CN110625638B

CN110625638B - Open-close type mechanical gripper based on steel wire connecting rod driving

Info

Publication number: CN110625638B
Application number: CN201910968245.6A
Authority: CN
Inventors: 高国华; 程博; 张得阳; 乔致岩; 林起鉴
Original assignee: Beijing University of Technology
Current assignee: Beijing University of Technology
Priority date: 2019-10-12
Filing date: 2019-10-12
Publication date: 2021-03-02
Anticipated expiration: 2039-10-12
Also published as: CN110625638A

Abstract

The invention discloses an open-close type mechanical gripper based on steel wire connecting rod driving.A base is fixed, a rotating shaft of a servo motor penetrates through the base to be fixedly connected with a lead screw, the lead screw is in threaded fit with a screw disc, the rotating shaft of the servo motor rotates to drive the lead screw to rotate together, and the rotation of the lead screw is converted into the up-and-down motion of the screw disc through threads; the first-stage shell of the mechanical gripper is hinged with the base and can rotate around the base, and the second stage and the first stage of the shell are hinged together and rotate; the first-stage center of the shell is connected with the spiral disc through a connecting rod, and the connecting rod is respectively hinged with the shell and the spiral disc; the inner center of the second level of the shell is connected with a rotating shaft winding through a steel wire through a reversing pulley, the outer side of the second level of the shell is connected with a base through an elastic rope, and the steel wire used for driving is always in a tight state, so that the steel wire is prevented from being wound mutually. The mechanical claw can be used for shearing off fruit stalks of fruits and clamping granular articles, and has a relatively wider application range.

Description

Open-close type mechanical gripper based on steel wire connecting rod driving

Technical Field

The invention relates to the field of steel wire driven mechanical grippers; the invention relates to the field of mechanical grippers driven by a lead screw; the invention relates to a structure for preventing axial rotation moment overload; in particular to a full-opening and closing mechanical gripper structure.

Background

The mechanical gripper is common in the aspects of industry and the like and is a mechanical structure with a wide application range, the conventional mechanical gripper is mainly two fingers or clamping, and the application occasions are limited to gripping of large solids; moreover, the mechanical claw is only suitable for grabbing, but can not be used for some connecting parts needing to be cut off, such as fruit stalks, and an additional auxiliary mechanism is required to be added for carrying out cutting off operation; similarly, the conventional two-finger gripper cannot complete gripping of a large number of fine granular objects.

Disclosure of Invention

The invention mainly solves the problem that a mechanical claw capable of cutting fruits and protecting fruits is improved on a clamping type mechanical claw, so that the cutting, containing and protecting functions can be achieved through one mechanical claw. And the device can also be used for solving the grabbing problem of small-particle objects.

In order to solve the above problems, the present invention has the following specific schemes: an open-close type mechanical claw based on steel wire connecting rod driving is characterized in that a base is fixed, a rotating shaft of a servo motor penetrates through the base to be fixedly connected with a lead screw, the lead screw is in threaded fit with a screw disc, the lead screw is driven to rotate together by the rotating shaft of the servo motor, and the rotation of the lead screw can be converted into the up-and-down movement of the screw disc through threads; the first-stage shell of the mechanical gripper is hinged with the base and can rotate around the base, and the second stage and the first stage of the shell are also hinged together and can rotate, so that the mechanical gripper has greater flexibility; the first-stage center of the shell is connected with the spiral disc through a connecting rod, and the connecting rod is respectively hinged with the shell and the spiral disc; the inner center of the second level of the shell is connected with a rotating shaft winding through a steel wire through a reversing pulley, the outer side of the second level of the shell is connected with a base through an elastic rope, and the steel wire used for driving is always in a tight state, so that the steel wire is prevented from being wound mutually.

When the servo motor rotates, the screw disc ascends and descends, the first-stage shell is opened and closed through the connecting rod, meanwhile, the winding steel wire is tightened under the rotating action of the rotating shaft to drive the second-stage shell to be tightened, when the screw disc reaches the lowest point, the first-stage shell of the mechanical claw is tightened, the second stage is also tightened, and the purpose of opening and closing type mechanical claw tight-wire joint is achieved. The steel wire is wound on the stepped sleeve, the stepped sleeve is one part of the overload-proof ratchet wheel, the thicker part is connected with the shaft, the shaft is provided with extending teeth, an internal gear is arranged inside the sleeve and is meshed with ratchet teeth of the ratchet wheel, and the ratchet teeth can rotate. The ratchet is connected with the spring, when the torque reaches a limited value, the spring extends, and the ratchet swings to be disengaged from the teeth of the sleeve and meshed with the next tooth, so that the purpose of limiting the torque can be achieved.

When the screw plate is lifted by the rotation of the screw rod, the first-stage shell is unfolded by the connecting rod, meanwhile, the steel wire rope is loosened by the rotation of the steel wire rope winding sleeve, and the second-stage shell is unfolded by the elastic rope outside the shell to keep the steel wire rope in a tense state.

Compared with the prior art, the mechanical claw has the advantages that other mechanical claws are mainly of a double-finger structure, the application range is relatively single, the mechanical claw not only can be used for shearing off fruit stalks of fruits, but also can be used for clamping granular articles, and the application range is relatively wider. The invention uses the overload prevention mechanism, thereby not only ensuring the force requirement when the mechanical claw is closed, but also avoiding the damage of the motor caused by the motor jamming because the steel wire rope can not continue to extend after the mechanical claw is closed.

Drawings

Fig. 1 is a closed state diagram of the present invention.

Fig. 2 is a view showing an opened state of the present invention.

Fig. 3 is an external perspective view of the present invention.

Fig. 4 is an external view of the overload prevention apparatus according to the present invention.

Fig. 5 is a cross-sectional view of the overload prevention device of the present invention.

In the figure: 1. the device comprises an elastic rope, 2, a guide pulley, 3, a base, 4, a lead screw, 5, an overload prevention device, 6, a rising spiral plate, 7, a hollow connecting rod, 8, a steel wire rope, 9, a sleeve, 10, a ratchet, 11, a spring, 12, a first-stage shell, 13 and a second-stage shell.

Detailed Description

The invention will be further described with reference to the accompanying drawings in which:

as shown in fig. 1, the open-close type mechanical gripper based on the steel wire connecting rod driving comprises an elastic rope 1, a guide pulley 2, a base 3, a lead screw 4, an overload prevention device 5, an ascending screw disk 6, a hollow connecting rod 7, a steel wire rope 8, a stepped sleeve 9, a ratchet 10, a spring 11, a first-stage shell 12 and a second-stage shell 13.

The base 3 and the servo motor of the mechanical claw are fixed on a mechanical arm, a rotating shaft of the servo motor penetrates through the base 3, a lead screw 4 is fixedly connected with the rotating shaft of the servo motor, a steel wire rope 8 is wound at a special winding position of a thin end of a stepped sleeve 9, the thin end just penetrates through the rotating shaft of the servo motor and is as thick as the rotating shaft of the servo motor, the steel wire rope 8 penetrates through a guide pulley 2 to be connected to the inside of a second-stage shell 13, an elastic rope 1 is connected to the outside of the second-stage shell 13; the ascending screw disk 6 is in threaded fit with the lead screw 4, the lead screw 4 rotates to cause the ascending screw disk 6 to ascend and descend, and the hollow connecting rod 7 is hinged with the ascending screw disk 6 and the first-stage shell 12 and used for opening and closing the first-stage shell 12.

As shown in fig. 5, a small disk is fixedly connected to the rotating shaft of the servo motor, and the rotating shaft of the ratchet 10 and the spring 11 are fixed on the small disk; the stepped sleeve is sleeved on the servo motor rotating shaft, so that the ratchet 10 is meshed with the inner teeth of the stepped sleeve, when a certain torque is not achieved, the stepped sleeve 9 rotates along with the servo motor rotating shaft simultaneously, the spring 11 extends after the required torque is achieved, the ratchet 10 is separated from the inner teeth, at the moment, the sleeve 9 does not rotate along with the servo motor rotating shaft, and the purpose of overload prevention is achieved.

As shown in fig. 2, the servo motor rotates, the ascending screw disk 6 starts to ascend, the hollow connecting rod 7 changes from vertical to horizontal, the first-stage shell 12 is opened, meanwhile, the elastic rope 1 connected to the second-stage shell 13 starts to tighten, the steel wire rope 8 is kept in a tensioned state, and at the moment, the limited torque between the inner teeth of the stepped sleeve 9 and the ratchet teeth 10 is not reached, so that the rotating shaft of the synchronous servo motor rotates; when the screw rod 4 rotates, the ascending screw disk 6 moves downwards, the hollow connecting rod 7 drives the first-stage shell 12 to be tightened, meanwhile, the sleeve 9 rotates to drive the steel wire rope 8 to be tightened, and the second-stage shell 13 is tightened at the same time.

As shown in fig. 4, after the first stage housing 12 and the second stage housing 13 are combined together, the stepped sleeve 9 continues to rotate, the steel wire rope 8 is further tightened, and after the limited torque is reached for preventing the load of the servo motor rotating shaft from being too large, the relative rotation between the ratchet 10 and the internal teeth occurs, at this time, the steel wire rope 8 is not tightened any more, and the servo motor rotating shaft does not drive the stepped sleeve to rotate any more.

Claims

1. The utility model provides an open-close type mechanical tongs based on steel wire connecting rod drive which characterized in that: comprises an elastic rope (1), a guide pulley (2), a base (3), a screw rod (4), a rising spiral plate (6), a hollow connecting rod (7), a steel wire rope (8), a stepped sleeve (9), a ratchet (10), a spring (11), a first-stage shell (12) and a second-stage shell (13);

a base (3) of the mechanical gripper and a servo motor are fixed on a mechanical arm, a rotating shaft of the servo motor penetrates through the base (3), a lead screw (4) is fixedly connected with the rotating shaft of the servo motor, a steel wire rope (8) is wound at a special winding position of a thin end of a stepped sleeve (9), the thin end of the stepped sleeve (9) just penetrates through the rotating shaft of the servo motor and has the same thickness as the rotating shaft of the servo motor, the steel wire rope (8) penetrates through a guide pulley (2) to be connected inside a second-stage shell (13), and an elastic rope (1) is connected to the outside of the second-stage shell (13) and the; the ascending screw disc (6) is in threaded fit with the lead screw (4), the lead screw (4) rotates to cause the ascending screw disc (6) to ascend and descend, and the hollow connecting rod (7) is hinged with the ascending screw disc (6) and the first-stage shell (12) and is used for opening and closing the first-stage shell (12); a small disc is fixedly connected to the rotating shaft of the servo motor, and the rotating shaft of the ratchet (10) and the spring (11) are fixed on the small disc; the stepped sleeve is sleeved on the servo motor rotating shaft, so that the ratchet teeth (10) are meshed with the inner teeth of the stepped sleeve, when certain torque is not achieved, the stepped sleeve (9) rotates along with the servo motor rotating shaft simultaneously, the spring (11) extends after the required torque is achieved, the ratchet teeth (10) are separated from the inner teeth, and at the moment, the stepped sleeve (9) does not rotate along with the servo motor rotating shaft, and overload is prevented.

2. The steel wire connecting rod driving-based opening-closing mechanical gripper as claimed in claim 1, is characterized in that: the servo motor rotates, the ascending screw disc (6) begins to ascend, the hollow connecting rod (7) changes from vertical to horizontal, the first-stage shell (12) is opened, meanwhile, the elastic rope (1) connected to the second-stage shell (13) begins to tighten, the steel wire rope (8) is kept in a tensioned state, and at the moment, the limited torque between the inner teeth of the stepped sleeve (9) and the ratchet teeth (10) is not achieved, so that the rotating shaft of the synchronous servo motor rotates; when the screw rod (4) rotates, the ascending screw disc (6) moves downwards, the hollow connecting rod (7) drives the first-stage shell (12) to be tightened, meanwhile, the stepped sleeve (9) rotates to drive the steel wire rope (8) to be tightened, and the second-stage shell (13) is tightened simultaneously.

3. The steel wire connecting rod driving-based opening-closing mechanical gripper as claimed in claim 1, is characterized in that: after first order casing (12) and second level casing (13) are in the same place, ladder sleeve (9) continue to rotate, and wire rope (8) further tighten up, and for preventing that servo motor pivot load is too big, after reaching the limited moment of torsion, take place relative rotation between ratchet (10) and the internal tooth, wire rope (8) are no longer tightened up this moment, and servo motor pivot rotates no longer to drive the ladder sleeve rotatory.