CN112497248A - Flexible sorting clamping mechanical claw - Google Patents
Flexible sorting clamping mechanical claw Download PDFInfo
- Publication number
- CN112497248A CN112497248A CN202110030046.8A CN202110030046A CN112497248A CN 112497248 A CN112497248 A CN 112497248A CN 202110030046 A CN202110030046 A CN 202110030046A CN 112497248 A CN112497248 A CN 112497248A
- Authority
- CN
- China
- Prior art keywords
- gripper
- threaded rod
- mechanical claw
- electric telescopic
- rod
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 210000000078 claw Anatomy 0.000 title claims abstract description 88
- 210000001364 upper extremity Anatomy 0.000 claims abstract description 31
- 230000001681 protective effect Effects 0.000 claims abstract description 23
- 210000003141 lower extremity Anatomy 0.000 claims description 19
- 210000003414 extremity Anatomy 0.000 claims description 13
- 230000000694 effects Effects 0.000 abstract description 2
- 230000000630 rising effect Effects 0.000 abstract 1
- 230000008602 contraction Effects 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000010146 3D printing Methods 0.000 description 1
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 239000013013 elastic material Substances 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 239000000741 silica gel Substances 0.000 description 1
- 229910002027 silica gel Inorganic materials 0.000 description 1
Images
Classifications
-
- 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
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
- B25J15/022—Gripping heads and other end effectors servo-actuated comprising articulated grippers actuated by articulated links
-
- 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
- B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
Abstract
The invention discloses a flexible sorting and clamping mechanical claw which comprises a mechanical claw base, a four-claw chuck, a stepping motor nut assembly, a connecting rod hinge point, an electric telescopic rod and a mechanical claw upper limb hinge point, wherein a driving device of a stepping motor is arranged in the mechanical claw base, the lower end of the mechanical claw base is connected with the stepping motor, the stepping motor is externally connected with a threaded rod, a protective sleeve is additionally arranged on the outer edge of the threaded rod, a mechanical claw fixing piece extends out of the threaded rod, and the four-claw chuck is externally sleeved on the threaded rod. This flexible letter sorting centre gripping gripper is open structure through setting up step motor nut component to 4 gripper mountings of branch expenditure along four directions are utilized gripper mounting articulated gripper upper limbs to under the step motor drive, make step motor nut component follow the threaded rod automatic rising, drive opening and drawing in of gripper, simple structure, the degree of freedom is high, makes the gripper activity very easily control at the periphery.
Description
Technical Field
The invention relates to the technical field of mechanical claw sorting, in particular to a flexible sorting clamping mechanical claw.
Background
With the rapid development of industrial automation, the mechanical claw is gradually replacing the traditional manual work. The mechanical claw, as a high-tech automatic production device, is a product in the mechanical and automatic development process. It can replace the heavy labor of human to realize the mechanization and automation of production, and can be operated under the harmful environment to ensure the personal safety. Therefore, the method becomes an important component of industrial automatic production and has wide development prospect.
However, the traditional rigid mechanical claw has low standardization degree, poor flexibility and higher cost. Therefore, in actual industrial production, the purpose that the same rigid mechanical claw is used for grabbing different types of objects is difficult to achieve, and the traditional mechanical claw is prone to the phenomenon of unbalanced stress so as to damage the object in different degrees or cause the object to fall due to insufficient grabbing force of the mechanical claw. In addition, the manual classification mode is mostly adopted for sorting different types of commodities at present, sorting workers continuously repeat the same action, the labor intensity is high, and the working efficiency is low. The flexible mechanical claw is mainly driven by an electric motor, the super-elastic silica gel material is used as a body model, the research of a 3D printing technology is combined, the flexible mechanical claw theoretically has infinite freedom, and the good flexibility of the flexible mechanical claw makes up the defects of the rigid mechanical claw.
Therefore, the present invention is directed to a flexible sorting gripper robot to solve the above-mentioned problems.
Disclosure of Invention
The invention aims to provide a flexible sorting and clamping mechanical claw, which solves the problems that the claw is difficult to grab different types of objects by using the same rigid mechanical claw, the traditional mechanical claw is easy to have the phenomenon of unbalanced stress, and further the target object is damaged to different degrees or the target object falls due to insufficient grabbing force of the mechanical claw.
In order to achieve the purpose, the invention provides the following technical scheme: a flexible sorting and clamping mechanical claw comprises a mechanical claw base, a four-claw chuck, a stepping motor nut component, a connecting rod hinge point, an electric telescopic rod and a mechanical claw upper limb hinge point, wherein a driving device of a stepping motor is arranged in the mechanical claw base, the lower end of the mechanical claw base is connected with the stepping motor, the stepping motor is externally connected with a threaded rod, a protective sleeve is additionally arranged on the outer edge of the threaded rod, the threaded rod extends out of a mechanical claw fixing part, the four-claw chuck is externally sleeved on the threaded rod and completes centripetal rotation work through the extension and retraction of the threaded rod, the threaded rod extends out of a mechanical claw connecting rod, one end of the threaded rod is connected with the lower end of the stepping motor, the other end of the threaded rod is hinged with the mechanical claw upper limb, the electric telescopic rod is respectively and rotatably arranged on one side which is correspondingly deviated from the threaded rod, and the movable telescopic rod is divided into a, electric telescopic handle protective sheath is all equipped with in the electric telescopic handle outside, and the lower extreme of electric telescopic handle protective sheath installs electric telescopic handle thrust unit to electric telescopic handle protective sheath expansion end is extendible to correspond with the drive gripper low limbs rotate and be close to or keep away from rotatory threaded rod, gripper upper limbs end is equipped with the contact, and the contact is equipped with the contact front end that the increase was grabbed power, gripper upper limbs articulated point is articulated with gripper connecting rod, and gripper upper limbs pin joint lower extreme passes through electric telescopic handle connects, the gripper low limbs are accomplished through electric telescopic handle drive and are opened or draw in the action in, and gripper low limbs inboard installs the terminal sawtooth of gripper low limbs.
Preferably, step motor nut component is open structure, an external threaded rod of step motor, and the threaded rod is outer along being equipped with the protective sheath additional to the threaded rod extends out a gripper mounting, and the gripper mounting passes through fixation nut fixed connection with the threaded rod.
Preferably, the threaded rod is spiral, and under the pushing of the stepping motor, the lifting of the nut component of the stepping motor and the rotation of the four-jaw chuck are controlled, and the mechanical jaws are driven to be opened or closed.
Preferably, the four-jaw chuck comprises a chuck body, four movable jaws which are uniformly distributed on the circumference, a chuck driving machine and connecting rod connecting points, the connecting rod connecting points are distributed on the outer sides of the movable jaws in a central symmetry manner, and the connecting rod hinge points extend out of the mechanical jaw connecting rods.
Preferably, electric telescopic handle rotates respectively to be installed and is corresponding to deviate from one side of threaded rod, and electric telescopic handle flexible end vertical downwards and rather than adjacent gripper low limbs pin joint is connected, the electric telescopic handle protective sheath all is equipped with in the electric telescopic handle outside.
Preferably, the mechanical claw is composed of a mechanical claw upper limb and a mechanical claw lower limb, one end of the mechanical claw upper limb is hinged with one end of the mechanical claw connecting rod, the other end of the mechanical claw connecting rod is hinged to the stepping motor nut component, and the electric telescopic rod is connected with the mechanical claw lower limb.
Preferably, the upper limb of the mechanical claw is connected with a contact body through a buffer spring, and the contact body is provided with a front end of the contact body for increasing the gripping force.
Compared with the prior art, the invention has the beneficial effects that: the flexible sorting clamping mechanism;
(1) the stepping motor nut assembly is arranged to be of an open structure, 4 mechanical claw fixing pieces are branched from the periphery in four directions, the mechanical claw fixing pieces are hinged to the upper limbs of the mechanical claws, and the stepping motor nut assembly is driven by the stepping motor to automatically lift along the threaded rod to drive the mechanical claws to open and close, so that the structure is simple, the degree of freedom is high, and the movement of the mechanical claws is easy to control;
(2) through setting up a four-jaw chuck that comprises chuck main part, four movable jack catch that are circumference evenly distributed and chuck driving machine, the tie point of gripper tie rod distributes in the movable jack catch outside becoming central symmetry, and when step motor driven threaded rod was flexible, movable jack catch outwards impeld under chuck driver's effect, drives gripper upper limbs and moves. In addition, the four-jaw chuck is sleeved on the threaded rod, the centripetal rotation work is completed through the extension and contraction of the threaded rod, 4 mechanical jaw connecting rods extend out of the connecting points of the mechanical jaw connecting rods, and the tightening and the relaxation of the mechanical jaws are controlled;
(3) through setting up electric telescopic handle, rotate respectively with it and install and correspond and deviate from one side of threaded rod, and its flexible end is vertical downwards and rather than adjacent gripper low limbs pin joint is connected, every the electric telescopic handle outside all is equipped with the flexible end of telescopic link protective sheath and can extend and correspond in order to drive gripper low limbs rotate and be close to or keep away from rotatory threaded rod.
Drawings
FIG. 1 is a front view of the overall structure of the present invention;
FIG. 2 is a side view of the three-dimensional structure of the present invention;
FIG. 3 is a schematic view of a gripper according to the present invention;
FIG. 4 is a schematic view of a buffer spring and contact body connection structure according to the present invention;
FIG. 5 is a schematic view of a threaded rod of the present invention;
FIG. 6 is a schematic view of the electric telescopic rod of the present invention;
FIG. 7 is a schematic view of a four-jaw chuck according to the present invention.
In the figure: 1. a gripper base; 2. a stepping motor; 3. a four-jaw chuck; 31. a movable jaw; 32. a connecting rod connection point; 33. a chuck body; 34. a chuck driver; 4. a threaded rod; 41. a stepper motor nut assembly; 42. a gripper fixing member; 43. fixing a nut; 5. a protective sleeve; 6. a mechanical claw connecting rod; 61. the hinge point of the connecting rod; 7. a buffer spring; 8. an electric telescopic rod; 81. a lower limb hinge point of the mechanical claw; 82. an electric telescopic rod protective sleeve; 83. an electric telescopic rod pushing device; 84. the upper limb hinge point of the mechanical claw; 9. a contact body; 91. a contact body front end; 10. the tail ends of the lower limbs of the mechanical claws are provided with saw teeth.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-7, the present invention provides a technical solution: the utility model provides a flexible letter sorting centre gripping gripper, including gripper base 1, step motor 2, four-jaw chuck 3, movable jaw 31, connecting rod tie point 32, chuck main part 33, chuck driving machine 34, threaded rod 4, step motor nut component 41, gripper mounting 42, fixation nut 43, protective sheath 5, gripper connecting rod 6, connecting rod pin joint 61, buffer spring 7, electric telescopic handle 8, gripper low limbs pin joint 81, electric telescopic handle protective sheath 82, electric telescopic handle thrust unit 83, gripper upper limbs pin joint 84, contact 9, contact front end 91 and the terminal sawtooth 10 of gripper low limbs.
As shown in fig. 1 and 2, a driving device of a stepping motor 2 is arranged in a gripper base 1, and the lower end of the driving device is connected with the stepping motor 2, the stepping motor 2 is externally connected with a threaded rod 4, a protective sleeve 5 is additionally arranged on the outer edge of the threaded rod 4, and 4 gripper fixing parts 42 extend out, a four-jaw chuck 3 consists of a chuck main body 33, four movable jaws 31 which are uniformly distributed in the circumferential direction, and a chuck driving machine 34, gripper connecting rod connecting points 32 are distributed on the outer side of the movable jaws 31 in a central symmetry manner, when the threaded rod 4 is driven by the stepping motor 2 to extend, the movable jaws 31 are pushed outwards under the action of the chuck driving machine 34 to drive the upper limbs of the grippers to move, in addition, the four-jaw chuck 3 is externally sleeved on the threaded rod 4, the centripetal rotation work is completed by the extension of the threaded rod 4, and 4 gripper connecting rods 6 extend out, one end of the threaded, the other end is articulated with the gripper upper limbs, electric telescopic handle 8 rotates respectively and installs the one side that deviates from threaded rod 4 in the correspondence, and its flexible end is vertical downwards and be connected rather than adjacent gripper lower limbs pin joint 81, every electric telescopic handle 8 outside all is equipped with telescopic link protective sheath 82 flexible end and can extend to correspond gripper lower limbs with the drive and rotate and be close to or keep away from rotary threaded rod 4, gripper upper limbs end be equipped with contact 9, and contact 9 is equipped with contact front end 91 that increases the grabbing power, gripper upper limbs pin joint 84 articulated with gripper connecting rod 6, and the electric telescopic handle 8 that the lower extreme passes through is connected, the gripper lower limbs pass through the drive of electric telescopic handle 8 and accomplish and open or draw in the action in, and gripper lower limbs inboard installs gripper lower limbs terminal sawtooth 10.
As shown in fig. 3 and 4, the set of mechanical claws comprises 2 to 4 mechanical claws. The mechanical claw comprises a mechanical claw upper limb and a mechanical claw lower limb, one section of the mechanical claw upper limb is hinged by a mechanical claw connecting rod 6, the other end of the mechanical claw upper limb is hinged with a stepping motor nut component 41, and the mechanical claw lower limb is connected through an electric telescopic rod 8 and driven to open or close the mechanical claw lower limb. The upper limb of the gripper is connected with a contact body 9 through a buffer spring 7, and the contact body 9 is provided with a contact body front end 91 for increasing the gripping force, so that the stress balance when an object is gripped is ensured.
As shown in fig. 5, the nut component 41 of the stepping motor is an open structure, the stepping motor 2 is externally connected with a threaded rod 4, the outer edge of the threaded rod 4 is additionally provided with a protective sleeve 5 to protect an internal structure, a device capable of freely sliding is formed, 4 gripper fixing parts 42 are extended to facilitate the installation of the grippers, and the gripper fixing parts 42 are fixedly connected with the threaded rod 4 through fixing nuts 43.
The threaded rod 4 is spiral and similar to a screw, and under the pushing of the stepping motor 2, the lifting of the nut group 41 of the stepping motor and the rotation of the four-jaw chuck 3 are controlled, and the mechanical jaws are driven to be opened or closed.
As shown in fig. 6, electric telescopic handle 8 rotates respectively and installs in the one side that deviates from threaded rod 4 correspondingly, and its flexible end is vertical downwards and is connected rather than adjacent gripper low limbs pin joint 81, and every electric telescopic handle 8 outside all is equipped with the flexible end of electric telescopic handle protective sheath 82 and can extend and rotate and be close to or keep away from rotary threaded rod 4 with the drive corresponding gripper low limbs, and electric telescopic handle thrust unit 83 is installed to the lower extreme of electric telescopic handle protective sheath 82.
As shown in fig. 7, the four-jaw chuck 3 comprises a chuck body 33, four movable jaws 31 distributed uniformly in a circumferential direction, and a chuck driving machine 34, wherein the mechanical jaw connecting rod connecting points 32 are distributed at the outer sides of the movable jaws 31 in a central symmetry manner, the four-jaw chuck 3 is externally sleeved on the threaded rod 4, the centripetal rotation work is completed through the extension and contraction of the threaded rod 4, and 4 mechanical jaw connecting rods 6 extend out of a mechanical connecting rod hinge point 61 to control the contraction and the relaxation of the mechanical jaws.
The working principle of the embodiment is as follows: before the flexible sorting and clamping mechanical claw is used, the overall condition of the mechanical claw needs to be checked to determine that the mechanical claw can work normally.
When the flexible sorting and clamping mechanical claw is used, according to the figures 1-7, the angles of the four mechanical claws are firstly adjusted to adapt to the shape of a target object, the rotation of the four-claw chuck 3 and the lifting of the nut component 41 of the stepping motor are automatically controlled through the driving of the stepping motor 2 on the mechanical claw base 1 and the mutual matching of the threaded rod 4, the rotation of the connecting rod 6 of the mechanical claw is controlled, and the opening and closing of the upper limbs of the mechanical claw are further controlled. The stretching of the lower limbs of the mechanical claws is controlled by the driving of the electric telescopic rod 8, so that the grabbing action is realized. When the mechanical claw contacts an object, the contact body front end 91 made of elastic materials is firstly contacted, then the contact body front end 91 is tightly attached to the object, the buffer spring 7 begins to compress along with the increase of the pressure, and the enveloping performance of the whole contact body front end 91 to the object is increased, so that the attachment is more compact and smooth. Then the mechanical claw grabs the object to reach the designated place, the stepping motor nut component 41 moves upwards, the four-claw chuck 3 rotates inwards, the mechanical claw is loosened under the action of the mechanical claw connecting rod 6 and the electric telescopic rod 8, the object is placed, and the content which is not described in detail in the specification belongs to the prior art which is well known by a person skilled in the art.
Although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that various changes in the embodiments and/or modifications of the invention can be made, and equivalents and modifications of some features of the invention can be made without departing from the spirit and scope of the invention.
Claims (7)
1. The utility model provides a flexible letter sorting centre gripping gripper, includes gripper base (1), four-jaw chuck (3), step motor nut component (41), connecting rod pin joint (61), electric telescopic handle (8) and gripper upper limbs pin joint (84), its characterized in that: be equipped with the drive arrangement of step motor (2) in gripper base (1), and gripper base (1) its lower extreme is connected with step motor (2), step motor (2) external threaded rod (4), and threaded rod (4) are outer along being equipped with protective sheath (5) additional, and threaded rod (4) extend 4 gripper fixing parts (42), four-jaw chuck (3) overcoat is on threaded rod (4), and accomplishes centripetal rotary work through flexible of threaded rod (4), and threaded rod (4) extend 4 gripper connecting rod (6), the one end of threaded rod (4) with step motor (2) lower extreme is connected, and the other end of threaded rod (4) with the gripper upper limbs are articulated, electric telescopic handle (8) rotate respectively and install in corresponding one side that deviates from threaded rod (4), and move telescopic handle (8) divide its flexible end vertical downwards and rather than adjacent gripper low limbs pin joint (81) The outer sides of the electric telescopic rods (8) are provided with electric telescopic rod protective sleeves (82), and the lower end of the electric telescopic rod protective sleeve (82) is provided with an electric telescopic rod pushing device (83), and the telescopic end of the electric telescopic rod protective sleeve (82) can extend to drive the lower limb of the mechanical claw to rotate and approach or leave the rotary threaded rod (4), the tail end of the upper limb of the mechanical claw is provided with a contact body (9), the contact body (9) is provided with a contact body front end (91) for increasing the gripping force, the upper limb hinge point (84) of the mechanical claw is hinged with the mechanical claw connecting rod (6), and the lower ends of the upper limb hinge points (84) of the mechanical claws are connected through the electric telescopic rod (8), the mechanical claw lower limbs are driven by an electric telescopic rod (8) to finish opening or closing actions, and the inner sides of the mechanical claw lower limbs are provided with mechanical claw lower limb tail end sawteeth (10).
2. The flexible sorting gripper robot of claim 1, further comprising: step motor nut component (41) are open structure, an external threaded rod (4) of step motor (2), and threaded rod (4) are outer along adding and being equipped with protective sheath (5) to threaded rod (4) extend 4 gripper mounting (42), gripper mounting (42) and threaded rod (4) are through fixation nut (43) fixed connection.
3. The flexible sorting gripper robot of claim 1, further comprising: the threaded rod (4) is in a spiral shape, and under the pushing of the stepping motor (2), the lifting of the stepping motor nut component (41) and the rotation of the four-jaw chuck (3) are controlled, and the mechanical jaws are driven to be opened or closed.
4. The flexible sorting gripper robot of claim 1, further comprising: four-jaw chuck (3) contain one chuck main part (33), four be movable jack catch (31) and chuck driver (34) and connecting rod tie point (32) that circumference evenly distributed, and connecting rod tie point (32) become central symmetry and distribute in movable jack catch (31) outside, connecting rod pin joint (61) extends 4 gripper connecting rods (6).
5. The flexible sorting gripper robot of claim 1, further comprising: electric telescopic handle (8) rotate respectively and install and correspondingly deviate from one side of threaded rod (4), and electric telescopic handle (8) flexible end vertical downwards and rather than adjacent gripper low limbs pin joint (81) are connected, electric telescopic handle protective sheath (82) all are equipped with in electric telescopic handle (8) outside.
6. The flexible sorting gripper robot of claim 1, further comprising: the mechanical claw is composed of a mechanical claw upper limb and a mechanical claw lower limb, one end of a mechanical claw upper limb is hinged to one end of a mechanical claw connecting rod (6), the other end of the mechanical claw connecting rod (6) is hinged to a stepping motor nut component (41), and an electric telescopic rod (8) is connected with the mechanical claw lower limb.
7. The flexible sorting gripper robot of claim 1, further comprising: the gripper upper limbs are connected with a contact body (9) through a buffer spring (7), and the contact body (9) is provided with a contact body front end (91) for increasing grabbing force.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110030046.8A CN112497248B (en) | 2021-01-11 | Flexible sorting clamping mechanical claw |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110030046.8A CN112497248B (en) | 2021-01-11 | Flexible sorting clamping mechanical claw |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112497248A true CN112497248A (en) | 2021-03-16 |
| CN112497248B CN112497248B (en) | 2024-04-26 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112849373A (en) * | 2021-04-01 | 2021-05-28 | 广东海洋大学 | Underwater small-space grabbing robot |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112849373A (en) * | 2021-04-01 | 2021-05-28 | 广东海洋大学 | Underwater small-space grabbing robot |
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