.

[0013] To achieve the rotation effect, a groove is provided below the rotating seat, and the fixed seats are mutually limited and rotate relative to each other within the rotating seat.

[0014] The beneficial effects of this utility model using the above structure are as follows: The mechanical gripper device proposed in this solution can locate the center of an object by scanning the shape of the object with a scanner, then calculating the center position of the object through the internal system of the data processor, and then adjusting the positioning seat by rotating the adjustment structure, thereby adjusting the hydraulic cylinder to a suitable gripping position. At this time, the hydraulic cylinder pushes the clamping head to clamp and fix the object. At this time, the center of the object is in the circular position of the positioning seat, thereby achieving stable clamping. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the overall structure of a mechanical gripper device for locating the center of an object, as proposed in this utility model.

[0016] Figure 2 This is a cross-sectional structural diagram of a mechanical gripper device for locating the center of an object, as proposed in this utility model.

[0017] Figure 3 This is another cross-sectional structural schematic diagram of a mechanical gripper device for locating the center of an object proposed in this utility model.

[0018] Figure 4 This is a third cross-sectional structural diagram of a mechanical gripper device for locating the center of an object, as proposed in this utility model.

[0019] Among them, 1. robotic arm, 2. connecting structure, 3. positioning seat, 4. clamping structure, 5. rotation adjustment structure, 6. limit seat, 7. rotating seat, 8. fixed seat, 9. data processor, 10. scanner, 11. protective glass plate, 12. fixed shell, 13. hydraulic cylinder, 14. clamping head, 15. gear one, 16. electric motor, 17. gear two.

[0020] The accompanying drawings are provided to further understand the present invention and form part of the specification. They are used together with the embodiments of the present invention to explain the present invention and do not constitute a limitation thereof. Detailed Implementation

[0021] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present utility model. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present utility model without creative effort are within the protection scope of the present utility model.

[0022] like Figure 1 , Figure 3 and Figure 4 As shown, the present invention proposes a mechanical gripper device for locating the center of an object, including a mechanical arm 1 and a connecting structure 2 fixedly disposed below the mechanical arm 1. The connecting structure 2 includes a limiting seat 6, a rotating seat 7, and a fixed seat 8. The limiting seat 6 is disposed below the mechanical arm 1, the rotating seat 7 is rotatably limited and disposed below the limiting seat 6, and the fixed seat 8 is fixedly disposed below the rotating seat 7. A positioning seat 3 is fixedly disposed below the fixed seat 8. A groove is provided below the rotating seat 7. The fixed seats 8 are mutually limited and rotate within the rotating seat 7. The positioning seat 3 is provided with a clamping structure 4 and a rotation adjustment structure 5. The clamping structure 4 and the rotation adjustment structure 5 cooperate with each other to complete the center positioning and clamping.

[0023] like Figure 1 , Figure 2 and Figure 4 As shown, the clamping structure 4 includes a data processor 9, a scanner 10, a protective glass plate 11, a fixed shell 12, a hydraulic cylinder 13, and a clamping head 14. The data processor 9 is fixedly installed inside the fixed seat 8 above the positioning seat 3. The scanner 10 is electrically connected below the data processor 9. The protective glass plate 11 is located in the upper part of the positioning seat 3 and is located below the scanner 10. Three sets of fixed shells 12 are arranged at sixty degrees on the side of the positioning seat 3. The hydraulic cylinder 13 is fixedly installed inside the fixed shell 12. The clamping head 14 is provided at the front end of the hydraulic cylinder 13. The clamping head 14 is made of rubber material to improve friction and is suitable for clamping on various inclined surfaces.

[0024] like Figure 1 and Figure 2 As shown, the rotation adjustment structure 5 includes gear 15, motor 16 and gear 2 17. Gear 15 is wrapped around the outside of the fixed seat 8. Motor 16 is fixed above the positioning seat 3. Gear 2 17 is fixed on the output shaft above motor 16. Gear 2 17 is meshed with gear 15.

[0025] like Figure 4 As shown, the calculation system formula is set within the data processor 9:

[0026] Xc=(m1X1+m2X2+...+mnXn) / (m1+m2+...+mn)

[0027] Yc=(m1Y1+m2Y2+...+mnYn) / (m1+m2+...+mn)

[0028] Where Xc and Yc represent the coordinates of the object's center of gravity on the X-axis and Y-axis, respectively; m1, m2, ..., mn represent the mass of each part; and X1, X2, ..., Xn and Y1, Y2, ..., Yn represent the coordinates of the center of gravity of each part on the X-axis and Y-axis, respectively.

[0029] In practical use, the robotic arm 1 moves the positioning seat 3 above the object to be gripped. Then, the scanner 10 below the data processor 9 scans the shape of the object. The scanner 10 then calculates the center position using a system formula. The motor 16 drives the gear 17 to rotate, which in turn meshes with the gear 15, causing the positioning seat 3 to rotate. This adjusts the hydraulic cylinder 13 on the positioning seat 3 to the center gripping position. The hydraulic cylinder 13 then pushes the gripping head 14 to grip the object. At this point, the center of the object coincides with the center of the positioning seat 3, thus achieving stable gripping and preventing unstable gripping, object displacement, or even falling. This is the entire process of using the mechanical gripper device that can locate the center of an object.

[0030] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0031] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

[0032] The present invention and its embodiments have been described above. This description is not restrictive, and the accompanying drawings are only one embodiment of the present invention; the actual structure is not limited thereto. In conclusion, if those skilled in the art are inspired by this description and design similar structures and embodiments without departing from the inventive spirit of the present invention, such designs should fall within the protection scope of the present invention.

Claims

1. A mechanical gripper device capable of locating the center of an object, characterized in that: The invention includes a robotic arm (1), characterized in that it further includes a connecting structure (2) fixedly disposed below the robotic arm (1). The connecting structure (2) includes a limiting seat (6), a rotating seat (7), and a fixed seat (8). The limiting seat (6) is disposed below the robotic arm (1). The rotating seat (7) is located below the limiting seat (6) to limit rotation. The fixed seat (8) is fixedly disposed below the rotating seat (7). A positioning seat (3) is fixedly disposed below the fixed seat (8). The positioning seat (3) is provided with a clamping structure (4) and a rotation adjustment structure (5). The clamping structure (4) and the rotation adjustment structure (5) cooperate with each other to complete the center positioning clamping.

2. The mechanical gripper device for locating the center of an object according to claim 1, characterized in that: The clamping structure (4) includes a data processor (9), a scanner (10), a protective glass plate (11), a fixed shell (12), a hydraulic cylinder (13), and a clamping head (14). The data processor (9) is fixedly installed inside the fixed seat (8) above the positioning seat (3). The scanner (10) is electrically connected below the data processor (9). The upper part of the positioning seat (3) is provided with a protective glass plate (11) and is located below the scanner (10). Three sets of fixed shells (12) are arranged at sixty degrees apart on the side of the positioning seat (3). The hydraulic cylinder (13) is fixedly installed inside the fixed shell (12). The clamping head (14) is provided at the front end of the hydraulic cylinder (13).

3. The mechanical gripper device for locating the center of an object according to claim 2, characterized in that: The rotation adjustment structure (5) includes gear one (15), motor (16) and gear two (17). Gear one (15) is wrapped around the outside of the fixed seat (8). Motor (16) is fixedly installed above the positioning seat (3). Gear two (17) is fixedly installed on the output shaft above the motor (16). Gear two (17) meshes with gear one (15).

4. The mechanical gripper device for locating the center of an object according to claim 3, characterized in that: The data processor (9) contains a calculation system formula: Xc = (m1X1 + m2X2 + ... + mnXn) / (m1 + m2 + ... + mn) Yc = (m1Y1 + m2Y2 + ... + mnYn) / (m1 + m2 + ... + mn) Where Xc and Yc represent the coordinates of the object's center of gravity on the X and Y axes, respectively; m1, m2, ..., mn represent the mass of each part; and X1, X2, ..., Xn and Y1, Y2, ..., Yn represent the coordinates of the center of gravity of each part on the X and Y axes, respectively.

5. A mechanical gripper device for locating the center of an object according to claim 4, characterized in that: The clamping head (14) is made of rubber material, which improves friction and is suitable for clamping on various inclined surfaces.

6. The mechanical gripper device for locating the center of an object according to claim 5, characterized in that: A groove is provided below the rotating seat (7), and the fixed seat (8) is mutually limited and rotates within the rotating seat (7).

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