CN114131640A

CN114131640A - Mechanical gripper capable of clamping and paving flexible object

Info

Publication number: CN114131640A
Application number: CN202111306712.2A
Authority: CN
Inventors: 王国磊; 徐嵩; 张剑辉; 吴丹; 张思敏
Original assignee: Tsinghua University
Current assignee: Tsinghua University
Priority date: 2021-11-05
Filing date: 2021-11-05
Publication date: 2022-03-04

Abstract

The invention discloses a mechanical gripper capable of clamping and paving a flexible object, which comprises a body, a first fixing piece and an expansion arm, wherein the first fixing piece is used for fixing the flexible object, the expansion arm is arranged on the body, the expansion arm comprises a connecting part and a paving part, the first driving mechanism is arranged on the body and is connected with the connecting part so as to drive the paving part to move, and the second fixing piece is arranged on the paving part.

Description

Mechanical gripper capable of clamping and paving flexible object

Technical Field

The invention relates to the technical field of mechanical equipment, in particular to a mechanical gripper capable of clamping and paving a flexible object.

Background

In recent years, the application of industrial robots is gradually increased, and with the industrial development, the automated production is a development trend, in the material clamping and paving operation, the existing related mechanical equipment is mostly designed by taking a rigid object as a clamping or paving requirement, the clamping and paving operation of a flexible object is generally mainly manual treatment, however, a large number of flexible objects need to be clamped and paved by robots in the production process, such as rubber, films, cloth products and the like, and because the flexible object is easy to deform, the existing related clamping and paving mechanical equipment is not easy to treat or low in efficiency, and does not meet the existing requirement.

Disclosure of Invention

The present invention is directed to solving, at least to some extent, one of the technical problems in the related art. To this end, the embodiment of the invention provides a mechanical gripper capable of clamping a paved flexible object.

According to the mechanical gripper capable of clamping and paving a flexible object, the mechanical gripper capable of clamping and paving the flexible object comprises a body, a first fixing piece used for fixing the flexible object, a spreading arm, a first driving mechanism and a second fixing piece used for fixing the flexible object, wherein the first fixing piece is installed on the body, the spreading arm comprises a connecting portion and a paving portion, the first driving mechanism is installed on the body and connected with the connecting portion so as to drive the paving portion to move, and the second fixing piece is installed on the paving portion.

The mechanical gripper capable of clamping and paving the flexible object provided by the embodiment of the invention can clamp and paving the flexible object, and has the advantages of convenience in stretching the flexible object and good effect in fixing the flexible object.

In some embodiments, the first fixing member and the second fixing member are both suction cups, or the first fixing member and the second fixing member are both grippers.

In some embodiments, the connecting portion is pivotally connected to the body, and the first driving mechanism includes a motor and a reducer, the reducer being mounted to the body and connected to the connecting portion, and the motor being mounted to the reducer and coaxially connected to the reducer.

In some embodiments, the number of the exhibition arm is multiple, the connecting parts of the exhibition arm are distributed at the edge of the body at intervals along the circumferential direction of the body, and the paving part is positioned on one side of the connecting part away from the body.

In some embodiments, the gripper further comprises an auxiliary wheel mounted to the attaching portion and configured to abut against the flexible object, and a second driving mechanism mounted to the attaching portion and connected to the second fixing member, the second driving mechanism configured to drive the second fixing member to extend and retract so as to facilitate the second fixing member to adsorb and detach from the flexible object.

In some embodiments, the number of the auxiliary wheels and the second fixing members on each of the paving and pasting parts is multiple and corresponds to one another, the multiple auxiliary wheels and the multiple second fixing members are distributed at intervals and in a staggered manner along the length direction of the display arm, and the auxiliary wheels are located on one side of the corresponding second fixing members facing the connecting part.

In some embodiments, the gripper capable of clamping and paving a flexible object further comprises a buffer rod, the second driving mechanism comprises a cylinder, the cylinder is mounted on the paving part, a piston of the cylinder is connected with a first end of the buffer rod, and a second end of the buffer rod is connected with the second fixing part.

In some embodiments, the body is provided with a plurality of reserved processing holes, the number of the first fixing pieces is multiple, and the plurality of first fixing pieces are distributed on the body at intervals around the reserved processing holes.

In some embodiments, a positioning ring is arranged on the side of the body where the first fixing member is installed, and the positioning ring is arranged around the reserved machining hole.

In some embodiments, a mounting plate is arranged on one side of the body, which faces away from the first fixing part, and a connecting flange for connecting with an external driving device is connected to the mounting plate.

Drawings

FIG. 1 is a front view of a gripper that can grip a tiled flexible object according to an embodiment of the invention.

Figure 2 is a side view of a gripper that can grip a tiled flexible object according to an embodiment of the present invention.

Fig. 3 is a schematic diagram of a body of a gripper capable of gripping a tiled flexible object according to an embodiment of the invention.

Fig. 4 is an extended view of a second fastener of a gripper that can grip a flexible object in accordance with an embodiment of the present invention.

Figure 5 is a schematic drawing showing the retraction of a second mount of a gripper that can grip a tiled flexible object, according to an embodiment of the invention.

Reference numerals:

1. a body; 2. stretching the arm; 21. a connecting portion; 22. a paving part; 3. a first drive mechanism; 31. a motor; 32. a speed reducer; 4. a second drive mechanism; 5. a first fixing member; 6. a second fixing member; 7. an auxiliary wheel; 8. a buffer rod; 9. reserving a processing hole; 10. a positioning ring; 11. mounting a plate; 12. and connecting the flanges.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.

According to the mechanical gripper capable of clamping and paving a flexible object, as shown in fig. 1 to 5, the mechanical gripper capable of clamping and paving a flexible object comprises a body 1, a first fixing piece 5 and a spreading arm 2, wherein the first fixing piece 5 is used for fixing the flexible object, the spreading arm 2 is used for fixing the flexible object, the first driving mechanism 3 is installed on the body 1 and is connected with the connecting portion 21 so as to drive the spreading portion 22 to move, the second fixing piece 6 is installed on the spreading portion 22, the first fixing piece 5 and the second fixing piece 6 fix the flexible object, the first driving mechanism 3 drives the spreading portion 22 of the spreading arm 2 to move to drive the second fixing piece 6 to move, and the second fixing piece 6 moves to stretch the flexible object.

The mechanical claw capable of clamping and paving the flexible object according to the embodiment of the invention can clamp and paving the flexible object, has the advantages of convenience for stretching the flexible object and good effect of fixing the flexible object, the paving part 22 moves to enable the flexible object clamped by the mechanical claw to stretch, and the first fixing part 5 and the second fixing part 6 are matched to fix and pave the flexible object with good effect.

In some embodiments, as shown in fig. 2, the first fixing member 5 and the second fixing member 6 are both suction cups, or the first fixing member 5 and the second fixing member 6 are both grippers.

Specifically, the first fixing part 5 and the second fixing part 6 are both suckers, and the contact area of the suckers and the flexible object is large, so that the surface of the flexible object is not easily damaged.

First mounting 5 and second mounting 6 are the holder, and the holder can be flexible finger, flexible holder, and the difficult damage object surface of holder centre gripping flexible object, the holder use the centre gripping needs that can adapt to different kinds of flexible objects in a flexible way.

In some embodiments, the connecting portion 21 is pivotally connected to the body 1, the first driving mechanism 3 includes a motor 31 and a reducer 32, the reducer 32 is mounted to the body 1 and connected to the connecting portion 21, and the motor 31 is mounted to the reducer 32 and coaxially connected to the reducer 32.

Specifically, the connecting portion 21 of exhibition arm 2 is connected with body 1, and reduction gear 32 links to each other with body 1 and exhibition arm 2's connecting portion 21 respectively, and motor 31 and reduction gear 32 are coaxial continuous, and motor 31 drives reduction gear 32 and rotates and then drive the relative body 1 rotation of connecting portion 21 of exhibition arm 2, and exhibition arm 2 uses reduction gear 32 to do circular motion as the axle, has increased exhibition arm 2 and has got scope and extension scope to the clamp of flexible object.

In some embodiments, as shown in fig. 1, the number of the exhibition arm 2 is multiple, the connecting portions 21 of multiple exhibition arms 2 are distributed at intervals on the edge of the body 1 along the circumferential direction of the body 1, and the paving portion 22 is located on the side of the connecting portion 21 away from the body 1.

From this, a plurality of exhibition arms 2 can be more even press from both sides get and extend flexible object, have increased the clamp of mechanical gripper and have got and extend the scope, and the connecting portion 21 of exhibition arm 2 is connected at the body 1 edge of mechanical gripper, and the setting of shop's portion of pasting 22 is kept away from body 1 one side at connecting portion 21 and can be increased the shop's of exhibition arm 2 and paste the scope, obtains better shop's effect.

In some embodiments, as shown in fig. 1, fig. 2, fig. 4 and fig. 5, the gripper capable of gripping and paving a flexible object further includes an auxiliary wheel 7 and a second driving mechanism 4, the auxiliary wheel 7 is mounted on the paving portion 22 and is used for abutting against the flexible object, the second driving mechanism 4 is mounted on the paving portion 22 and is connected with the second fixing member 6, and the second driving mechanism 4 is used for driving the second fixing member 6 to extend and retract so as to facilitate the second fixing member 6 to absorb and separate from the flexible object.

From this, second actuating mechanism 4 drive is spread second mounting 6 on the portion of pasting 22 and is stretched out, and second mounting 6 adsorbs flexible object, has increased the absorption scope of mechanical gripper to flexible object, improves and gets efficiency of pressing from both sides. First mounting 5 and second mounting 6 all adopt the sucking disc, the sucking disc adsorbs flexible object, flexible object waits to spread the object along with 1 butt of body, first actuating mechanism 3 drives 1 continuation motion of body, auxiliary wheel 7 contacts flexible object and with flexible object with waiting to spread the object butt, second actuating mechanism 4 drives 6 retractions of second mounting on spreading portion 22, second mounting 6 breaks away from flexible object, the hindrance of second mounting 6 to flexible object is spread has been avoided, auxiliary wheel 7 of spreading portion 22 supports flexible object at waiting to spread the object surface this moment, the motion of spreading portion 22 of exhibition arm 2 drives auxiliary wheel 7 and rotates, auxiliary wheel 7 realizes the operation of spreading of flexible object as roller pressure head and flexible object contact, auxiliary wheel 7 has increased spreading portion 22 and flexible object area of contact, the effect of spreading has been improved.

In some embodiments, as shown in fig. 1, 2, 4 and 5, the number of the auxiliary wheels 7 and the second fixing members 6 on each of the paving portions 22 is multiple and corresponds to one another, the multiple auxiliary wheels 7 and the multiple second fixing members 6 are distributed at intervals and alternately along the length direction of the display arm 2, and the auxiliary wheels 7 are located on one side of the corresponding second fixing members 6 facing the connecting portion 21.

From this, a plurality of second mounting 6 have increased the grip area of mechanical clamping jaw to flexible object, flexible object is difficult for droing, a plurality of auxiliary wheels 7 have increased the area of contact of paving portion 22 with flexible object, improve and have paved the effect,

auxiliary wheel

7 and 6 crisscross messenger's flexible object atress in second mounting interval are even, avoid flexible object to damage, auxiliary wheel 7 is located one side that corresponding second mounting 6 was connected 21 and makes second mounting 6 be greater than the flexible object scope of auxiliary wheel 7 contact to the fixed range on flexible object surface, be favorable to second mounting 6 to keep the stable contact of auxiliary wheel 7 with flexible object after breaking away from flexible object surface.

In some embodiments, as shown in fig. 1, 2, 4 and 5, the gripper for holding and laying a flexible object further comprises a buffer rod 8, the second driving mechanism 4 comprises a cylinder, the cylinder is mounted on the laying portion 22, a piston of the cylinder is connected to a first end of the buffer rod 8, and a second end of the buffer rod 8 is connected to the second fixing member 6.

Specifically, buffer beam 8 can be elastic telescopic's pole, the piston of cylinder and buffer beam 8's first end threaded connection, buffer beam 8's second end links to each other with second mounting 6, cylinder drive buffer beam 8 is sharp concertina movement, buffer beam 8 drives the motion of second mounting 6, buffer beam 8 plays the cushioning effect through elastic deformation to second mounting 6, can avoid second mounting 6 to cause the damage to flexible object surface under the cylinder drive.

In some embodiments, as shown in fig. 3, the body 1 is provided with a plurality of reserved processing holes 9, the number of the first fixing pieces 5 is multiple, and the plurality of first fixing pieces 5 are distributed on the body 1 at intervals around the reserved processing holes 9.

Therefore, when the surface of an object to be paved is required to be subjected to processes such as grinding, gluing and the like, the small mechanical equipment can directly penetrate through the reserved machining hole 9 of the body 1 of the mechanical gripper to realize related process flow operation, the space utilization rate is improved to the maximum extent, the mechanical gripper does not need to be disassembled and replaced, and the time for disassembling and replacing the mechanical gripper in the related process flow operation is saved. The first fixing parts 5 increase the clamping area of the mechanical claw on the flexible object, and improve the clamping effect of the mechanical claw on the flexible object.

In some embodiments, as shown in fig. 2 and 3, the side of the body 1 where the first fixing member 5 is installed is provided with a positioning ring 10, and the positioning ring 10 is disposed around the reserved machining hole 9.

Specifically, one side that first mounting 5 was installed to body 1 sets up holding ring 10 and is convenient for holding ring 10 with wait to centre gripping object or wait to spread the structure cooperation of pasting the object, holding ring 10 can satisfy the location demand when flexible object centre gripping or spreading pastes.

In some embodiments, as shown in fig. 1-3, a mounting plate 11 is provided on a side of the body 1 facing away from the first fixing member 5, and a connecting flange 12 for connecting with an external driving device is connected to the mounting plate 11.

Specifically, the mounting plates 11 may be provided in pairs on both sides of the body 1. Connecting flange 12 can be the ring flange, and the ring flange is used for letting mechanical gripper and external drive equipment or other mechanisms be connected, the assembly of being convenient for, if install industrial robot with mechanical gripper on, the flexible object that will lay the subsides is fixed through first mounting 5, realizes the function of centre gripping object, moves mechanical gripper to the position of laying the subsides through industrial robot after the centre gripping is accomplished.

In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be considered limiting of the invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; may be mechanically coupled, may be electrically coupled or may be in communication with each other; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

In the present disclosure, the terms "one embodiment," "some embodiments," "an example," "a specific example," or "some examples" and the like mean that a specific feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present disclosure. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.

Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.

Claims

1. A mechanical gripper capable of clamping and paving flexible objects, which is characterized by comprising:

the flexible object fixing device comprises a body and a first fixing piece for fixing a flexible object, wherein the first fixing piece is arranged on the body; and

exhibition arm, first actuating mechanism and be used for fixed flexible object's second mounting, the exhibition arm includes connecting portion and shop portion of pasting, first actuating mechanism install in the body and with connecting portion link to each other, so that the drive shop portion of pasting removes, the second mounting install in shop portion of pasting.

2. The gripper of claim 1, wherein said first and second fixtures are suction cups;

or, the first fixing piece and the second fixing piece are both clamps.

3. The gripper of claim 1, wherein said connecting portion is pivotally connected to said body, said first driving mechanism comprises a motor and a reducer, said reducer is mounted to said body and connected to said connecting portion, and said motor is mounted to said reducer and coaxially connected to said reducer.

4. The gripper according to claim 1, wherein the number of the arms is plural, the connecting portions of the arms are spaced apart from each other along the circumference of the body, and the spreading portion is located on a side of the connecting portion away from the body.

5. The gripper of claim 1, further comprising an auxiliary wheel mounted to said laying portion and configured to abut said flexible object, and a second driving mechanism mounted to said laying portion and coupled to said second fixture, said second driving mechanism configured to drive said second fixture to extend and retract to facilitate said second fixture's attachment and detachment of said flexible object.

6. The gripper according to claim 5, wherein the number of the auxiliary wheels and the second fixing members on each of the paving portions is plural and corresponds to one another, the plural auxiliary wheels and the plural second fixing members are alternately distributed along the length direction of the exhibition arm, and the auxiliary wheels are located on one side of the corresponding second fixing members facing the connecting portion.

7. The gripper of claim 5, wherein said gripper further comprises a buffer rod, said second driving mechanism comprises a cylinder, said cylinder is mounted on said laying portion, a piston of said cylinder is connected to a first end of said buffer rod, and a second end of said buffer rod is connected to said second fixing member.

8. The gripper of claim 1, wherein the body has a plurality of pre-formed holes, and the plurality of first fixing members are spaced around the pre-formed holes and distributed on the body.

9. The gripper of claim 8, wherein a positioning ring is disposed on a side of the body on which the first fixing member is mounted, and the positioning ring is disposed around the preformed hole.

10. The gripper of claim 1, wherein a mounting plate is disposed on a side of the body facing away from the first fixture, and a connecting flange for connecting to an external driving device is connected to the mounting plate.