CN112678516A - Automatic clamping mechanism and mechanical arm - Google Patents
Automatic clamping mechanism and mechanical arm Download PDFInfo
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- CN112678516A CN112678516A CN202011587542.5A CN202011587542A CN112678516A CN 112678516 A CN112678516 A CN 112678516A CN 202011587542 A CN202011587542 A CN 202011587542A CN 112678516 A CN112678516 A CN 112678516A
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- 230000004308 accommodation Effects 0.000 description 18
- 241000446313 Lamella Species 0.000 description 8
- 238000000034 method Methods 0.000 description 7
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000003139 buffering effect Effects 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
- 208000015181 infectious disease Diseases 0.000 description 2
- 238000006467 substitution reaction Methods 0.000 description 2
- 238000013016 damping Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005489 elastic deformation Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
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Abstract
The embodiment of the application discloses a scheme of an automatic clamping mechanism and a mechanical arm, and is used for automatically clamping a target object. Wherein an automatic clamp is got mechanism includes: the device comprises an inner cylinder, an outer cylinder, a multi-petal collet and a power source; the outer cylinder is sleeved outside the inner cylinder; the first end of the inner cylinder is provided with the multi-petal collet chuck, the multi-petal collet chuck is of an inverted cone structure, and the outer diameter of the tail end of the multi-petal collet chuck is larger than the inner diameter of the first end of the outer cylinder; and the power output end of the power source is matched and connected with the second end of the outer barrel, and the power output end of the power source pushes the outer barrel to slide back and forth relative to the inner barrel.
Description
Technical Field
The embodiment of the application relates to the technical field of medical equipment, in particular to an automatic clamping mechanism and a mechanical arm.
Background
In the prior art, in order to avoid infection risk caused by pharyngeal swab collection work to medical personnel, the mechanical arm can be used for replacing manual pharyngeal swab collection work of target personnel, and then infection risk caused to medical personnel is avoided. However, in the use process of the robot arm, the pharyngeal swab for executing the pharyngeal swab collection work needs to be replaced continuously, and the pharyngeal swab needs to be replaced in a manual cooperation mode in the existing scheme, so that the pharyngeal swab is not convenient and safe enough.
Disclosure of Invention
The embodiment of the application provides a technical scheme of an automatic clamping mechanism and a mechanical arm, and is used for automatically clamping a target object (such as a throat swab).
This application first aspect provides an automatic mechanism of getting, includes: the device comprises an inner cylinder, an outer cylinder, a multi-petal collet and a power source;
the outer cylinder is sleeved outside the inner cylinder;
the first end of the inner cylinder is provided with the multi-petal collet chuck, the multi-petal collet chuck is of an inverted cone structure, and the outer diameter of the tail end of the multi-petal collet chuck is larger than the inner diameter of the first end of the outer cylinder;
and the power output end of the power source is matched and connected with the second end of the outer barrel, and the power output end of the power source pushes the outer barrel to slide back and forth relative to the inner barrel.
Optionally, the method further comprises: a control circuit;
the control circuit is electrically connected with the power source and is used for controlling the starting and the closing of the power source.
Optionally, the method further comprises: a sensor;
the sensor is arranged in the multi-petal collet chuck, is electrically connected with the control circuit and is used for sensing whether the multi-petal collet chuck contacts a target object or not and sending a feedback signal whether the multi-petal collet chuck contacts the target object or not to the control circuit;
when the feedback signal sent by the sensor to the control circuit indicates that the target object is contacted, the control circuit sends a motion signal to the power source in the direction of the first end of the outer cylinder.
Optionally, the multi-lobed collet is integrally formed with the inner barrel;
or the like, or, alternatively,
the multi-petal collet is formed by combining a plurality of elastic clamping sheets with mutually matched petals.
Optionally, the elastic clamping pieces have grooves adapted to the target object, and the grooves of the elastic clamping pieces cooperate to limit the target object.
Optionally, each lamella the elasticity centre gripping piece is fifty percent discount bilayer structure, fifty percent discount bilayer structure has the space and regards as deformation accommodation space, the recess sets up one side of one of them one deck of fifty percent discount bilayer structure.
A second aspect of the present application provides another automatic gripping mechanism, including: the outer cylinder, the inner cylinder, the multi-petal collet chuck and the power source;
the outer cylinder is sleeved outside the inner cylinder;
the multi-petal collet chuck is formed by combining a plurality of mutually matched elastic clamping sheets, the multi-petal collet chuck is arranged at the first end of the inner cylinder, the local outer diameter of the multi-petal collet chuck is larger than the inner diameter of the first end of the outer cylinder, and each petal of the elastic clamping sheet of the multi-petal collet chuck is provided with a deformation accommodating space; when the outer cylinder slides towards the first end of the inner cylinder from the outside of the inner cylinder, the elastic clamping sheets of the multi-petal collet chuck can deform towards the deformation accommodating space and completely enter the outer cylinder when being extruded by the inner wall of the outer cylinder;
the second end of the outer cylinder is connected with the power output end of the power source, and the power output end pushes the outer cylinder to slide towards the second end of the inner cylinder under the power action of the power source, so that the multi-petal collet chuck connected with the first end of the inner cylinder extends out of the first end of the outer cylinder.
Optionally, the method further comprises: a control circuit;
the control circuit is electrically connected with the power source and is used for controlling the starting and the closing of the power source.
Optionally, the method further comprises: a sensor;
the sensor is arranged in the multi-petal collet chuck, is electrically connected with the control circuit and is used for sensing whether the multi-petal collet chuck contacts a target object or not and sending a feedback signal of whether the multi-petal collet chuck contacts the target object or not to the control circuit;
when the feedback signal sent by the sensor to the control circuit indicates that the target object is contacted, the control circuit sends a motion signal to the power source in the direction of the first end of the outer cylinder.
A third aspect of the present application provides a robot arm, wherein the automatic gripping mechanism according to any one of the first or second aspects is connected to a tip of the robot arm in a fitting manner.
According to the technical scheme, the embodiment of the application has the following advantages:
the outer barrel of the automatic clamping mechanism of this application first aspect is established outside the inner tube, and the first end of inner tube is provided with many lamella collets, this many lamella collets is the back taper, the terminal diameter of many lamella collets setting when the inner tube is greater than the internal diameter of outer tube first end, this makes when the first end of promotion urceolus slides to the first end direction of inner tube under the power take off effect of power supply, the inner wall that the first end internal diameter of urceolus corresponds can progressively form the restraint to many lamella collets, force many lamella collets originally to open the accommodation space that forms and dwindle gradually, if there is the target object in the accommodation space of many lamella collets, then can be held by the many lamella collets that dwindles accommodation space gradually. It can be seen that, the automatic clamping mechanism of the first aspect of the present application can realize automatic clamping of a target object, and when the automatic clamping mechanism of the present application is adaptively installed at the end of a mechanical arm, the automatic clamping mechanism can automatically clamp a target object (for example, a pharyngeal swab) within a certain range under the motion control of the mechanical arm.
The outer sleeve of the automatic clamping mechanism in the second aspect of the application is sleeved outside the inner cylinder, and the multi-petal collet chuck is formed by combining a plurality of mutually matched elastic clamping sheets, the multi-petal collet chuck is arranged at the first end of the inner cylinder, each elastic clamping sheet of the multi-petal collet chuck is provided with a deformation accommodating space, when the first end of the outer cylinder is pushed to slide towards the first end of the inner cylinder under the action of the power output end of the power source, if a target object exists in the accommodating space of the multi-petal collet chuck, the elastic clamping sheets of the multi-petal collet chuck can deform towards the shape-variable accommodating space when being squeezed by the inner wall of the first end of the outer cylinder, and meanwhile, the accommodating space formed by the original opening of the multi-petal collet chuck is forced to be gradually reduced, the target object is clamped by the multi-petal collet chuck which gradually reduces the accommodating space and is clamped by the multi-petal collet chuck to enter the outer cylinder, so that the target object is clamped and fixed. It can be seen that, the automatic clamping mechanism of the second aspect of the present application can also achieve automatic clamping of the target object, and when the automatic clamping mechanism of the present application is adaptively installed at the end of the mechanical arm, the automatic clamping mechanism can automatically clamp the target object (for example, a throat swab) within a certain range under the motion control of the mechanical arm.
Drawings
Fig. 1 is a schematic structural view of an embodiment of an automatic gripping mechanism according to the present application;
FIG. 2 is a cross-sectional view of the automatic clamping mechanism of FIG. 1 taken along A-A;
FIG. 3 is a schematic view of an embodiment of a multi-petal collet of the present automatic gripper mechanism;
FIG. 4 is a schematic view of another embodiment of a multi-petal collet of the present automatic gripper mechanism;
fig. 5 is a sectional view of another embodiment of the automatic clamping mechanism of the present application.
Detailed Description
The embodiment of the application provides a technical scheme of an automatic clamping mechanism and a mechanical arm, and is used for automatically clamping a target object (such as a throat swab).
Referring to fig. 1 and 2, an embodiment of an automatic clamping mechanism 100 according to the present application includes: an outer cylinder 110, an inner cylinder 120, a multi-lobed collet 130, and a power source. Wherein the outer cylinder 110 is sleeved outside the inner cylinder 120, and the outer cylinder 110 can slide relative to the inner cylinder 120. The first end of the inner cylinder 120 is provided with a multi-petal collet 130, and the multi-petal collet 130 is an inverted cone structure, that is, the outer diameter of one end (tail end) of the multi-petal collet 130 is larger than that of the other end, and the outer diameter of the tail end of the multi-petal collet 130 should be larger than that of the first end of the outer cylinder 110. The power output end 210 of the power source is fixedly connected with the second end of the outer cylinder 120, and the power output end 210 of the power source pushes the outer cylinder 110 to slide back and forth relative to the inner cylinder 120. It can be understood that, in the initial state, the inner cylinder 120 of the automatic clamping mechanism 100 of the embodiment of the present application is fixed and stationary relative to the outer cylinder, the outer cylinder 110 is sleeved outside the inner cylinder 120 and does not contact the multi-petal collet 130, the power output end 210 fixedly connected to the outer cylinder 110 is not subjected to power output from the power source, the power output end is in the locked state, and the multi-petal collet 130 at the first end of the inner cylinder 120 is in the natural opening state, and the multi-petal collet 130 in the natural opening state has an accommodating space for accommodating the target object.
When the automatic gripping mechanism 100 of the embodiment of the present application needs to be used to grip a target object, the first end of the outer cylinder 110 is pushed to slide toward the first end of the inner cylinder 120 under the action of the power output end 210 of the power source, because the inner diameter of the first end of the outer cylinder 110 is smaller than the outer diameter of the tail end of the multi-petal collet 130, the inner wall corresponding to the inner diameter of the first end of the outer cylinder 110 gradually constrains the multi-petal collet 130, so as to force the accommodation space formed by the original natural opening of the multi-petal collet 130 to gradually shrink inwards, when a target object exists in the accommodation space of the multi-petal collet 130, the target object is constrained by the multi-petal collet 130 gradually shrinking the accommodation space, and then the accommodation space of the multi-petal collet 130 is gradually shrunk until the accommodation space is equal to the diameter of the target object and contacts with each other, and finally the accommodation space of the multi-petal collet 130 continues to shrink so as, until the clamping force of the multi-petal collet 130 on the target object is equal to the deformation-resistant stress of the target object, the multi-petal collet 130 realizes the firm clamping on the target object.
When the target object gripped by the automatic gripping mechanism 100 according to the embodiment of the present application needs to be released, the outer cylinder 110 is pulled to slide away from the first end of the inner cylinder 120 under the action of the power output end 210 of the power source, so that the multi-petal collet 130 mounted at the first end of the inner cylinder 120 gradually loses the constraint of the inner wall of the first end of the outer cylinder 110, the multi-petal collet 130 automatically restores to the open state, and the accommodating space of the multi-petal collet 130 is further gradually expanded until the multi-petal collet 130 finally loses the grip on the target object, that is, the target object is released by the multi-petal collet 130.
Specifically, the power source according to the embodiment of the present application is preferably a power source having a damping action. It will be understood that, since the power output end 210 of the power source is in fit connection with the outer cylinder 110, that is, the second end of the outer cylinder 110 is provided with a mounting structure 111 for fitting the power output end, the fit connection here may be a fixed connection or a hinged connection, etc. Since the outer cylinder 110 forces the multi-petal collet 130 to clamp the target object in a rigid contact manner, the force transmitted from the target object to the power output end needs to be adapted by the power source to avoid damage of the power source, and the power source with a buffering function can absorb the impact of the force to some extent, for example, a linear cylinder using gas as the power source may be preferred as the power source of the embodiment of the present application. In the embodiment of the present application, a power source without a buffering function is adopted as the power source, for example, when a push rod linear motor is used, data such as the diameter of a clamped target object, the diameter variation range of the accommodation space of the multi-petal collet, the length of the inner cylinder, and the length of the outer cylinder need to be comprehensively considered and calculated, so as to obtain the movement lengths of power output ends corresponding to target objects with different diameters, and then the power source is controlled to stop at the movement length in time, so that the target object can be exactly clamped by the multi-petal collet 130, otherwise the target object may be damaged or not clamped by the multi-petal collet 130.
Further, the automatic clamping mechanism 100 of the embodiment of the present application may further include a control circuit, where the control circuit is electrically connected to the power source, and then the control circuit is used to control the start and the stop of the power source, so as to realize the automatic control of the automatic clamping mechanism.
Further, the automatic gripping mechanism 100 according to the embodiment of the present application may further include a sensor. The sensor is arranged in the multi-petal collet 130, the sensor is electrically connected with the control circuit, and the sensor is used for sensing whether the multi-petal collet 130 contacts a target object or not and sending a feedback signal whether the multi-petal collet 130 contacts the target object or not to the control circuit. For example, when the sensor 130 sends a feedback signal to the control circuit indicating that the target object is touched, that is, the multi-petal collet chuck automatically detects that the target object capable of being gripped exists in the accommodating space, and then sends the feedback signal to the control circuit, so that the control circuit sends a motion signal to the power source in the direction of the first end of the outer cylinder 110, and further causes the automatic gripping mechanism according to the embodiment of the present application to grip the target object.
Specifically, the sensor in the embodiment of the present application may be a sensor that can sense the position of the target object, such as a strain gauge or a tact switch, and is not limited herein. For example, when the sensor is a strain gauge, the target object enters the multi-petal collet 130 to contact with the strain gauge, so that the strain gauge deforms under the contact of the target object, and the resistance value of the strain gauge changes, and the control circuit is used for monitoring whether the resistance value of the strain gauge changes in real time, so that whether the multi-petal collet contacts the target object can be known; similarly, when the sensor is a tact switch, the target object enters the multi-petal collet 130 to contact the tact switch, and the tact switch is connected with the control circuit in advance, when the tact switch is triggered by the target object, a feedback signal is sent to the control circuit, and the control circuit monitors the feedback signal of the tact switch in real time to know whether the multi-petal collet contacts the target object. It is understood that the sensor of the embodiments of the present application may also be other types of sensors, and the sensing principle of different types of sensors for a target object is different, for example, a proximity photoelectric sensor, and the like, and the type of the sensor is not further limited herein.
Specifically, the multi-petal collet 130 according to the embodiment of the present disclosure may be one of a two-petal collet, a three-petal collet, and a four-petal collet.
Specifically, the outer cylinder 110 of the embodiment of the present application is preferably in a circular tube shape, and the rounded and water-caltrop-free outer cylinder 110 can reduce the impact damage to objects in the environment, and particularly, when the automatic clamping mechanism 100 of the embodiment of the present application is applied to the working of living bodies, the rounded and water-caltrop-free outer cylinder 110 can reduce the damage to the living bodies. It should be noted that the inner cylinder 120 in the shape of a circular tube is hollow, and there is an inner space 121 in the tube, and the inner space 121 in the tube can be just used for routing of the sensor, so that the automatic clamping mechanism 100 of the embodiment of the present application can be made more beautiful and smaller.
Referring to fig. 3, the multi-petal collet 130 of the automatic clamping mechanism 100 according to the embodiment of the present disclosure may be integrally formed with the inner cylinder 110. For example, the first end of the inner cylinder 110 is in an inverted cone structure, wherein the outer diameter of the end of the inner cylinder 110 is larger, and the outer diameter of the end of the inner cylinder 120 is larger than the inner diameter of the outer cylinder 110, so that when the outer cylinder 110 slides in the direction from the outer cylinder 120 to the first end of the outer cylinder 110, the multi-petal collet 140 in the inverted cone structure at the end of the inner cylinder 120 is gradually constrained by the inner diameter of the outer cylinder 110, but the multi-petal collet 140 does not completely retract into the outer cylinder 110. The first end of the outer cylinder 110 may further be provided with an adapting structure 112 matching the shape of the multi-lobed collet 140 to increase the contact area between the inner wall of the outer cylinder 110 and the multi-lobed collet 140. The reverse taper structure at the end of the inner barrel 120 is divided into multiple pieces, for example, the reverse taper structure at the end of the inner barrel 120 is divided into 3-piece holding pieces 131 in fig. 3, wherein one surface of each piece of holding piece 131 near the central axis of the inner barrel 120 is provided with a groove 132 adapted to a target object to be held, for example, the target object is an elongated cylindrical object (pharyngeal swab), then the grooves 132 of the 3-piece holding pieces 131 together form a cylindrical accommodating space, and the accommodating space gradually shrinks towards the central axis and can keep the central axis unchanged during the process that the outer barrel 110 gradually restrains the 3-piece holding pieces 131 along the tapered profile, so as to realize the coaxial fixation of the elongated cylindrical object (pharyngeal swab) and the inner barrel 120. The multi-petal collet 130 is further provided with sensor mounting locations 133, and the position and form of the sensor mounting locations 133 may be determined according to the requirements of the sensor to be mounted, and are not limited herein.
In another embodiment, the multi-petal collet of the automatic clamping mechanism 100 can also be formed by combining a plurality of clamping pieces with mutually matched petals, i.e. the multi-petal collet is separated from the inner cylinder, which is beneficial to replacement. Referring to fig. 4, the multi-petal collet 140 of the automatic clamping mechanism 100 is formed by 2 petals of mutually matched elastic clamping pieces 141, the shape of the combination of the 2 petals of elastic clamping pieces 141 can also be in a similar inverted cone structure, the structural outer diameter of the combination of the 2 petals of elastic clamping pieces 141 is larger than the inner diameter of the outer cylinder 110, the combination of the 2 petals of elastic clamping pieces 141 is fixedly connected to the first end of the inner cylinder 110, wherein one surface of each petal of elastic clamping pieces 141 close to the central axis of the inner cylinder is provided with a groove 142 adapted to a target object to be clamped, for example, the target object is an elongated cylindrical object (pharyngeal swab), then the grooves 142 of the 2 petals of elastic clamping pieces 141 together form a cylindrical accommodating space, and the cylindrical accommodating space gradually shrinks towards the central axis and can keep the central axis unchanged during the process that the outer cylinder 110 gradually restrains the 2 petals of elastic clamping pieces 141 along the tapered profile, the coaxial fixation of the elongated cylindrical object (pharyngeal swab) to the inner cylinder 120 is achieved. To increase the holding force of the elastic holding pieces 141 on the target object, some flexible material for increasing the friction force may be added at the groove 142. The multi-petal collet 140 further has a sensor mounting location 413, and the position and form of the sensor mounting location 143 may be determined according to the requirement of the sensor to be mounted, and is not limited herein.
More specifically, referring to fig. 4, each of the elastic clamping pieces 141 in the above embodiment is a double-folded structure, the double-folded structure has a gap as a deformation accommodating space, the groove 142 is disposed on one side of one of the elastic clamping pieces 141 in the double-folded structure, and the elastic clamping piece 141 in the double-folded structure has a larger deformation accommodating space, so that the multi-petal collet 140 can generate a larger elastic deformation to clamp a target object with a larger diameter.
It is understood that the automatic clamping mechanism 100 of the above embodiment may be adapted to be mounted at the end of some robot arms, for example, the inner cylinder 120 of the automatic clamping mechanism 100 of the embodiment of the present application is fixedly mounted at the end of the robot arms, so that the target objects within a certain range can be automatically clamped under the control of the motion of the robot arms.
For example, when the robot arm needs to use the automatic clamping mechanism 100 to clamp a target object (e.g. a pharyngeal swab) such as a thin shaft, and the clamped target object is vertically placed in the motion range of the robot arm, the robot arm moves the automatic clamping mechanism 100 to a position directly above the target object, and the central axis of the inner cylinder of the automatic clamping mechanism 100 and the central axis of the target object are in the same line, at this time, the multi-petal collet 130 located at the first end of the inner cylinder 120 is in a naturally open state, the multi-petal collet 130 in the naturally open state has an accommodating space for accommodating the target object, the diameter of the accommodating space should be larger than the diameter of the target object, then the robot arm precisely controls the accommodating space of the multi-petal collet 140 to sleeve the target object downwards until the target object triggers a sensor in the multi-petal collet 130 to send a feedback signal, and the control circuit receives the feedback signal, when the feedback signal sent by the sensor 130 to the control circuit indicates that the target object is contacted, that is, the multi-petal collet chuck automatically detects that the grippable target object exists in the accommodating space thereof, and further sends the feedback signal to the control circuit, so that the control circuit sends a motion signal to the power source in the direction of the first end of the outer cylinder 110, and pushes the first end of the outer cylinder 110 to slide in the direction of the first end of the inner cylinder 120 under the action of the power output end 210 of the power source, because the inner diameter of the first end of the outer cylinder 110 is smaller than the outer diameter of the tail end of the multi-petal collet chuck 130, the inner diameter of the first end of the outer cylinder 110 gradually forms a constraint on the multi-petal collet chuck 130, and the accommodating space formed by the original natural expansion of the multi-petal collet chuck 130 is gradually reduced inwards, and when the target object exists in the accommodating space of the multi-petal collet chuck 130, the target object is constrained, then, the accommodating space of the multi-petal collet 130 is gradually reduced until the accommodating space is equal to the diameter of the target object and is in contact with the target object, and finally, the accommodating space of the multi-petal collet 130 is continuously reduced to clamp the target object until the clamping force of the multi-petal collet 130 on the target object is equal to the deformation-resistant stress of the target object, and the multi-petal collet 130 realizes the firm clamping on the target object. The mechanical arm can carry the target object to perform corresponding work through the automatic clamping mechanism 100, for example, when the target object is a throat swab, the mechanical arm carries the throat swab to perform human throat swab collection work and the like through the automatic clamping mechanism 100. When the use of the target object by the robot is finished and the target object needs to be released by the automatic gripping mechanism 100, the power output end 210 of the power source is controlled again to pull the outer cylinder 110 to slide away from the first end of the inner cylinder 120, so that the multi-petal collet 130 mounted at the first end of the inner cylinder 120 gradually loses the constraint of the first end of the outer cylinder 110, the multi-petal collet 130 automatically restores to the open state, and the accommodating space of the multi-petal collet 130 is further gradually enlarged until the multi-petal collet 130 finally loses the grip on the target object, that is, the target object is released by the multi-petal collet 130.
It should be noted that the automatic gripping mechanism 100 of the embodiment of the present application has the characteristics that the inner cylinder 120 is fixed and the outer cylinder 110 slides, and the multi-petal collet 130 disposed at the first end of the inner cylinder 120 grips and releases the target object. When the automatic clamping mechanism 100 of the embodiment of the present application is applied to a robot arm, the inner cylinder 120 may be fixedly connected to the end of the robot arm, and since the multi-petal collet 130 is integrated with or fixedly connected to the first end of the inner cylinder 120, the contact position of the sensor located in the multi-petal collet 130 with the target object and the position of the end of the multi-petal collet 130 may be calibrated to the system of the robot arm as known positions, when the robot arm carries the automatic clamping mechanism 100 to clamp a target object with a known length, the coordinate position of the end of the target object may be known by subtracting the distance from the contact position of the sensor with the target object to the position of the end of the multi-petal collet 130 from the length of the target object, and when the system of the robot arm knows that the coordinate position of the end of the target object is very beneficial for the robot arm to operate the target object, the controllability is improved, the controllability has great guarantee and convenience for the precision of the tail end of the mechanical arm.
Referring to fig. 5, another embodiment of an automatic clamping mechanism 300 of the present embodiment includes an outer cylinder 310, an inner cylinder 320, a multi-petal collet 330, and a power source. The outer cylinder 310 is sleeved outside the inner cylinder 320, the multi-petal collet 330 is formed by combining a plurality of mutually matched elastic clamping sheets (refer to the multi-petal collet structure in the embodiment of fig. 4), the multi-petal collet 330 is arranged at the first end of the inner cylinder 320, the local outer diameter of the multi-petal collet 330 is larger than the inner diameter of the first end of the outer cylinder 310, and each elastic clamping sheet of the multi-petal collet 330 has a deformation accommodating space; when the outer cylinder 310 slides towards the first end of the inner cylinder 320 outside the inner cylinder 320, the elastic clamping pieces of the multi-petal collet chuck 330 can deform towards the shape-variable accommodation space and completely enter the outer cylinder 310 when being squeezed by the inner wall of the outer cylinder 310, the second end of the outer cylinder 310 generally has a connection interface 311 matched with the power output end 410, the second end of the outer cylinder 310 is connected with the power output end 410 of the power source, the power output end 410 pushes the outer cylinder 310 to slide towards the second end of the inner cylinder 320 under the power action of the power source, so that the multi-petal collet chuck 330 connected with the first end of the inner cylinder 320 extends out of the first end of the outer cylinder. It can be understood that, in the initial state, the inner cylinder 320 of the automatic clamping mechanism 300 of the embodiment of the present application is stationary relative to the outer cylinder 310, the outer cylinder 310 is sleeved outside the inner cylinder 320 and does not contact the multi-petal collet 330, the power output end 410 fixedly connected to the outer cylinder 310 is not subjected to power output from the power source, the power output end 410 is in the locked state, and the multi-petal collet 330 at the first end of the inner cylinder 320 is in the natural opening state, and the multi-petal collet 330 in the natural opening state has an accommodating space for accommodating the target object.
When the automatic gripping mechanism 300 of the embodiment of the present application is required to grip a target object, the first end of the outer cylinder 310 is pushed to slide toward the first end of the inner cylinder 320 under the action of the power output end 410 of the power source, because the inner diameter of the first end of the outer cylinder 310 is smaller than the local outer diameter of the multi-petal collet 330, the inner wall corresponding to the inner diameter of the first end of the outer cylinder 310 gradually restrains the multi-petal collet 330, so as to force the accommodation space formed by the original natural opening of the multi-petal collet 330 to gradually shrink inwards, when the target object exists in the accommodation space of the multi-petal collet 330, the target object is restrained by the multi-petal collet 330 which gradually shrinks the accommodation space, and then the accommodation space of the multi-petal collet 330 is gradually shrunk until the diameter of the accommodation space is equal to the diameter of the target object and contacts with the diameter of the target object, and then the accommodation space of the multi-petal collet 330 continues to, the multi-petal collet 330 continuously pulls the inner cylinder 320 to force each petal of elastic clamping piece to continuously deform towards the deformation accommodating space, and the target object is sleeved into the outer cylinder 310, so that the target object is clamped and fixed.
When the target object gripped by the automatic gripping mechanism 300 according to the embodiment of the present application needs to be released, the outer cylinder 310 is pulled to slide away from the first end of the inner cylinder 320 under the action of the power output end 410 of the power source, so that the multi-petal collet 330 mounted at the first end of the inner cylinder 320 gradually loses the constraint of the inner wall of the first end of the outer cylinder 310, the multi-petal collet 330 automatically restores to the open state, and further the deformation accommodating space and the accommodating space of the multi-petal collet 330 gradually expand until the multi-petal collet 330 finally loses the grip on the target object, that is, the release of the target object by the multi-petal collet 330 is realized.
The multi-petal collet 330 of the automatic clamping mechanism 300 in the embodiment of the application is formed by combining a plurality of mutually matched elastic clamping pieces, and the target object can be sleeved in the outer cylinder by the multi-petal collet, so that the output end of the power source can reach a preset working position, and the target object can be clamped and fixed. The automatic clamping mechanism 300 has great advantages when clamping small-sized shaft target objects, that is, as long as the automatic clamping mechanism 300 of the embodiment of the present application can sleeve the target object into the outer cylinder, so that the output end 410 of the power source can reach the preset working position to clamp and fix the target object, the power source of the embodiment of the present application can adopt any mechanical equipment for realizing linear displacement, and the problem of stroke displacement of the output end of the power source when the multi-petal collet chuck 330 clamps the target object is not required to be ensured through complicated calculation and design, and when only clamping the target object of which the automatic clamping mechanism 300 can sleeve the target object into the outer cylinder, the power source is not required to be damaged.
Further, the automatic clamping mechanism 300 of the embodiment of the present application further includes a control circuit, the control circuit is electrically connected to the power source, and the control circuit is used for controlling the start and the stop of the power source, so as to realize the automatic control of the automatic clamping mechanism.
Further, the automatic gripping mechanism 300 of the embodiment of the present application may further include a sensor, the sensor is installed in the multi-petal collet 330, the sensor is electrically connected to the control circuit, and the sensor is configured to sense whether the multi-petal collet 330 contacts the target object, and send a feedback signal indicating whether the multi-petal collet 330 contacts the target object to the control circuit. For example, when the feedback signal sent by the sensor to the control circuit indicates that the target object is touched, that is, the multi-petal collet 330 automatically detects that the target object capable of being gripped exists in the accommodating space, and then sends the feedback signal to the control circuit, the control circuit sends a motion signal to the power source in the direction of the first end of the outer cylinder, and then controls the power output end 410 of the power source to move towards the first end of the outer cylinder 310, so that the automatic gripping mechanism 300 grips the target object.
Specifically, the sensor in the embodiment of the present application may also be a sensor that can sense the position of the target object, such as a strain gauge or a tact switch, and is not limited herein. The sensor, the outer cylinder 310 and the inner cylinder 320 of the automatic clamping mechanism 300 of the embodiment of the present application may be similar to those of the automatic clamping mechanism 100 of the embodiment, and detailed description thereof is omitted here.
It is understood that the automatic clamping mechanism 300 of the above embodiment may also be adapted to be mounted at the end of some robot arms, for example, the outer cylinder 310 of the automatic clamping mechanism 300 of the embodiment of the present application is fixedly mounted at the end of the robot arms, so that the target objects within a certain range can be automatically clamped under the control of the motion of the robot arms.
The above description of the present application with reference to specific embodiments is not intended to limit the present application to these embodiments. For those skilled in the art to which the present application pertains, several changes and substitutions may be made without departing from the spirit of the present application, and these changes and substitutions should be considered to fall within the scope of the present application.
Claims (10)
1. An automatic clamping mechanism, comprising: the device comprises an inner cylinder, an outer cylinder, a multi-petal collet and a power source;
the outer cylinder is sleeved outside the inner cylinder;
the first end of the inner cylinder is provided with the multi-petal collet chuck, the multi-petal collet chuck is of an inverted cone structure, and the outer diameter of the tail end of the multi-petal collet chuck is larger than the inner diameter of the first end of the outer cylinder;
and the power output end of the power source is matched and connected with the second end of the outer barrel, and the power output end of the power source pushes the outer barrel to slide back and forth relative to the inner barrel.
2. The automatic pick mechanism as recited in claim 1, further comprising: a control circuit;
the control circuit is electrically connected with the power source and is used for controlling the starting and the closing of the power source.
3. The automatic pick mechanism as recited in claim 2, further comprising: a sensor;
the sensor is arranged in the multi-petal collet chuck, is electrically connected with the control circuit and is used for sensing whether the multi-petal collet chuck contacts a target object or not and sending a feedback signal of whether the multi-petal collet chuck contacts the target object or not to the control circuit;
when the feedback signal sent by the sensor to the control circuit indicates that the target object is contacted, the control circuit sends a motion signal to the power source in the direction of the first end of the outer cylinder.
4. The automated gripper mechanism of any one of claims 1-3, wherein the multi-lobed collet is integrally formed with the inner barrel;
or the like, or, alternatively,
the multi-petal collet is formed by combining a plurality of elastic clamping sheets with mutually matched petals.
5. The automatic picking mechanism as claimed in claim 4, wherein the resilient gripping members have recesses adapted to the target object, the recesses of the resilient gripping members cooperating to define a stop for the target object.
6. The automatic clamping mechanism as claimed in claim 5, wherein each of the elastic clamping pieces has a double-folded structure having a gap as a deformation accommodating space, and the groove is provided on one side of one of the double-folded structure.
7. An automatic clamping mechanism, comprising: the outer cylinder, the inner cylinder, the multi-petal collet chuck and the power source;
the outer cylinder is sleeved outside the inner cylinder;
the multi-petal collet chuck is formed by combining a plurality of mutually matched elastic clamping sheets, the multi-petal collet chuck is arranged at the first end of the inner cylinder, the local outer diameter of the multi-petal collet chuck is larger than the inner diameter of the first end of the outer cylinder, and each petal of the elastic clamping sheet of the multi-petal collet chuck is provided with a deformation accommodating space; when the outer cylinder slides towards the first end of the inner cylinder from the outside of the inner cylinder, the elastic clamping sheets of the multi-petal collet chuck can deform towards the deformation accommodating space and completely enter the outer cylinder when being extruded by the inner wall of the outer cylinder;
the second end of the outer cylinder is connected with the power output end of the power source, and the power output end pushes the outer cylinder to slide towards the second end of the inner cylinder under the power action of the power source, so that the multi-petal collet chuck connected with the first end of the inner cylinder extends out of the first end of the outer cylinder.
8. The automatic pick mechanism as recited in claim 7, further comprising: a control circuit;
the control circuit is electrically connected with the power source and is used for controlling the starting and the closing of the power source.
9. The automatic pick mechanism as recited in claim 8, further comprising: a sensor;
the sensor is arranged in the multi-petal collet chuck, is electrically connected with the control circuit and is used for sensing whether the multi-petal collet chuck contacts a target object or not and sending a feedback signal of whether the multi-petal collet chuck contacts the target object or not to the control circuit;
when the feedback signal sent by the sensor to the control circuit indicates that the target object is contacted, the control circuit sends a motion signal to the power source in the direction of the first end of the outer cylinder.
10. A robot arm, wherein the robot arm is connected to the end of the robot arm in a fitting manner, and the robot gripping mechanism according to any one of claims 1 to 9 is connected to the end of the robot arm in a fitting manner.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011587542.5A CN112678516A (en) | 2020-12-28 | 2020-12-28 | Automatic clamping mechanism and mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011587542.5A CN112678516A (en) | 2020-12-28 | 2020-12-28 | Automatic clamping mechanism and mechanical arm |
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| Publication Number | Publication Date |
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| CN112678516A true CN112678516A (en) | 2021-04-20 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011587542.5A Pending CN112678516A (en) | 2020-12-28 | 2020-12-28 | Automatic clamping mechanism and mechanical arm |
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| CN (1) | CN112678516A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113967072A (en) * | 2021-10-21 | 2022-01-25 | 哈尔滨工业大学 | Three-dimensional force detection clamping mechanism suitable for rod-shaped medical instrument |
-
2020
- 2020-12-28 CN CN202011587542.5A patent/CN112678516A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113967072A (en) * | 2021-10-21 | 2022-01-25 | 哈尔滨工业大学 | Three-dimensional force detection clamping mechanism suitable for rod-shaped medical instrument |
| CN113967072B (en) * | 2021-10-21 | 2022-12-09 | 哈尔滨工业大学 | Three-dimensional force detection clamping mechanism suitable for rod-shaped medical instrument |
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