CN106826888B - Linkage elastic mechanical gripper - Google Patents
Linkage elastic mechanical gripper Download PDFInfo
- Publication number
- CN106826888B CN106826888B CN201710131708.4A CN201710131708A CN106826888B CN 106826888 B CN106826888 B CN 106826888B CN 201710131708 A CN201710131708 A CN 201710131708A CN 106826888 B CN106826888 B CN 106826888B
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- Prior art keywords
- outer sleeve
- pushing disc
- lower bracket
- disc
- movable
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
Abstract
The invention relates to the technical field of industrial automation, in particular to a linkage elastic mechanical gripper which comprises an upper bracket and a lower bracket, wherein a movable pushing disc and a pushing component for pushing the movable pushing disc to move upwards are arranged between the upper bracket and the lower bracket; the top end of the outer sleeve is connected with the upper bracket, the bottom end of the outer sleeve passes through the movable pushing disc to be connected with the lower bracket, a locking part is arranged in the movable pushing disc, and the locking part is matched with an opening on the outer wall of the outer sleeve; the top end of the supporting rod is connected with the upper bracket, the bottom end of the supporting rod passes through the movable pushing disc and is connected with the lower bracket, and an ejection elastic piece is arranged on the outer wall of the supporting rod between the upper bracket and the movable pushing disc; the bottom of the lower bracket is provided with a buffer part, the bottom end of the buffer part penetrates through the lower bracket and stretches into the outer sleeve, the outer wall of the movable push disc rotates to be connected with a push rod, the push rod rotates to be connected with a claw, the claw is provided with a connecting part, and the connecting part is rotationally connected with the lower bracket. The invention can realize quick, stable and reliable grabbing and releasing on the surfaces of aluminum honeycomb plates, thin aluminum plates, wood plates and the like.
Description
Technical Field
The invention relates to the technical field of industrial automation, in particular to a linkage elastic mechanical gripper.
Background
The robot paw is a highly integrated electromechanical system with multiple perception functions in the robot design, is a perceptron for actively perceiving the information of a working environment, and is an executor at the tail end of the robot, and in the specific design process, the relevant design requirements of analysis of the structural form of a workpiece of the robot paw, determination of positioning points and clamping modes of the workpiece, determination of the positions and the number of workpiece detection sensors, cleaning of the surface of the workpiece, safety of the paw and the like are related. At present, the robot paw can not provide relative state information, and quick, stable and reliable grabbing and capturing can not be realized.
Therefore, the robot field is in urgent need of a mechanical gripper capable of achieving the functions of attaching, buffering, grasping, releasing and the like on the surfaces of aluminum honeycomb plates, thin aluminum plates and wood plates, and therefore technical support is provided for popularization and application of the robot gripper in the modern industrial manufacturing field.
Disclosure of Invention
First, the technical problem to be solved
The invention provides a linkage elastic mechanical gripper, which is used for solving the defects of the existing robot gripper and can quickly, stably and reliably grasp and release the general surface of a target.
(II) technical scheme
In order to solve the technical problems, the invention provides a linkage elastic mechanical gripper which comprises an upper bracket, a lower bracket, a supporting rod and an outer sleeve, wherein a movable pushing disc and a pushing component for pushing the movable pushing disc to move upwards are arranged between the upper bracket and the lower bracket; one end of the outer sleeve is connected with the upper bracket, the other end of the outer sleeve penetrates through the movable pushing disc to be connected with the lower bracket, a locking part is arranged in the movable pushing disc, and the locking part is matched with an opening on the outer wall of the outer sleeve; one end of the supporting rod is connected with the upper bracket, the other end of the supporting rod penetrates through the movable pushing disc to be connected with the lower bracket, and an ejection elastic piece is arranged on the outer wall of the supporting rod between the upper bracket and the movable pushing disc; the bottom of the lower bracket is provided with a buffer part, one end of the buffer part penetrates through the lower bracket and stretches into the outer sleeve, and the buffer part can move up and down along the outer sleeve in the outer sleeve and can enable the locking part to be separated from the outer sleeve; the outer wall symmetry rotation of removal pushing disc is connected with coordinated type claw, coordinated type claw including connect in remove pushing disc's push rod and with claw thorn that the push rod rotated and is connected, claw body of thorn is equipped with connecting portion, connecting portion with the lower carriage rotates to be connected.
The pushing component comprises a pushing disc positioned below the movable pushing disc, and the pushing disc is connected with the lifting screw in a matched mode and used for achieving up-and-down movement of the pushing disc.
The other end of the supporting rod and the other end of the outer sleeve sequentially penetrate through the movable pushing disc and the pushing disc to be connected with the lower support.
The lifting screw is connected with a driving motor, the driving motor is arranged on the upper bracket, an output shaft of the driving motor penetrates through the upper bracket to be connected with one end of the lifting screw, and the other end of the lifting screw penetrates through the movable pushing disc and the pushing disc to be connected with the lower bracket in a rotating mode.
The buffer component comprises an inner loop bar, one end of the inner loop bar penetrates through the lower support to extend into the outer sleeve, the other end of the inner loop bar is connected with a buffer foot, and a buffer elastic piece is arranged on the outer wall of the inner loop bar between the buffer foot and the lower support.
Wherein, the buffering elastic piece is a buffering spring.
The locking component comprises a locking elastic piece and a fixing rod, one end of the locking elastic piece is fixed on the inner wall of the movable pushing disc, the other end of the locking elastic piece is connected with the fixing rod, and the fixing rod is matched with the opening of the outer sleeve.
Wherein, the locking elastic piece is a locking spring.
The claw thorn comprises a first bending part and a second bending part, and the first bending part is rotationally connected with the lower bracket.
The push rod is connected with the movable push disc, the push rod is connected with the claw thorn, and the connecting part is connected with the lower bracket through rotating pins.
(III) beneficial effects
Compared with the prior art, the linkage elastic mechanical gripper provided by the invention has the following characteristics:
1. according to the linkage elastic mechanical gripper, the whole device is supported through the upper support, the lower support, the support rod and the outer sleeve; the pushing part and the ejection elastic part are used for realizing the up-and-down movement of the movable pushing disc; the locking and fixing of the movable push disc and the outer sleeve are realized through the locking part, and the separation of the locking part and the outer sleeve is realized through the buffer part; the linkage type hook claw is opened and closed through the up-and-down movement of the movable pushing disc; the linkage elastic mechanical gripper has a simple structure, can realize rapid, reliable and stable gripping and releasing of a target, and has the functions of landing buffering, rapid penetration, puncturing, grabbing and the like;
2. according to the linkage elastic mechanical gripper, the upward movement of the movable pushing disc is realized through the driving motor, the lifting screw rod and the pushing disc, and the downward movement of the pushing disc is realized by utilizing the driving motor to rotate in the opposite direction so as to return to the original position; the locking elastic piece and the fixing rod are arranged in the movable push disc, and the fixing rod is matched with the opening of the outer sleeve, so that the movable push disc and the outer sleeve are locked and fixed.
Drawings
Fig. 1 and 2 are overall structure diagrams of a linkage elastic mechanical gripper provided by the invention;
FIG. 3 is a cross-sectional view of a linked elastic gripper provided by the present invention;
in the figure, 1: an upper bracket; 2: a lower bracket; 3: a support rod; 4: an outer sleeve; 5: moving the pushing disc; 6: a pushing member; 61: pushing the disc; 62: lifting a screw rod; 63: a driving motor; 7: a locking member; 71: a locking elastic member; 72: a fixed rod; 8: ejecting the elastic piece; 9: a buffer member; 91: an inner loop bar; 92: a buffering foot; 93: a buffer elastic member; 10: linkage type hook claw; 101: a push rod; 102: claw thorns; 102-1: a first bending part; 102-2: and a second bending part.
Detailed Description
In order that the invention may be readily understood, a more complete description of the invention will be rendered by reference to the appended drawings. The drawings illustrate preferred embodiments of the invention. The foregoing description is only of the preferred embodiments of the present invention, and is not intended to limit the scope of the invention, but rather is intended to cover any equivalents of the structures or equivalent processes disclosed herein or in the alternative, which may be employed directly or indirectly in other related arts.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and/or" as used herein includes any and all combinations of one or more of the associated listed items.
The invention provides a linkage elastic mechanical gripper, which is used for solving the defects of the existing robot gripper and can quickly, stably and reliably grasp and release the general surface of a target.
As shown in fig. 1-3, the embodiment of the invention provides a linkage elastic mechanical gripper, which comprises an upper bracket 1, a lower bracket 2, a supporting rod 3 and an outer sleeve 4, wherein a movable pushing disc 5 and a pushing component 6 are arranged between the upper bracket 1 and the lower bracket 2, and the pushing component 6 can push the movable pushing disc 5 to move upwards; one end of the outer sleeve 4 is fixedly connected with the bottom end of the upper bracket 1, the other end of the outer sleeve 4 passes through the movable push plate 5 and is fixedly connected with the top end of the lower bracket 2, a locking part 7 is arranged in the movable push plate 5, one end of the locking part 7 is arranged on the inner wall of the movable push plate 5, the other end of the locking part 7 can be matched with an opening of the outer wall of the outer sleeve 4, namely, the other end of the locking part 7 can penetrate into the opening of the outer sleeve 4; one end of the supporting rod 3 is fixedly connected with the bottom end of the upper bracket 1, the other end of the supporting rod 3 passes through the movable push disc 5 and is fixedly connected with the top end of the lower bracket 2, in addition, an ejection elastic piece 8 is further arranged on the outer wall of the supporting rod 3 between the upper bracket 1 and the movable push disc 5, and the ejection elastic piece 8 can promote the movable push disc 5 to release when the locking part 7 is separated from the outer sleeve 4, namely, the movable push disc 5 moves downwards; it will be appreciated that the ejection spring 8 may be a spring, i.e. an ejection spring; the bottom of the lower bracket 2 is provided with a buffer part 9, one end of the buffer part 9 penetrates through the lower bracket 2 and stretches into the outer sleeve 4, the buffer part 9 can move up and down along the outer sleeve 4 in the outer sleeve 4, and the top end of the buffer part 9 can push the locking part 7 to be separated from the outer sleeve 4; the outer wall of the movable push plate 5 is provided with symmetrically arranged linkage type claws 10, the linkage type claws 10 are rotationally connected to the outer wall of the movable push plate 5, the linkage type claws 10 comprise push rods 101 and claw thorns 102, the push rods 101 are rotationally connected to the outer wall of the movable push plate 5, the claw thorns 102 are rotationally connected to the push rods 101, and connecting parts are further arranged on the claw bodies of the claw thorns 102 and are rotationally connected with the lower support 2.
It will be appreciated that, for better actuation to the target, the number of linked fingers 10 is 4, and the 4 linked fingers 10 are uniformly arranged on the outer sides of the movable push plate 5 and the lower bracket 2, wherein the push rod 101 is rotatably connected to the outer wall of the movable push plate 25, and the connection portion of the claw 102 is rotatably connected to the outer wall of the lower bracket 2.
The linkage elastic mechanical gripper provided by the invention is divided into a static state, an ejection process and a homing process in the movement process;
wherein, in a static state, the pushing component 6 is stopped at the upper surface of the lower bracket 2, the other end of the locking component 7 is matched with the opening on the outer sleeve 4 to lock the movable push disc 5 on the outer sleeve 4, and at the moment, the ejection elastic component between the movable push disc 5 and the upper bracket 1 is in a pre-tightening state; the linkage type claw is in an open state;
in the ejection process, the buffer part 9 moves upwards under the action of external force to push the locking part 7 penetrating into the outer sleeve 4, so that the locking part is separated from the outer sleeve 4, the movable push disc 5 is separated from the outer sleeve 4, the movable push disc 4 is ejected downwards from the original position to the upper surface of the push part 6 under the action of the ejection elastic part, the movable push disc 4 drives the push rod 101 to move downwards, and the claw 102 rotates clockwise around the lower bracket 2 to realize the closing of the linkage type claw; on the other hand, the buffer member 9 moves downward along the outer sleeve 4 to return to the original position by releasing the external force to the buffer member 9;
in the homing process, the pushing component 6 moves upwards to push the movable push disc 5 to move upwards, so that the ejection elastic piece tightens up and gathers elastic force, meanwhile, the push rod 101 connected to the movable push disc 5 moves upwards together, the claw 102 rotates anticlockwise around the lower bracket 2 to realize the opening of the linkage type claw, and when the movable push disc moves upwards until the locking component 7 of the movable push disc 5 is exactly matched with the opening of the outer sleeve 4, the movable push disc is fixed; on the other hand, the pushing member 6 returns to the upper surface of the lower bracket 2.
The linkage elastic mechanical gripper has a simple structure, can realize actions such as attachment, buffering, grasping, releasing and the like on the general surface of a target, such as attachment, buffering, grasping, releasing and the like on the surface of an aluminum honeycomb plate, a thin aluminum plate, a wood plate and the like, and has the functions of landing buffering, rapid penetration puncturing and grasping, so that the linkage elastic mechanical gripper can realize rapid, stable and reliable grasping and releasing on the target.
In this embodiment, in order to achieve the pushing action, the pushing member 6 includes a pushing disc 61 located below the moving pushing disc 5, the pushing disc 61 is cooperatively connected with a lifting screw 62, the lifting screw 62 is used to achieve the up-and-down movement of the pushing disc 61, the pushing disc 6 moves upward to push the moving pushing disc 5 to move upward, and the downward movement of the pushing disc 6 returns to the original position to rest on the upper surface of the lower bracket 2.
In this embodiment, the outer sleeve 4 is disposed at the center of the mechanical gripper, 3 support rods 3 are uniformly disposed around the outer sleeve 4, and the other end of the support rod 3 and the other end of the outer sleeve 4 sequentially pass through the movable pushing disc 5 and the pushing disc 61 to be connected with the lower bracket 2.
In this embodiment, in order to realize the up-and-down movement of the pushing disc 61, the lifting screw 62 is disposed between the upper bracket 1 and the lower bracket 2, the lifting screw 62 is connected with a driving motor 63, the driving motor 63 is disposed on the upper bracket 1, an output shaft of the driving motor 63 passes through the upper bracket 1 to be connected with one end of the lifting screw 62, and the other end of the lifting screw 62 passes through the moving pushing disc 5 and the pushing disc 61 to be rotatably connected with the lower bracket 2. It will be appreciated that the drive motor 63 drives the lifting screw 62 to rotate, and the pushing disc cooperatively connected with the lifting screw 62 moves up and down under the action of the screw transmission.
In this embodiment, as shown in fig. 3, the buffer member 9 includes an inner sleeve 91, one end of the inner sleeve 91 extends into the outer sleeve 4 through the lower bracket 2, the other end of the inner sleeve 91 is connected with a buffer foot 92, and a buffer elastic member 93 is disposed on the outer wall of the inner sleeve 91 between the buffer foot 92 and the lower bracket 2. It is understood that the buffer elastic member 93 may be a spring, i.e., a buffer spring; the other end of the inner loop bar 91 is fixed on the buffer foot 92; in the action process of the buffer component 9, external force acts on the buffer foot 92, the buffer foot 92 moves upwards, the buffer spring between the buffer foot 92 and the lower bracket 2 is compressed upwards, and in a compressed state, the buffer foot 92 drives the inner sleeve rod 91 to move upwards along the outer sleeve 4, and the top end of the inner sleeve rod 91 pushes the locking component 7 matched with the outer sleeve 4, so that the locking component 7 is separated from the outer sleeve 4.
In this embodiment, as shown in fig. 3, in order to lock the movable push plate 5 and the outer sleeve 4, the locking member 7 includes a locking elastic member 71 and a fixing rod 72, one end of the locking elastic member 71 is fixed to the inner wall of the movable push plate 5, the other end of the locking elastic member 71 is connected to the fixing rod 72, and the fixing rod 72 is matched with the opening of the outer sleeve 4. It will be appreciated that the locking spring 71 is a spring, i.e. a locking spring.
In this embodiment, in order to realize the opening and closing of the linked claw 10 under the action of the moving pushing disc 5, the claw 102 includes a first bending portion 102-1 and a second bending portion 102-2, where the first bending portion 102-1 is rotationally connected with the lower bracket 2, the first bending portion 102-1 is bent outwards, and the second bending portion 102-2 is bent inwards, so as to realize the actions of grasping and releasing the workpiece.
In this embodiment, in order to achieve the rotational connection between the connection members, the connection between the push rod 101 and the movable push plate 5, the connection between the push rod 101 and the claw 102, and the connection between the first bending portion 102-1 and the lower bracket 2 are all made by rotation pins.
The integral frame of the linkage elastic mechanical gripper is made of aluminum, so that the weight of aluminum is light, and the dead weight of the integral device can be effectively reduced.
The motion state of the linkage type claw is divided into a static state, an ejection process and a homing process;
the device comprises a lower bracket, a driving motor, a pushing disc, a spring, a fixed rod, a locking spring, a pushing rod, a buffering spring, a locking spring, a pushing rod and a claw, wherein the driving motor is in a static state, the pushing disc is stopped at the upper surface of the lower bracket, the ejection spring is in a pre-tightening state, the fixed rod is arranged in the moving pushing disc, the front end of the fixed rod penetrates through a hole of the outer sleeve under the pressure action of the locking spring, the moving pushing disc is locked and fixed, the pushing rod and the claw connected to the moving pushing disc are in an opening state, and the buffering spring is in an undeformed state;
in the ejection process, the buffer foot moves upwards under the action of the collision of an external object or the upward force, so that the buffer spring is compressed and is in a compression state, an inner sleeve rod connected to the buffer foot moves upwards to push a fixed rod fixed on an outer sleeve, the fixed rod is separated from the fixation of the outer sleeve, the movable push disc is released, the buffer foot is ejected to the upper surface of the push disc from a home position under the drive of the downward acting force of the ejection spring, the push rod claw connected to the movable push disc is driven to move downwards to enable the claw to be closed, and on the other hand, the buffer foot returns to the home position under the action of the buffer spring;
in the homing process, the driving motor enables the lifting screw rod to rotate, under the action of spiral transmission, the pushing disc is enabled to move upwards, the moving pushing disc is pushed to move upwards, the ejection spring is enabled to tighten up and gather spring force, meanwhile, the push rod and the claw connected to the moving pushing disc move upwards together, the claw is opened, when moving upwards to a fixed position, the fixing rod penetrates through the outer sleeve under the action of the locking spring, the moving pushing disc is enabled to be fixed, and finally the pushing disc returns to the upper surface of the lower support through the reverse rotation of the driving motor.
The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, alternatives, and improvements that fall within the spirit and scope of the invention.
Claims (7)
1. The linkage elastic mechanical gripper is characterized by comprising an upper bracket, a lower bracket, a supporting rod and an outer sleeve, wherein a movable pushing disc and a pushing component for pushing the movable pushing disc to move upwards are arranged between the upper bracket and the lower bracket; one end of the outer sleeve is connected with the upper bracket, the other end of the outer sleeve penetrates through the movable pushing disc to be connected with the lower bracket, a locking part is arranged in the movable pushing disc, and the locking part is matched with an opening on the outer wall of the outer sleeve; one end of the supporting rod is connected with the upper bracket, the other end of the supporting rod passes through the movable pushing disc to be connected with the lower bracket, and an ejection elastic piece is arranged on the outer wall of the supporting rod between the upper bracket and the movable pushing disc; the bottom of the lower bracket is provided with a buffer part, one end of the buffer part penetrates through the lower bracket and stretches into the outer sleeve, and the buffer part can move up and down along the outer sleeve in the outer sleeve and can enable the locking part to be separated from the outer sleeve; the outer wall of the movable push disc is symmetrically and rotatably connected with a linkage type claw, the linkage type claw comprises a push rod connected with the movable push disc and a claw connected with the push rod in a rotating way, a claw body of the claw is provided with a connecting part, and the connecting part is rotatably connected with the lower bracket;
the pushing component comprises a pushing disc positioned below the movable pushing disc, and the pushing disc is connected with the lifting screw rod in a matched manner and is used for realizing the up-and-down movement of the pushing disc;
the buffer component comprises an inner loop bar, one end of the inner loop bar penetrates through the lower support and stretches into the outer sleeve, the other end of the inner loop bar is connected with a buffer foot, and a buffer elastic piece is arranged on the outer wall of the inner loop bar between the buffer foot and the lower support;
the locking part comprises a locking elastic piece and a fixing rod, one end of the locking elastic piece is fixed on the inner wall of the movable pushing disc, the other end of the locking elastic piece is connected with the fixing rod, and the fixing rod is matched with the opening of the outer sleeve.
2. The linked elastic manipulator claw according to claim 1, wherein the other end of the support rod and the other end of the outer sleeve sequentially penetrate through the movable pushing disc and the pushing disc to be connected with the lower bracket.
3. The linkage elastic mechanical gripper according to claim 1, wherein the lifting screw is connected with a driving motor, the driving motor is arranged on the upper bracket, an output shaft of the driving motor penetrates through the upper bracket to be connected with one end of the lifting screw, and the other end of the lifting screw penetrates through the movable pushing disc and the pushing disc to be rotatably connected with the lower bracket.
4. The linked elastic gripper of claim 1, wherein the buffer elastic member is a buffer spring.
5. The linked elastic gripper of claim 1, wherein the locking elastic member is a locking spring.
6. The linked elastic manipulator of any of claims 1-5, wherein the prongs include a first bend and a second bend, the first bend being rotatably coupled to the lower bracket.
7. The linked elastic manipulator of any one of claims 1-5, wherein the push rod and the movable push plate, the push rod and the prongs, and the connection and the lower bracket are all connected by a rotation pin.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710131708.4A CN106826888B (en) | 2017-03-07 | 2017-03-07 | Linkage elastic mechanical gripper |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710131708.4A CN106826888B (en) | 2017-03-07 | 2017-03-07 | Linkage elastic mechanical gripper |
Publications (2)
| Publication Number | Publication Date |
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| CN106826888A CN106826888A (en) | 2017-06-13 |
| CN106826888B true CN106826888B (en) | 2023-09-08 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201710131708.4A Active CN106826888B (en) | 2017-03-07 | 2017-03-07 | Linkage elastic mechanical gripper |
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| CN (1) | CN106826888B (en) |
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| CN214490656U (en) * | 2020-12-30 | 2021-10-26 | 浙江工业大学台州研究院 | Shock-absorbing and shock-proof device of flexible manipulator |
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