CN116604598A - Mechanical gripper - Google Patents

Abstract

The invention provides a mechanical gripper. The mechanical gripper comprises a base, a plurality of driving motors and a plurality of arc fingers, wherein the arc fingers are driven to rotate when the rotating shafts of the driving motors rotate towards the other direction, so that the arc fingers are in a closed state of approximately sphere-like structure, and objects with irregular shapes can be stably gripped; the mechanical gripper also comprises a plurality of electrode plates and piezoelectric ceramic plates, wherein alternating voltage is applied to the electrode plates, the piezoelectric ceramic plates synchronously stretch and deform under the action of an alternating electric field, the piezoelectric ceramic plates vibrate longitudinally, and the stretching vibration of the piezoelectric ceramic plates is transmitted to arc fingers so that the piezoelectric ceramic plates do high-frequency stretching motion in the arc finger sleeves along the arc direction, and then the gripped objects are cut; according to the mechanical gripper disclosed by the invention, the blades are arranged on one side of the arc-shaped fingers, the arranged blades can prevent the gripped object from leaking out of the interval between two adjacent arc-shaped fingers, and the surface of the gripped object is not damaged.

Description

a mechanical gripper

technical field

The invention relates to the technical field of grippers, in particular to a mechanical gripper.

Background technique

The gripper is the last link and executive component of the interaction between the robot and the handling equipment and the environment, and its performance determines the working performance of the entire device to a large extent. The gripper is generally composed of the palm and the nodular fingers, and the fingers are the parts that are in direct contact with the workpiece. Loosening and tightening the workpiece is achieved by opening and closing the fingers. The shape of the hand often depends on the shape and characteristics of the workpiece being clamped.

At present, the traditional grippers hold the grasped objects with fingers, but sometimes it is necessary to grasp irregularly shaped objects, which cannot be achieved well with fingers; in addition, there is adhesion between the grasped objects and other objects In the process of grasping, the claws cannot be effectively separated; the claws need to have a certain cutting ability when grasping objects; based on the defects of the current claws, it is necessary to improve them.

Contents of the invention

In view of this, the present invention proposes a mechanical gripper for knee and ankle training and rehabilitation equipment to solve the technical problems in the prior art.

In a first aspect, the present invention provides a mechanical gripper, comprising:

base;

A plurality of drive motors, a plurality of drive motors are arranged on the base along the circumferential direction;

a plurality of arc-shaped fingers, which correspond to a plurality of said drive motors one by one, and said drive motor shafts are connected to the arc-shaped fingers;

Wherein, the rotating shaft of the driving motor rotates in one direction to make the plurality of arc-shaped fingers open, and the rotating shaft of the driving motor rotates in the other direction to make the plurality of arc-shaped fingers in a closed state.

Preferably, the mechanical gripper further includes a plurality of arc-shaped finger cots, the plurality of arc-shaped finger cots correspond to the plurality of arc-shaped fingers one by one, and the arc-shaped fingers and the arc-shaped fingers The sleeve is adapted, one end of the arc-shaped finger extends into the arc-shaped finger sleeve, and the other end extends out of the arc-shaped finger sleeve, and the rotating shaft of the driving motor is connected with the arc-shaped finger sleeve.

Preferably, in the mechanical claw, one end of the arc-shaped finger is located in the arc-shaped finger cot and can move along the inner wall of the arc-shaped finger cot, and a telescopic drive mechanism is also provided in the arc-shaped finger cot, and the telescopic drive The mechanism is used to drive the arc finger to move back and forth in the arc finger sleeve.

Preferably, the telescopic driving mechanism of the mechanical gripper includes: a plurality of electrode sheets, which are arranged at intervals in the arc-shaped finger cot, and piezoelectric electrodes are bonded between any two adjacent electrode sheets. A ceramic sheet, the electrode sheet close to the end of the arc-shaped finger is affixed to the end of the arc-shaped finger;

Wherein, the electrode sheet is used to receive an alternating voltage to make the piezoelectric ceramic sheet expand and vibrate, and then drive the arc-shaped finger to reciprocate in the arc-shaped finger sleeve.

Preferably, the telescopic drive mechanism of the mechanical gripper further includes a connecting block, one side of which is fixedly connected to the end of the arc-shaped finger, and the other side is connected to the electrode sheet close to the end of the arc-shaped finger. Fixed.

Preferably, in the mechanical gripper, a blade is provided on one side of the arc-shaped finger, and a through hole is provided at the side wall of the arc-shaped finger sleeve corresponding to the blade, and the blade passes through the arc through the through hole. shaped finger sleeves.

Preferably, in the mechanical gripper, the end of the arc-shaped finger outside the arc-shaped finger sleeve is provided with a blade.

Preferably, for the mechanical gripper, a plurality of installation blocks are further provided on the base, and the plurality of installation blocks correspond to the driving motors one by one, and the driving motors are installed on the installation blocks.

Preferably, in the said mechanical gripper, the cross-section of the base is in the shape of a ring.

Preferably, in the mechanical gripper, a protrusion is provided at the end of the arc-shaped finger cot, the protrusion is provided with a mounting hole, and the rotating shaft of the driving motor is fixed in the mounting hole.

A kind of mechanical gripper of the present invention has following beneficial effect compared with prior art:

1. The mechanical gripper of the present invention includes a base, a plurality of driving motors and a plurality of arc-shaped fingers, and when the rotating shaft of the driving motor rotates in another direction, the arc-shaped fingers are driven to rotate, so that the plurality of arc-shaped fingers are approximately like The closed state of the spherical structure can stably grasp irregularly shaped objects;

2. The mechanical gripper of the present invention also includes a plurality of electrode sheets and piezoelectric ceramic sheets. By applying an alternating voltage to the electrode sheets, the piezoelectric ceramic sheets perform synchronous telescopic deformation under the action of an alternating electric field. Longitudinal vibration, the stretching vibration of the piezoelectric ceramic sheet is transmitted to the arc-shaped finger, making it perform high-frequency stretching motion along the arc-shaped direction in the arc-shaped finger sleeve, and then cut the grasped object;

3. In the mechanical gripper of the present invention, a blade is provided on one side of the arc-shaped finger, and the blade provided can prevent the object to be grasped from leaking from the gap between two adjacent arc-shaped fingers without damaging the surface of the object to be grasped;

4. In the mechanical claw of the present invention, one end of the arc-shaped finger is provided with a blade. When the arc-shaped finger performs high-frequency telescopic movement along the arc-shaped direction in the arc-shaped finger sleeve, the blade can better cut the grasped object ;

5. The mechanical gripper of the present invention has the characteristics of simple structure, convenient installation, flexibility, and the like, and can be applied to fields such as virtual-axis machine tools, aviation simulation equipment, and medical equipment.

Description of drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for the description of the embodiments or the prior art. Apparently, the drawings in the following description are only some embodiments of the present invention, and those skilled in the art can obtain other drawings according to these drawings without creative efforts.

Fig. 1 is a structural schematic diagram of a mechanical gripper in one of the embodiments of the present invention;

Fig. 2 is a schematic diagram of the connection structure of arc-shaped fingers and arc-shaped finger sleeves in one of the embodiments of the present invention;

Fig. 3 is a structural schematic diagram of an arc-shaped finger in one embodiment of the present invention;

Fig. 4 is a schematic structural view of a curved finger cot in one of the embodiments of the present invention;

Figure 5 is a cross-sectional view of the connection between the arc-shaped finger and the arc-shaped finger sleeve in one of the embodiments of the present invention;

Fig. 6 is a schematic diagram of the opened state of the mechanical gripper in one embodiment of the present invention;

Fig. 7 is a schematic diagram of the closed state of the mechanical gripper in one of the embodiments of the present invention;

Fig. 8 is a structural schematic diagram of the telescoping drive mechanism in one embodiment of the present invention.

Detailed ways

In order to make the purpose, technical solutions and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Apparently, the described embodiments are some, but not all, embodiments of the present invention. The components of the embodiments of the invention generally described and illustrated in the figures herein may be arranged and designed in a variety of different configurations.

Accordingly, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely represents selected embodiments of the invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.

It should be noted that like numerals and letters denote similar items in the following figures, therefore, once an item is defined in one figure, it does not require further definition and explanation in subsequent figures.

In the description of the present invention, it should be understood that the orientation or position relationship indicated by "upper" is based on the orientation or position relationship shown in the drawings, or the orientation or position relationship that is usually placed when the product of the invention is used , or the orientation or positional relationship commonly understood by those skilled in the art, are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation , and therefore cannot be construed as a limitation of the present invention.

The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. Based on the implementation manners in the present invention, all other implementation manners obtained by persons of ordinary skill in the art without making creative efforts belong to the scope of protection of the present invention.

An embodiment of the present invention provides a mechanical gripper, as shown in Figures 1 to 5, including:

base 1;

A plurality of driving motors 2, and a plurality of driving motors 2 are arranged on the base 1 along the circumferential direction;

A plurality of arc-shaped fingers 3 correspond one-to-one to a plurality of driving motors 2, and the rotating shafts of the driving motors 2 are connected to the arc-shaped fingers 3;

Wherein, the rotating shaft of the driving motor 2 rotates in one direction so that the plurality of arc-shaped fingers 3 are in an open state, and the rotating shaft of the driving motor 2 rotates in another direction so that the plurality of arc-shaped fingers 3 are in a closed state.

It should be noted that the mechanical gripper of the present invention includes a base 1, a drive motor 2 and an arc finger 3, a plurality of drive motors 2 are fixed on the base 1 along the circumferential direction, and the rotating shaft of the drive motor 2 is connected to the arc finger 3 is connected to the end close to the base 1. When the rotating shaft of the driving motor 2 rotates in one direction, it drives the arc-shaped fingers 3 to rotate, so that multiple arc-shaped fingers 3 are in an open state; when the rotating shaft of the driving motor 2 rotates in the other direction Drive the arc-shaped fingers 3 to rotate, so that the plurality of arc-shaped fingers 3 are in a closed state. In the closed state, a spherical structure is roughly formed between the plurality of arc-shaped fingers 3 and the base 1; state, the arc-shaped finger 3 is controlled by the drive motor 2 to be in an open state. When in use, the object to be grasped is inside the arc-shaped finger 3, and then the arc-shaped finger 3 is controlled by the drive motor 2 to be in a closed state. In this state, a plurality of arc-shaped fingers 3 can grasp objects; the present invention utilizes a plurality of driving motors 2 to control the arc-shaped fingers 3 to be in a closed state with a roughly spherical structure, thereby stably grasping irregularly shaped objects.

In some embodiments, it also includes a plurality of arc-shaped finger cots 4, the plurality of arc-shaped finger cots 4 correspond to the plurality of arc-shaped fingers 3 one by one, the arc-shaped fingers 3 are matched with the arc-shaped finger cots 4, and the arc-shaped finger cots 4 are matched with each other. One end of the finger 3 extends into the arc-shaped finger cover 4, and the other end stretches out of the arc-shaped finger cover 4, and the driving motor 2 rotating shaft is connected with the arc-shaped finger cover 4.

In the above-mentioned embodiment, the arc-shaped finger 3 and the arc-shaped finger cot 4 are completely arc-shaped. One end of the finger 3 extends into the arc-shaped finger sleeve 4 through the opening, and the other end extends out of the arc-shaped finger sleeve 4 through the opening. The rotation of the motor 2 drives the arc-shaped finger cot 4 to rotate, thereby causing the arc-shaped finger 3 to rotate.

In some embodiments, one end of the arc-shaped finger 3 is located in the arc-shaped finger cot 4 and can move along the inner wall of the arc-shaped finger cot 4. A telescopic drive mechanism is also provided in the arc-shaped finger cot 4, and the telescopic drive mechanism is used to drive the arc-shaped finger cot 4. The finger 3 moves back and forth in the arc-shaped finger cot 4 .

In the above-mentioned embodiment, the arc-shaped finger cot 4 is provided with a telescopic drive mechanism, and the specific telescopic drive mechanism can use a piezoelectric ceramic drive mechanism, a pneumatic telescopic drive mechanism, etc., and the arc-shaped finger 3 is driven by the telescopic drive mechanism. The cover 4 moves back and forth, so that when the object is grasped, the object is cut by the reciprocating movement of the end of the arc-shaped finger 3 .

In some embodiments, the retractable drive mechanism includes: a plurality of electrode sheets 5, which are arranged at intervals in the arc-shaped finger cot 4, and a piezoelectric ceramic sheet 6 is attached between any two adjacent electrode sheets 5, close to the arc-shaped The electrode sheet 5 at the end of the finger is affixed to the end of the arc-shaped finger 3;

Wherein, the electrode sheet 5 is used to receive an alternating voltage to make the piezoelectric ceramic sheet 6 expand and vibrate, and then drive the arc-shaped finger 3 to reciprocate in the arc-shaped finger cover 4 .

Specifically, in the above-mentioned embodiment, the telescopic driving mechanism adopts a piezoelectric ceramic driving mechanism, including electrode sheets 5 arranged alternately, and a piezoelectric ceramic sheet 6 is attached between two adjacent electrode sheets 5, and the piezoelectric ceramic sheet 6 Both sides are fixedly connected to the electrode sheets respectively. When in use, by applying an alternating voltage to the electrode sheet 5, the piezoelectric ceramic sheet 6 undergoes synchronous expansion and contraction deformation under the action of the alternating electric field, and the piezoelectric ceramic sheet 6 vibrates longitudinally. The amplitude is generally about 10 μm, and the stretching vibration of the piezoelectric ceramic sheet 6 is transmitted to the arc-shaped finger 3, making it perform high-frequency stretching motion along the arc-shaped direction in the arc-shaped finger cot 4, and then cut the grasped object.

In some embodiments, the telescopic driving mechanism further includes a connection block 7, one side of the connection block 7 is affixed to the end of the arc-shaped finger 3, and the other side is affixed to the electrode piece 5 near the end of the arc-shaped finger 3.

In the above embodiment, the connecting block 7 is an aluminum block, and the connecting block 7 is in the shape of a circular arc. 3. Make it perform high-frequency stretching motion along the arc direction in the arc finger cot 4 .

In some embodiments, the connecting block 7 and the end of the arc-shaped finger 3 are fixedly connected by screws or welding.

In some embodiments, a blade 31 is provided on one side of the arc-shaped finger 3 , and a through hole 41 is provided on the side wall of the arc-shaped finger cover 4 corresponding to the blade 31 , and the blade 31 passes out of the arc-shaped finger cover 4 through the through hole 41 .

In the above embodiment, the vane 31 is provided on one side of the arc-shaped fingers 3 to prevent the grasped object from leaking from the gap between two adjacent arc-shaped fingers 3 without damaging the surface of the grasped object.

In some embodiments, the end of the arc-shaped finger 3 outside the arc-shaped finger sleeve 4 is provided with a blade 32 .

In the above-described embodiment, the blade 32 is in a triangular pointed shape, and the blade 32 is provided with a cutting edge. When the arc finger 3 does high-frequency telescopic movement along the arc direction in the arc finger sleeve 4, the blade 32 can better Cut the grasped object.

In some embodiments, the base 1 is further provided with a plurality of installation blocks 8 , the plurality of installation blocks 8 correspond to the driving motors 2 one by one, and the driving motors are installed on the installation blocks 8 .

In some embodiments, the cross-section of the base 1 is in the shape of a ring.

In some embodiments, a protrusion 42 is provided at the end of the arc-shaped finger cot 4, and a mounting hole 43 is provided on the protrusion 42. The rotating shaft of the driving motor 2 is fixed in the mounting hole 43, and the rotation of the rotating shaft of the driving motor 2 drives the arc-shaped finger cot. 4 turn.

In some embodiments, the driving motor 2 is a geared motor, and the electrode sheet 5 is a copper electrode sheet.

Further referring to FIG. 6 , it shows a plurality of arc-shaped fingers 3 in an open state. Specifically, by controlling the drive motor 2, the arc-shaped fingers 3 are all tilted in one direction, and at this time, the plurality of arc-shaped fingers 3 are far away from the base. The end of the seat 1 forms a larger opening, that is, a plurality of arc-shaped fingers 3 are in an open state; further referring to FIG. 7 , it shows that a plurality of arc-shaped fingers 3 are in a closed state (closed state), specifically, By controlling the driving motor 2, the arc-shaped fingers 3 are changed from an inclined state to a substantially vertical state. At this time, the ends of a plurality of arc-shaped fingers 3 away from the base 1 approach each other to form a closed state for grabbing objects.

Further referring to FIG. 8, the telescopic drive mechanism includes a plurality of piezoelectric ceramic sheets 6 arranged at intervals, and an electrode sheet 5 is attached between two adjacent piezoelectric ceramic sheets 6, and an electrode sheet 5 near one end of the arc-shaped finger 3 The piezoelectric ceramic sheet 6 is affixed with a connection block 7, and the connection block 7 is affixed to the end of the arc-shaped finger 3; the quantity of the piezoelectric ceramic sheet 6 is determined according to the actual situation, for example, it can be 1, 2, 3, 4 ... n pieces, etc.; taking the four piezoelectric ceramic sheets 6 in Fig. 8 as an example to illustrate the voltage control of the electrode sheet 5, the electrode sheets 5 from left to right in Fig. 8 are successively recorded as the first electrode sheet and the second electrode sheet, the third electrode sheet; when in use, the first electrode sheet and the third electrode sheet are connected to the alternating voltage a; the second electrode sheet, the end face of the piezoelectric ceramic sheet 6 attached to the connection block 7 and the leftmost The end surfaces of the piezoelectric ceramic sheets 6 are all grounded b; in this way, the voltage change of the piezoelectric ceramic sheets 6 is controlled, so that the stretching vibration of the piezoelectric ceramic sheets 6 is transmitted to the arc-shaped finger 3 through the connecting block 7, making it The arc-shaped finger cot 4 performs high-frequency stretching motion along the arc direction.

The manipulator claw of the present invention uses piezoelectric ceramics to drive arc-shaped fingers to perform high-frequency telescopic movement to efficiently cut objects; at the same time, the manipulator claw of the present invention has a spherical feature, with blade features between the fingers, which can effectively prevent objects from being grasped It leaks out from the interval of the arc-shaped fingers without damaging the surface of the grasped object; and the mechanical gripper of the present invention has the characteristics of simple structure, convenient installation, flexibility, etc., and can be applied to virtual axis machine tools, aviation simulation equipment, medical equipment, etc. field.

The above description is only a preferred embodiment of the present invention, and is not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included in the scope of the present invention. within the scope of protection.

Claims (10)

1. A mechanical claw, characterized in that, comprising: base; A plurality of drive motors, a plurality of drive motors are arranged on the base along the circumferential direction; a plurality of arc-shaped fingers, which correspond to a plurality of said drive motors one by one, and said drive motor shafts are connected to the arc-shaped fingers; Wherein, the rotating shaft of the driving motor rotates in one direction to make the plurality of arc-shaped fingers open, and the rotating shaft of the driving motor rotates in the other direction to make the plurality of arc-shaped fingers in a closed state. 2. The mechanical gripper according to claim 1, further comprising a plurality of arc-shaped finger cots corresponding to a plurality of said arc-shaped fingers, said arc-shaped fingers Fitting with the arc-shaped finger cot, one end of the arc-shaped finger extends into the arc-shaped finger cot, and the other end extends out of the arc-shaped finger cot, and the rotating shaft of the driving motor is connected to the arc-shaped finger cot. 3. The mechanical gripper according to claim 2, wherein one end of the arc-shaped finger is located in the arc-shaped finger cot and can move along the inner wall of the arc-shaped finger cot, and a telescopic drive is also provided in the arc-shaped finger cot mechanism, the telescoping drive mechanism is used to drive the arc-shaped finger to move back and forth in the arc-shaped finger sleeve. 4. The mechanical gripper according to claim 3, wherein the telescopic drive mechanism comprises: a plurality of electrode sheets, which are arranged at intervals in the arc-shaped finger cot, and between any two adjacent electrode sheets A piezoelectric ceramic sheet is laminated between them, and the electrode sheet close to the end of the arc-shaped finger is affixed to the end of the arc-shaped finger; Wherein, the electrode sheet is used to receive an alternating voltage to make the piezoelectric ceramic sheet expand and vibrate, and then drive the arc-shaped finger to reciprocate in the arc-shaped finger sleeve. 5. The mechanical gripper according to claim 4, wherein the telescopic drive mechanism further comprises a connection block, one side of the connection block is affixed to the end of the arc-shaped finger, and the other side is connected to the end of the arc-shaped finger. The electrode sheet at the end of the finger is fixedly connected. 6. The mechanical gripper according to any one of claims 2 to 5, wherein a blade is provided on one side of the arc-shaped finger, and a through hole is provided at the side wall of the arc-shaped finger sleeve corresponding to the blade, and the blade Pass through the said through hole and go out of the said arc-shaped finger cot. 7. The mechanical gripper according to any one of claims 2-5, wherein a blade is provided at the end of the arc-shaped finger outside the arc-shaped finger sleeve. 8. The mechanical gripper according to any one of claims 1 to 5, characterized in that, the base is further provided with a plurality of installation blocks, and the plurality of installation blocks correspond to the drive motors one by one, and the The drive motor is mounted on the mounting block. 9. The robotic gripper according to any one of claims 1-5, characterized in that, the cross-section of the base is in the shape of a ring. 10. The mechanical gripper according to any one of claims 2 to 5, wherein a protrusion is provided at the end of the arc-shaped finger cot, and a mounting hole is provided on the protrusion, and the rotating shaft of the drive motor is fixed on inside the mounting hole.