CN212218530U

CN212218530U - Modularized flexible mechanical gripper

Info

Publication number: CN212218530U
Application number: CN202020606619.8U
Authority: CN
Inventors: 张睿宁
Original assignee: Individual
Current assignee: Individual
Priority date: 2020-04-21
Filing date: 2020-04-21
Publication date: 2020-12-25
Anticipated expiration: 2030-04-21

Abstract

The utility model discloses a flexible machinery of modularization holds claw belongs to the gripper field, a flexible machinery of modularization holds claw, include: the clamping device comprises a fixed base plate, a driving device, a base and at least two gripper assemblies, wherein a plurality of guide posts are arranged on the base; the driving device is fixed on the base and connected with the driving plate; the holding claw assembly comprises a flexible holding claw and a linkage rod, one end of the top of the flexible holding claw is hinged to the driving plate through the linkage rod, and the other end of the top of the flexible holding claw is hinged to the base; the flexible holding claw is provided with a clamping part and an outer side part, and a plurality of integrally formed arch-shaped supporting parts are connected between the clamping part and the outer side part. The utility model relates to a flexible machinery of modularization holds claw, application range is wide, and the object contact that snatchs is more firm, can adapt to various article and snatch.

Description

Modularized flexible mechanical gripper

Technical Field

The utility model relates to a gripper field, more specifically say, relate to a flexible machinery of modularization holds claw.

Background

With the development of mankind and the advancement of civilization, the industry is developing and the amount of work required to be done by people is increasing (especially the repetitive work such as the transportation of goods) and the work related to dangerousness is increasing, which forces people to research and develop a new device which can imitate certain action functions of human hands and arms and is used for automatically operating a device for grabbing, carrying objects or operating tools according to a fixed program, and a mechanical claw is just such a device: it can replace the heavy labor of people to realize the mechanization and automation of production, and can be operated under harmful environment to protect the personal safety, thus being widely applied to the departments of mechanical manufacturing, metallurgy, electronics, light industry, atomic energy and the like.

The common mechanical claws in life have various functional types, most of the common mechanical claws are mainly rigid mechanical claws, the design of the mechanical claws is single, two-grab and three-grab are mainly used, and objects are grabbed mainly by contracting the mechanical claws. The design of this aspect causes that the gripper cannot grab some objects, mainly the objects which are deformed and cannot be recovered after being stressed, are fragile after being stressed, and have irregular shapes and structures, such as wine cups, plastic bottles, packing boxes, disposable paper cups and the like.

SUMMERY OF THE UTILITY MODEL

1. Technical problem to be solved

To the problem that exists among the prior art, the utility model aims to provide a flexible machinery of modularization holds claw to it has limitation, the fixed unable defect such as suitably adjusting and snatching according to the task of tongs quantity to snatch the object among the prior art to overcome.

2. Technical scheme

In order to solve the above problems, the utility model adopts the following technical proposal.

A modular flexible mechanical grip comprising: the clamping device comprises a fixed base plate, a driving device, a base and at least two gripper assemblies, wherein a plurality of guide posts are arranged on the base, the fixed base plate is fixedly connected with the base through the guide posts, and the driving plate is slidably mounted on the guide posts; the driving device is fixed on the base, connected with the driving plate and used for driving the driving plate to slide up and down; the holding claw assembly is annularly connected to the base at equal intervals and comprises flexible holding claws and a linkage rod, one end of the top of each flexible holding claw is hinged to the driving plate through the linkage rod, and the other end of the top of each flexible holding claw is hinged to the base; the flexible holding claw is of a triangular structure and comprises a clamping part and an outer side part which are positioned on the inner side, and a plurality of integrally formed bow-shaped supporting parts are connected between the clamping part and the outer side part.

Furthermore, the flexible holding claws are in an equilateral triangle structure.

Furthermore, a plurality of anti-skid protrusions are arranged on the clamping part.

Further, the anti-skid protrusions are arrow-shaped.

Furthermore, the driving device comprises a stepping motor, a screw rod and a screw rod nut, the stepping motor is fixedly installed on the base and connected with the screw rod, and the driving plate is rotatably connected with the screw rod through the screw rod nut.

Further, the flexible gripper is made of a Thermoplastic polyurethane elastomer (TPU) material which is integrally formed through 3D printing.

Furthermore, a plurality of first hinging lug plates are annularly and equidistantly arranged on the driving plate, and second hinging lug plates which are in one-to-one correspondence with the first hinging lug plates are arranged on the base; the top end of the flexible holding claw is fixedly provided with a connecting piece, the connecting piece is provided with a first hinge part and a second hinge part, and the second hinge part is correspondingly hinged on the second hinge ear plate; the top end of the linkage rod is hinged to the first hinging lug plate, and the bottom end of the linkage rod is hinged to the first hinging part.

Further, the gripper assembly may be configured as two, three, four or six jaws.

3. Advantageous effects

Compared with the prior art, the utility model has the advantages of:

(1) according to the scheme, the driving plate is driven by the stepping motor to move downwards, so that the flexible holding claw is stressed inwards to generate elastic deformation, the object is wrapped, various types of objects can be grabbed through the friction force of the clamping part of the flexible holding claw, and the application range is wide;

(2) in the scheme, the flexible holding claw adopts an equilateral triangle structure, a plurality of integrally formed arch-shaped supporting parts are connected between the clamping part and the outer side part, when the flexible holding claw shrinks inwards to grab an object, deformation is generated, the arch-shaped supporting parts provide force to act, so that the grabbed object is contacted more firmly, and the deformation state is easier to recover;

(3) in the scheme, the flexible holding claws can be freely combined into two-claw, three-claw, four-claw and six-claw states, so that the flexible holding claws are suitable for grabbing various articles;

(4) the clamping part of flexible holding claw arranges and is provided with the non-skid protrusions of a plurality of arrow point shapes in this scheme, increases and contacts the frictional force of object to reduce the object landing.

Drawings

FIG. 1 is a perspective view of a modular flexible mechanical gripper of the present invention;

FIG. 2 is an exploded view of a modular flexible mechanical gripper according to the present invention;

FIG. 3 is a perspective view of the modular flexible mechanical gripper of the present invention with the gripper assembly removed;

FIG. 4 is a perspective view of a flexible gripper of the present invention;

FIG. 5 is a front view of a flexible gripper of a modular flexible mechanical gripper of the present invention;

the reference numbers in the figures illustrate:

1. fixing the substrate; 2. a drive plate; 201. a first hinge ear panel; 3. a base; 301. a guide post; 302. a second hinged ear panel; 4. a flexible grip; 401. a clamping portion; 402. an outer side portion; 403. an arcuate support portion; 404. anti-skid projections; 5. a linkage rod; 6. a stepping motor; 7. a screw rod; 8. a feed screw nut; 9. a connecting member; 901. a first hinge portion; 902. a second hinge portion;

Detailed Description

The technical solution in the embodiment of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiment of the present invention; obviously, the described embodiments are only a part of the embodiments of the present invention, and not all embodiments, and all other embodiments obtained by those skilled in the art without any inventive work are within the scope of the present invention based on the embodiments of the present invention.

In the description of the present invention, it should be noted that the terms "upper", "lower", "inner", "outer", "top/bottom", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted", "provided", "sleeved/connected", "connected", and the like are to be understood in a broad sense, such as "connected", which may be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.

Referring to fig. 1 to 5, the present invention provides a modular flexible mechanical gripper, comprising: fixed baseplate 1, drive plate 2, drive arrangement, base 3 and two at least gripper components, gripper component can carry out the change of quantity and kind, can form two gripper, three gripper, four gripper and six gripper's form, can increase the kind of snatching of object, if can snatch fragile glass cup, cake, the difficult object that snatchs such as disposable paper cup, adopt three gripper components in this embodiment.

Referring to fig. 1 to 2, three guide posts 301 are disposed on the base 3, the fixed base plate 1 is fixedly mounted at the top ends of the guide posts 301, the driving plate 2 is slidably mounted on the guide posts 301, and the driving plate 2 is located between the base 3 and the fixed base plate 1. The driving device is fixed on the base 3 and connected with the driving plate 2 and used for driving the driving plate 2 to slide up and down; the driving device comprises a stepping motor 6, a screw rod 7 and a screw rod nut 8, the stepping motor 6 is fixedly installed on the base 3 and connected with the screw rod 7, the screw rod 7 can be driven to rotate, the screw rod nut 8 is sleeved on the screw rod 7 and fixedly connected with the driving plate 2, and the stepping motor 6 drives the screw rod 7 to rotate, so that the driving plate 2 slides up and down on the guide column 301.

Referring to fig. 2 and 3, three gripper assemblies are annularly and equidistantly connected to the base 3, each gripper assembly includes a flexible gripper 4, a linkage rod 5 and a connecting member 9, the top end of the flexible gripper 4 is fixedly mounted on the connecting member 9, and the connecting member 9 is provided with a first hinge 901 and a second hinge 902; six first hinging lug plates 201 are annularly and equidistantly arranged on the driving plate 2, second hinging lug plates 302 which are in one-to-one correspondence with the first hinging lug plates 201 are arranged on the base 3, and second hinging parts 902 are correspondingly hinged on the second hinging lug plates 302; the top end of the linkage rod 5 is hinged on the first hinge ear plate 201, and the bottom end is hinged on the first hinge part 901. By adopting the structure, when the stepping motor 6 drives the driving plate 2 to move downwards, the flexible holding claw 4 can generate inward deformation under the condition of stress through the linkage rod 5, so that an object is wrapped, the stability of the whole structure is improved, and the flexible holding claw 4 can grab the object more firmly.

Referring to fig. 4 and 5, flexible holding claw 4 is equilateral triangle structure, and the inboard side of flexible holding claw 4 is clamping part 401, and the outside limit is outside portion 402, is connected with a plurality of integrated into one piece's bow-shaped supporting part 403 between clamping part 401 and the outside portion 402, can produce deformation when flexible holding claw 4 inwards contracts the contact object, and bow-shaped supporting part 403 can provide the effect of power, makes the object contact of snatching firmer, and the deformation state resumes more easily. The plurality of anti-slip protrusions 404 are arranged on the clamping portion 401, and the anti-slip protrusions 404 are arrow-shaped, so that friction force between the anti-slip protrusions and an object in contact with the object can be increased, and the object can be prevented from slipping off.

The flexible holding claw 4 is made of TPU (thermoplastic polyurethane) material integrally formed by 3D printing, and has the advantages of wide hardness range, high mechanical strength, high bearing capacity, outstanding impact resistance and shock absorption performance, good recycling performance and the like.

Further explaining this embodiment, fixed baseplate 1 is used for being connected with outside drive arrangement, and during operation, machinery is held the claw and is moved to waiting to snatch object department through hold-in range and linear guide, and step motor 6 starts, drives lead screw 7 and rotates, makes drive plate 2 slide downwards on guide post 301 to make flexible holding claw 4 inwards deform at the atress through trace 5, thereby wrap up the object.

According to the modularized flexible mechanical gripper, the driving plate is driven by the stepping motor to move downwards, so that the flexible gripper is stressed inwards to generate elastic deformation, an object is wrapped, various types of objects can be grabbed by the friction force of the clamping part of the flexible gripper, and the application range is wide; the flexible holding claw adopts an equilateral triangle structure, a plurality of integrally formed arch-shaped supporting parts are connected between the clamping part and the outer side part, when the flexible holding claw shrinks inwards to grab an object, the flexible holding claw deforms, the arch-shaped supporting parts provide force to ensure that the grabbed object is contacted more firmly, and the deformation state is easier to recover; the flexible holding claws can be freely combined into two claws, three claws, four claws, six claws and the like, and are suitable for grabbing various articles; the clamping part of the flexible holding claw is provided with a plurality of arrow-shaped anti-skidding protrusions in an array mode, so that the friction force between the flexible holding claw and an object in contact is increased, and the object sliding is reduced.

The above description is only the preferred embodiment of the present invention; the scope of the present invention is not limited thereto. Any person skilled in the art should also be able to cover the technical scope of the present invention by replacing or changing the technical solution and the improvement concept of the present invention with equivalents and modifications within the technical scope of the present invention.

Claims

1. A modular flexible mechanical grip comprising: the clamping device comprises a fixed base plate (1), a driving plate (2), a driving device, a base (3) and at least two gripper assemblies, wherein a plurality of guide columns (301) are arranged on the base (3), the fixed base plate (1) is fixedly connected with the base (3) through the guide columns (301), and the driving plate (2) is slidably mounted on the guide columns (301); the driving device is fixed on the base (3), connected with the driving plate (2) and used for driving the driving plate (2) to slide up and down; the holding claw assembly is annularly connected to the base (3) at equal intervals and comprises flexible holding claws (4) and a linkage rod (5), one end of the top of each flexible holding claw (4) is hinged to the driving plate (2) through the linkage rod (5), and the other end of the top of each flexible holding claw (4) is hinged to the base (3); the flexible holding claw (4) is provided with a clamping part (401) and an outer side part (402) which are positioned on the inner side, and a plurality of integrally-formed arch-shaped supporting parts (403) are connected between the clamping part (401) and the outer side part (402).

2. The modular flexible mechanical grip of claim 1 wherein: the flexible holding claws (4) are in an equilateral triangle structure.

3. The modular flexible mechanical grip of claim 1 wherein: a plurality of anti-skid protrusions (404) are arranged on the clamping part (401).

4. A modular flexible mechanical gripper according to claim 3, wherein: the anti-slip protrusions (404) are arrow-shaped.

5. The modular flexible mechanical grip of claim 1 wherein: the driving device comprises a stepping motor (6), a screw rod (7) and a screw rod nut (8), wherein the stepping motor (6) is fixedly installed on the base (3) and connected with the screw rod (7), and the driving plate (2) is rotatably connected with the screw rod (7) through the screw rod nut (8).

6. The modular flexible mechanical grip of claim 1 wherein: the flexible gripper (4) is made of TPU materials which are integrally formed through 3D printing.

7. The modular flexible mechanical grip of claim 1 wherein: a plurality of first hinging lug plates (201) are annularly and equidistantly arranged on the driving plate (2), and second hinging lug plates (302) which are in one-to-one correspondence with the first hinging lug plates (201) are arranged on the base (3); a connecting piece (9) is fixedly installed at the top end of the flexible holding claw (4), a first hinged part (901) and a second hinged part (902) are arranged on the connecting piece (9), and the second hinged part (902) is correspondingly hinged on the second hinged ear plate (302); the top end of the linkage rod (5) is hinged on the first hinged ear plate (201), and the bottom end of the linkage rod is hinged on the first hinged part (901).

8. The modular flexible mechanical grip of claim 1 wherein: the gripper assembly may be configured as two, three, four or six jaws.