CN111390949A - Mechanical gripper device - Google Patents

Mechanical gripper device Download PDF

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Publication number
CN111390949A
CN111390949A CN202010320881.0A CN202010320881A CN111390949A CN 111390949 A CN111390949 A CN 111390949A CN 202010320881 A CN202010320881 A CN 202010320881A CN 111390949 A CN111390949 A CN 111390949A
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CN
China
Prior art keywords
mechanical
connecting arm
fixed
arm
claw
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Pending
Application number
CN202010320881.0A
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Chinese (zh)
Inventor
张凯良
刘辉
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China Agricultural University
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China Agricultural University
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Publication date
Application filed by China Agricultural University filed Critical China Agricultural University
Priority to CN202010320881.0A priority Critical patent/CN111390949A/en
Publication of CN111390949A publication Critical patent/CN111390949A/en
Pending legal-status Critical Current

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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
    • 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
    • B25J15/08—Gripping heads and other end effectors having finger members
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

The invention discloses a mechanical claw device, which comprises a mounting frame; the cam drum mechanism comprises a rotating shaft which is rotatably connected in the mounting rack; the gear is sleeved outside the cylindrical cam; slope surfaces are symmetrically formed at two ends of the cylindrical cam, and the highest point and the lowest point of each slope surface are on the same vertical plane; the mechanical claw mechanism comprises a first connecting arm, a second connecting arm, a first mechanical claw and a second mechanical claw, wherein the first connecting arm is connected to the upper part of the mounting frame in a sliding mode; the rear ends of the first connecting arm and the second connecting arm are respectively contacted with the slope surface on the corresponding side; the first mechanical claw and the second mechanical claw are parallel to each other; the driving mechanism is in transmission connection with the gear.

Description

Mechanical gripper device
Technical Field
The invention relates to a mechanical claw device, and belongs to the field of automation equipment.
Background
At present, mechanical claws in the market are mostly directly driven by a motor, and the mechanical claws waste the advantage of strong force of the motor in the opening stage when dealing with the situation that the clamping force is large; meanwhile, the larger the output force is, the slower the operation speed is, and finally, the clamping speed is very slow.
Disclosure of Invention
In view of the above problems, an object of the present invention is to provide a gripper apparatus.
In order to achieve the purpose, the invention adopts the following technical scheme: a gripper apparatus includes a mounting frame;
the cam drum mechanism comprises a rotating shaft which is rotatably connected in the mounting rack; the gear is sleeved outside the cylindrical cam; slope surfaces are symmetrically formed at two ends of the cylindrical cam, and the highest point and the lowest point of each slope surface are on the same vertical plane;
the mechanical claw mechanism comprises a first connecting arm, a second connecting arm, a first mechanical claw and a second mechanical claw, wherein the first connecting arm is connected to the upper part of the mounting frame in a sliding mode; the rear ends of the first connecting arm and the second connecting arm are respectively contacted with the slope surface on the corresponding side; the first mechanical claw and the second mechanical claw are parallel to each other;
and the driving mechanism is fixed on the mounting rack and is in transmission connection with the gear.
Preferably, the cylinder cam comprises a first cylinder cam and a second cylinder cam which are symmetrically fixed on two sides of the gear, the free end faces of the first cylinder cam and the second cylinder cam are both provided with the slope faces, and the slope faces on the first cylinder cam and the slope faces on the second cylinder cam are symmetrical with respect to the gear.
Preferably, the first connecting arm includes a first mechanical arm, a first slider and a first slide rail, the first slide rail is fixed to the upper portion of the mounting frame, the first slider is slidably disposed on the first slide rail, the first mechanical arm is fixed to the top of the first slider, the rear end of the first mechanical arm contacts with the slope surface on the corresponding side, and the first mechanical claw is fixed to the front end of the first mechanical arm;
the second connecting arm comprises a second mechanical arm, a second sliding block and a second sliding rail, the second sliding rail is fixed to the lower portion of the mounting frame, the second sliding block is arranged on the second sliding rail in a sliding mode, the second mechanical arm is fixed to the bottom of the second sliding block, the rear end of the second mechanical arm is in contact with the slope face of the corresponding side, and the second mechanical claw is fixed to the front end of the second mechanical arm.
Preferably, the first mechanical claw comprises a first claw body fixed at the front end of the first connecting arm, a groove formed on the inner side wall of the first claw body, and a cutter blocking piece fixed at the top of the first claw body;
the second mechanical claw comprises a second claw body fixed at the front end of the second connecting arm, a protrusion formed on the inner side wall of the second claw body, and a blade fixed at the top of the second claw body, wherein the blade surface of the blade extends out of the inner side wall of the second claw body.
Preferably, the optical fiber type correlation switch is arranged on the mounting frame, and the position of the mechanical collision switch on the mounting frame corresponds to the farthest stroke end of the first connecting arm or the second connecting arm relative to the mounting frame; the optical fiber type correlation switch is arranged on the first mechanical claw and the second mechanical claw, the controller is fixed on the mounting frame, and the driving mechanism, the mechanical collision switch and the optical fiber type correlation switch are connected with the controller.
Preferably, magnets are arranged on the first connecting arm and the second connecting arm, and attraction force is formed between the magnets on the first connecting arm and the second connecting arm.
Preferably, the driving mechanism adopts a motor, and the output end of the motor is in transmission connection with the gear.
Preferably, the elastic member is a plurality of springs.
Preferably, the cylindrical cam is manufactured by a 3D printing mode, and the material is future 8000 resin.
By adopting the technical scheme, the invention has the following advantages: the mechanical claw device mainly comprises a cam drum mechanism, a mechanical claw mechanism and a driving mechanism, wherein the driving mechanism drives the cam drum mechanism to move, slope surfaces are symmetrically formed at two ends of a cylindrical cam of the cam drum mechanism, the highest point and the lowest point of each slope surface are on the same vertical plane, and the rear ends of a first connecting arm and a second connecting arm move towards the highest point along the slope surfaces of the corresponding sides, so that the mechanical claw is opened, and meanwhile, the opening process of the mechanical claw can be completed in the aiming process of the mechanical arm; the rear ends of the first connecting arm and the second connecting arm slide to the lowest point from the highest point of the slope surface of the corresponding side similar to a free falling body, and the mechanical claw is rapidly clamped under the action of resilience force of the elastic piece, so that the defects of the mechanical claw in the prior art are overcome.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
fig. 2 is a schematic structural view of the barrel cam mechanism of the present invention.
Detailed Description
The preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings so that the objects, features and advantages of the invention can be more clearly understood. It should be understood that the embodiments shown in the drawings are not intended to limit the scope of the present invention, but are merely intended to illustrate the spirit of the technical solution of the present invention.
As shown in fig. 1, the gripper device provided by the invention comprises a mounting frame 1, a cam drum mechanism 2, a gripper mechanism 3 and a driving mechanism;
the cam drum mechanism 2 comprises a rotating shaft 21, a cylindrical cam 22 and a gear 23, wherein the rotating shaft 21 is rotatably connected in the mounting frame 1; the cylindrical cam 22 is sleeved outside the rotating shaft 21, the two ends of the cylindrical cam 22 are symmetrically provided with slope surfaces 221, and the highest point and the lowest point of the slope surfaces 221 are on the same vertical plane; the gear 23 is sleeved outside the cylindrical cam 22;
the mechanical claw mechanism 3 comprises a first connecting arm 31, a second connecting arm 32, a first mechanical claw 33, a second mechanical claw 34 and an elastic piece; the first connecting arm 31 is slidably connected to the upper portion of the mounting frame 1, a first mechanical claw 33 is fixedly connected to the front end of the first connecting arm 31, and the rear end of the first connecting arm 31 contacts with the slope surface 221 on the corresponding side; the second connecting arm 32 is slidably connected to the lower part of the mounting frame 1, a second mechanical claw 34 is fixedly connected to the front end of the second connecting arm 32, and the rear end of the second connecting arm 32 is in contact with the slope surface 221 on the corresponding side; the first gripper 33 and the second gripper 34 are parallel to each other, and the elastic member is connected between the first connecting arm 31 and the second connecting arm 32;
and the driving mechanism is fixed on the mounting frame 1 and is in transmission connection with the gear 23.
When the mechanical claw device is used, the driving mechanism is started, the driving mechanism drives the gear 23 to rotate, the gear 23 drives the cylindrical cam 22 and the rotating shaft 21 to rotate together, the rear ends of the first connecting arm 31 and the second connecting arm 32 move to the highest point along the slope surface 221 on the corresponding side, meanwhile, the first connecting arm 31 and the second connecting arm 32 move to the two sides of the mounting frame 1 in a synchronously pushed manner, and therefore the first mechanical claw 33 and the second mechanical claw 34 are opened; in addition, during the process that the first mechanical claw 33 and the second mechanical claw 34 are continuously opened, the elastic piece gradually stores elastic potential energy; when the rear ends of the first connecting arm 31 and the second connecting arm 32 synchronously move to the highest point of the slope surface 221 on the corresponding side, the driving mechanism continues to operate, the rear ends of the first connecting arm 31 and the second connecting arm 32 synchronously slide off from the highest point of the slope surface 221 on the corresponding side, and under the resilience action of the elastic member, the rear ends of the first connecting arm 31 and the second connecting arm 32 synchronously and quickly slide off to the lowest point of the slope surface 221, so that the first mechanical claw 33 and the second mechanical claw 34 are quickly clamped; moreover, since the highest point and the lowest point of the slope surface 221 are located on the same vertical plane, the process that the first connecting arm 31 and the second connecting arm 32 slide from the highest point to the lowest point of the slope surface 221 on the corresponding side is similar to the free-fall motion, and the clamping speed of the first gripper and the second gripper 34 is greatly increased.
In a preferred embodiment, as shown in fig. 2, the barrel cam 22 includes a first barrel cam 22a and a second barrel cam 22b symmetrically fixed on both sides of the gear 23, the free end faces of the first barrel cam 22a and the second barrel cam 22b are each provided as a slope face 221, and the slope faces 221 on the first barrel cam 22a and the slope faces 221 on the second barrel cam 22b are symmetrical with respect to the gear 23, so that the entire cam-drum mechanism is more convenient and faster to install.
In a preferred embodiment, the first link arm 31 includes a first robot arm 311, a first sliding block 312 and a first sliding rail 313, the first sliding rail 313 is fixed on the upper portion of the mounting block 1, the first sliding block 312 is slidably disposed on the first sliding rail 313, the first robot arm 311 is fixed on the top of the first sliding block 312, the rear end of the first robot arm 311 contacts with the slope surface 221 on the corresponding side, and the first gripper 33 is fixed on the front end of the first robot arm 311;
the second connecting arm 32 comprises a second mechanical arm 321, a second sliding block 322 and a second sliding rail 323, the second sliding rail 323 is fixed at the lower part of the mounting frame 1, the second sliding block 322 is slidably arranged on the second sliding rail 323, the second mechanical arm 321 is fixed at the bottom of the second sliding block 322, the rear end of the second mechanical arm 321 contacts with the slope surface 221 of the corresponding side, and the second mechanical claw 34 is fixed at the front end of the second mechanical arm 321.
In a preferred embodiment, the first gripper 33 includes a first gripper body 331 fixed to the front end of the first connecting arm 31, a groove 332 formed on the inner sidewall of the first gripper body 331, and a knife stopper 333 fixed to the top of the first gripper body 331; the second gripper 34 includes a second gripper body 341 fixed to the front end of the second connecting arm 32, a protrusion 342 formed on the inner side wall of the second gripper body 341, and a blade 343 fixed to the top of the second gripper body 341, the edge face of the blade 343 protruding beyond the inner side wall of the second gripper body 341; during the rapid clamping of the first gripper 33 and the second gripper 34, the protrusion 342 fits into the groove 332, and after the blade 343 cuts the material, the edge face of the blade 343 stops in the knife stopper 333. Of course, the structure of the first gripper 33 and the second gripper 34 is not limited thereto, and other structures for clamping or cutting the material may be designed.
In a preferred embodiment, the resilient member may be a plurality of springs.
In a preferred embodiment, the cylindrical cam 22 is made by 3D printing, the material is future 8000 resin, and the mounting frame 1, the rotating shaft 21, the first connecting arm 31, the second connecting arm 32, the first claw body 331 and the second claw body 341 are made of aluminum alloy.
In a preferred embodiment, the present invention further comprises a mechanical impact switch, an optical fiber type correlation switch and a controller (not shown in the figure), wherein the mechanical impact switch is arranged on the mounting bracket 1, and the position of the mechanical impact switch on the mounting bracket 1 corresponds to the farthest stroke end of the first connecting arm 31 or the second connecting arm 32 relative to the mounting bracket 1; the optical fiber type correlation switch is arranged on the first mechanical claw 33 and the second mechanical claw 34, the controller is fixed on the mounting frame 1, and the driving mechanism, the mechanical collision switch and the optical fiber type correlation switch are all connected with the controller; when the first connecting arm 31 or the second connecting arm 32 moves to the farthest end of the stroke relative to the mounting frame 1, the first connecting arm 31 or the second connecting arm 32 triggers the mechanical collision switch, the controller controls the driving mechanism to stop running, and the first connecting arm 31 and the second connecting arm 32 stop moving; when the material is located between the first gripper 33 and the second gripper 34, the optical fiber type correlation switch transmits a signal to the controller, and the controller controls the driving mechanism to continue to operate, at this time, the rear ends of the first connecting arm 31 and the second connecting arm 32 synchronously slide off from the highest point of the slope surface 221 on the corresponding side, and rapidly slide off to the lowest point of the slope surface 221 under the resilience action of the elastic member, so that rapid clamping of the first gripper 33 and the second gripper 34 is completed.
In a preferred embodiment, in order to avoid the collision rebound between the first connecting arm 31 and the second connecting arm 32 after the mechanical jaws are clamped, magnets are arranged on the first connecting arm 31 and the second connecting arm 32, and attraction force is provided between the magnets on the first connecting arm 31 and the second connecting arm 32.
In a preferred embodiment, the driving mechanism can be a motor fixed on the mounting frame 1, and the output end of the motor is in transmission connection with the gear 23.
The present invention has been described with reference to the above embodiments, and the structure, arrangement, and connection of the respective members may be changed. On the basis of the technical scheme of the invention, the improvement or equivalent transformation of the individual components according to the principle of the invention is not excluded from the protection scope of the invention.

Claims (9)

1. A gripper apparatus, characterized in that: comprises a mounting frame;
the cam drum mechanism comprises a rotating shaft which is rotatably connected in the mounting rack; the gear is sleeved outside the cylindrical cam; slope surfaces are symmetrically formed at two ends of the cylindrical cam, and the highest point and the lowest point of each slope surface are on the same vertical plane;
the mechanical claw mechanism comprises a first connecting arm, a second connecting arm, a first mechanical claw and a second mechanical claw, wherein the first connecting arm is connected to the upper part of the mounting frame in a sliding mode; the rear ends of the first connecting arm and the second connecting arm are respectively contacted with the slope surface on the corresponding side; the first mechanical claw and the second mechanical claw are parallel to each other;
and the driving mechanism is fixed on the mounting rack and is in transmission connection with the gear.
2. A gripper apparatus according to claim 1, wherein:
the cylinder cam comprises a first cylinder cam and a second cylinder cam which are symmetrically fixed on two sides of the gear, the end faces of the free ends of the first cylinder cam and the second cylinder cam are both provided with the slope surfaces, and the slope surfaces on the first cylinder cam and the second cylinder cam are symmetrical relative to the gear.
3. A gripper apparatus according to claim 1, wherein:
the first connecting arm comprises a first mechanical arm, a first sliding block and a first sliding rail, the first sliding rail is fixed to the upper portion of the mounting frame, the first sliding block is arranged on the first sliding rail in a sliding mode, the first mechanical arm is fixed to the top of the first sliding block, the rear end of the first mechanical arm is in contact with the slope surface on the corresponding side, and the first mechanical claw is fixed to the front end of the first mechanical arm;
the second connecting arm comprises a second mechanical arm, a second sliding block and a second sliding rail, the second sliding rail is fixed to the lower portion of the mounting frame, the second sliding block is arranged on the second sliding rail in a sliding mode, the second mechanical arm is fixed to the bottom of the second sliding block, the rear end of the second mechanical arm is in contact with the slope face of the corresponding side, and the second mechanical claw is fixed to the front end of the second mechanical arm.
4. A gripper apparatus according to claim 1, wherein:
the first mechanical claw comprises a first claw body fixed at the front end of the first connecting arm, a groove formed on the inner side wall of the first claw body, and a cutter blocking piece fixed at the top of the first claw body;
the second mechanical claw comprises a second claw body fixed at the front end of the second connecting arm, a protrusion formed on the inner side wall of the second claw body, and a blade fixed at the top of the second claw body, wherein the blade surface of the blade extends out of the inner side wall of the second claw body.
5. A gripper apparatus according to claim 1, wherein:
the optical fiber type correlation switch is arranged on the mounting frame, and the position of the mechanical type collision switch on the mounting frame corresponds to the farthest stroke end of the first connecting arm or the second connecting arm relative to the mounting frame; the optical fiber type correlation switch is arranged on the first mechanical claw and the second mechanical claw, the controller is fixed on the mounting frame, and the driving mechanism, the mechanical collision switch and the optical fiber type correlation switch are connected with the controller.
6. A gripper apparatus according to claim 1, wherein:
all set up magnet on first linking arm and the second linking arm, have the suction between the magnet on first linking arm and the second linking arm.
7. A gripper apparatus according to claim 1 or 5, wherein:
the driving mechanism adopts a motor, and the output end of the motor is in transmission connection with the gear.
8. A gripper apparatus according to claim 1, wherein:
the elastic part adopts a plurality of springs.
9. A gripper apparatus according to claim 1 or 2, wherein:
the cylindrical cam is manufactured in a 3D printing mode and is made of future 8000 of resin.
CN202010320881.0A 2020-04-22 2020-04-22 Mechanical gripper device Pending CN111390949A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202010320881.0A CN111390949A (en) 2020-04-22 2020-04-22 Mechanical gripper device

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202010320881.0A CN111390949A (en) 2020-04-22 2020-04-22 Mechanical gripper device

Publications (1)

Publication Number Publication Date
CN111390949A true CN111390949A (en) 2020-07-10

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ID=71417586

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202010320881.0A Pending CN111390949A (en) 2020-04-22 2020-04-22 Mechanical gripper device

Country Status (1)

Country Link
CN (1) CN111390949A (en)

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2016101435A1 (en) * 2014-12-23 2016-06-30 河北汇金机电股份有限公司 Printing mechanism based on integrated banding and printing apparatus, instant-login banding and printing machine and control method thereof
CN205766215U (en) * 2016-05-25 2016-12-07 深圳市鑫金桥自动化设备有限公司 A kind of mechanical type clip claw mechanism
CN107471223A (en) * 2017-08-17 2017-12-15 重庆胡柚塔文化传播有限公司 A kind of drawing clamping device of robot
CN108582137A (en) * 2018-01-29 2018-09-28 安徽机电职业技术学院 A kind of mechanical clamp hand device of Dual-motors Driving
CN212193195U (en) * 2020-04-22 2020-12-22 中国农业大学 Mechanical gripper device

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2016101435A1 (en) * 2014-12-23 2016-06-30 河北汇金机电股份有限公司 Printing mechanism based on integrated banding and printing apparatus, instant-login banding and printing machine and control method thereof
CN205766215U (en) * 2016-05-25 2016-12-07 深圳市鑫金桥自动化设备有限公司 A kind of mechanical type clip claw mechanism
CN107471223A (en) * 2017-08-17 2017-12-15 重庆胡柚塔文化传播有限公司 A kind of drawing clamping device of robot
CN108582137A (en) * 2018-01-29 2018-09-28 安徽机电职业技术学院 A kind of mechanical clamp hand device of Dual-motors Driving
CN212193195U (en) * 2020-04-22 2020-12-22 中国农业大学 Mechanical gripper device

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