CN217345543U

CN217345543U - Mechanical gripper and robot with same

Info

Publication number: CN217345543U
Application number: CN202221954032.1U
Authority: CN
Inventors: 董梦珍
Original assignee: Hunan Jiji Technology Co ltd
Current assignee: Hunan Jiji Technology Co ltd
Priority date: 2022-07-27
Filing date: 2022-07-27
Publication date: 2022-09-02
Anticipated expiration: 2032-07-27

Abstract

The utility model relates to an intelligent robot technical field specifically is a mechanical gripper and have robot of this mechanical gripper, this mechanical gripper includes the mount pad, articulate in two at least finger portions of mount pad bottom and install the electric steering wheel on the mount pad, motor output shaft in the electric steering wheel passes through drive unit and is connected with finger portion transmission, every indicates that to be provided with the main entrance and a plurality of accessory channel with the main entrance intercommunication in the portion, the accessory channel sets up in the inboard of finger portion, every still is equipped with the trachea with the main entrance intercommunication on indicating portion, the activity is pegged graft in the accessory channel has the butt piece. The utility model discloses a finger portion at mechanical gripper sets up the butt, and finger portion's gripping utilizes the air current to promote the outer wall of butt and curved surface work piece and supports tightly when the curved surface work piece to this increases finger portion and curved surface work piece's contact surface, and then reduces the possibility that curved surface work piece was pressed to decrease.

Description

Mechanical gripper and robot with same

Technical Field

The utility model relates to an intelligent robot technical field specifically is mechanical gripper and has robot of this mechanical gripper.

Background

Along with the continuous improvement of industrial automation degree, all kinds of industrial robots (manipulators) are widely used to replace the manual work to accomplish work of a large amount of repeatability, high strength gradually, industrial robot realizes snatching the work piece or the centre gripping to the instrument through the mechanical hand claw of installing at its wrist, and mechanical hand claw design is a very important link in the industrial robot uses.

At present, common mechanical claws on the market are mainly driven by an electric steering engine, and a motor in the electric steering engine drives finger parts of the mechanical claws to open and close through a transmission part, so that a grabbing function is realized; in different engineering applications, different mechanical claws are required to complete specific grabbing or clamping tasks, when the conventional mechanical claw grabs a workpiece with a complex curved surface, the contact surface between the finger part of the mechanical claw and the workpiece is usually small, and the workpiece with the complex curved surface is more easily deformed or even damaged by pressure under the same clamping pressure.

SUMMERY OF THE UTILITY MODEL

The utility model provides a mechanical gripper and have robot of this mechanical gripper to solve the problem among the prior art.

The utility model provides a technical problem adopt following technical scheme to realize:

on the one hand, the utility model provides a mechanical gripper, including the mount pad, articulate in two at least finger portions of mount pad bottom and install electric steering wheel on the mount pad, motor output shaft in the electric steering wheel pass through transmission part with indicate the transmission of finger portion and connect, every indicate to be provided with the main entrance in finger portion and with a plurality of accessory channel of main entrance intercommunication, the accessory channel sets up the inboard of finger portion, every still be equipped with in finger portion with the trachea of main entrance intercommunication, the accessory channel internalization is pegged graft and is had the butt.

Optionally, a connecting piece is arranged at the bottom of the mounting seat, and one end of the finger portion is hinged to the connecting piece through a pin shaft.

Optionally, the outer wall of one end, connected with the connecting piece, of the finger portion is provided with an arc surface, the circle center of the arc surface is located on the axis of the pin shaft, the transmission component comprises worm gear teeth arranged on the arc surface and a worm fixedly connected with the motor output end of the electric steering engine, and the worm gear teeth are meshed with the worm.

Optionally, it is a plurality of indicate all to be crescent, it is a plurality of indicate to form between the inboard and hold the thing space of putting that can hold the work piece of waiting to snatch.

Optionally, the plurality of abutment members are spaced apart along the length of the inner side of the finger.

Optionally, the abutting part includes a rod portion, and a ball head and a piston head respectively disposed at two ends of the rod portion, the piston head is located in the secondary channel, and the ball head is located outside the secondary channel.

Optionally, the diameter of the ball head is larger than that of the rod part, and the ball head is made of rubber.

On the other hand, the utility model provides a robot, including fuselage and foretell gripper, the gripper be equipped with two, two the gripper locate respectively the both sides of fuselage.

The utility model has the advantages that:

1. the utility model discloses a set up a plurality of butt pieces by pneumatic drive in every finger portion of mechanical gripper, finger portion gripping is behind the work piece, utilizes the air current to promote butt piece and outer wall of curved surface work piece to support tightly to increase the contact surface of finger portion and curved surface work piece, make this mechanical gripper can have enough big contact surface to the curved surface work piece, reduce the possibility that the curved surface work piece was damaged by pressure;

2. the utility model has the advantages that the motor of the electric steering engine is connected with the transmission of the finger part through the mutual matching of the worm and the teeth of the worm wheel, and the transmission has reverse self-locking property, so that the finger part can better grab the workpiece and prevent the workpiece from falling off;

3. the utility model discloses a bulb with the butt piece adopts the rubber material to make, and the bulb of rubber material can increase frictional force between butt piece and the work piece to can avoid butt piece scratch work piece.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without inventive exercise.

Fig. 1 is a schematic view of an opening structure of a finger portion of a gripper according to the present invention;

fig. 2 is a schematic view of a finger closing structure of the gripper of the present invention;

fig. 3 is a schematic view of the structure of the finger portion of the present invention;

fig. 4 is a sectional structure diagram of the finger part of the utility model;

fig. 5 is an enlarged schematic structural diagram of a in fig. 4 according to the present invention.

In the figure: 1. an electric steering engine; 2. a mounting seat; 3. a finger portion; 30. worm gear teeth; 31. a main channel; 32. a secondary channel; 4. a worm; 5. connecting sheets; 6. a pin shaft; 7. an abutting member; 70. a rod portion; 71. a ball head; 72. a piston head; 8. an air tube; 9. a storage space.

Detailed Description

In order to make the technical means, creation features, achievement purposes and functions of the present invention easy to understand and understand, the present invention is further explained by combining with the specific drawings.

Example (b): referring to fig. 1 to 5, according to an aspect of the embodiment of the present invention, there is provided a robot gripper, including a mounting base 2, at least two finger portions 3 hinged to the bottom of the mounting base 2, and an electric steering engine 1 installed on the mounting base 2, wherein the plurality of finger portions 3 are distributed in an annular array with the center of the bottom surface of the mounting base 2 as a central point, a motor output shaft in the electric steering engine 1 is in transmission connection with the finger portions 3 through a transmission part, a main channel 31 and a plurality of auxiliary channels 32 communicated with the main channel 31 are provided in each finger portion 3, the auxiliary channels 32 are provided inside the finger portions 3, an air pipe 8 communicated with the main channel 31 is further provided on each finger portion 3, a butting part 7 is movably inserted into the auxiliary channels 32, in the specific implementation, the air pipe 8 is first connected with the outside, then the electric steering engine 1 is used to drive the finger portions 3 to rotate, so that the finger portions 3 are grasped outside a workpiece, then an external air pump is used to inflate the main channel 31, make a plurality of butt parts 7 support tightly with the outer wall of curved surface work piece under the air current promotes to this increases the contact surface of finger portion 3 and curved surface work piece, simultaneously, because the atmospheric pressure thrust that every butt part 7 received is the same, the extrusion force that acts on the work piece is also the same, make this mechanical gripper not only can have enough big contact surface to the curved surface work piece, still guarantee that the pressure of contact position is also balanced, reduce the possibility that curved surface work piece is damaged by the pressure, in other possible embodiments, still be provided with pressure sensor in the main channel 31, in order to monitor the atmospheric pressure in the main channel 31 through pressure sensor, avoid atmospheric pressure too big pressure to cause the pressure loss of work piece.

On the basis of above-mentioned embodiment, 2 bottoms of mount pad in this embodiment are equipped with connection piece 5, it is articulated with connection piece 5 through round pin axle 6 to indicate 3 one end of finger portion, the outer wall that indicates 3 and connection piece 5 are connected one end has the arc surface, and the centre of a circle of arc surface is located the axle center of round pin axle 6, drive disk spare is including locating worm gear tooth 30 on the arc surface and with electric steering engine 1's motor output end fixed connection's worm 4, worm gear tooth 30 and worm 4 meshing, electric steering engine 1's motor passes through worm 4 and is connected with the transmission of finger portion 30 with worm gear tooth 30, such transmission has reverse auto-lock nature, make and indicate 3 can be better snatch the work piece, prevent that the work piece from droing.

On the basis of the above embodiments, in the present embodiment, the plurality of finger portions 3 are all crescent-shaped, an object placing space 9 capable of accommodating a workpiece to be grabbed is formed between the inner sides of the plurality of finger portions 3, when the workpiece is grabbed, the plurality of finger portions 3 surround the workpiece, so that the workpiece is placed in the object placing space 9, in an actual implementation process, the number of finger portions 3 is three, and the three finger portions 3 can completely surround the workpiece, so as to prevent the workpiece from falling off.

In addition to the above embodiments, in the present embodiment, the plurality of contact pieces 7 are arranged at intervals along the length direction of the inner side of the finger part 3, specifically, the plurality of contact pieces 7 are arranged at equal intervals along the length direction of the inner side of the finger part 3, and the actual number and arrangement of the contact pieces 7 can be set according to actual situations.

On the basis of the above embodiment, in the present embodiment, the abutting member 7 includes a rod portion 70, and a ball head 71 and a piston head 72 respectively disposed at two ends of the rod portion 70, the piston head 72 is located in the secondary channel 32, the ball head 71 is located outside the secondary channel 32, the piston is always located in the secondary channel 32 and is movable along the length direction of the secondary channel 32, one end of the rod portion 70 connected to the piston head 72 is located in the secondary channel 32, and one end connected to the ball head 71 is located outside the secondary channel 32.

On the basis of the above embodiments, in the present embodiment, the diameter of the ball head 71 is larger than that of the rod portion 70, so as to prevent the abutting member 7 from sliding into the main channel 31, the ball head 71 is made of rubber, the friction between the rubber ball head 71 and the workpiece can be increased, and the workpiece can be prevented from being scratched.

According to the utility model discloses on the other hand, provide a robot, including fuselage and foretell gripper, the gripper be equipped with two, the both sides of the fuselage that two gripper located respectively.

The working principle is as follows: when the mechanical gripper is used for grabbing a complex curved surface workpiece, an air pipe 8 is connected with an external air pump, then a motor of an electric steering engine 1 is used for driving a screw rod to rotate along a pointer, a plurality of finger parts 3 at the bottom of a mounting seat 2 are separated, then the mechanical gripper is moved, the complex curved surface workpiece is placed in an object placing space 9 formed between the finger parts 3, then the motor of the electric steering engine 1 is used for driving the screw rod to rotate along a reverse pointer, the finger parts 3 are driven to fold and grab the outside of the complex curved surface workpiece, finally, the external air pump is used for inflating air into a main channel 31, a plurality of abutting parts 7 are abutted against the outer wall of the complex curved surface workpiece under the pushing of air flow, so that the contact surface between the finger parts 3 and the complex curved surface workpiece is increased, meanwhile, because the air pressure thrust force applied to each abutting part 7 is the same, the extrusion force applied to the workpiece is also the same, the mechanical gripper not only can have a large enough contact surface to the curved surface workpiece, and the pressure at the contact position is also ensured to be balanced, and the possibility of pressure loss of the curved surface workpiece is reduced.

The basic principles and the main features of the invention and the advantages of the invention have been shown and described above. It will be understood by those skilled in the art that the present invention is not limited to the above embodiments, and that the foregoing embodiments and descriptions are provided only to illustrate the principles of the present invention without departing from the spirit and scope of the present invention. The scope of the invention is defined by the appended claims and equivalents thereof.

Claims

1. Mechanical gripper, its characterized in that: including mount pad (2), articulate in two at least finger parts (3) of mount pad (2) bottom and install electric steering wheel (1) on mount pad (2), motor output shaft in electric steering wheel (1) pass through transmission part with finger part (3) transmission is connected, every be provided with main entrance (31) in finger part (3) and with a plurality of accessory channel (32) of main entrance (31) intercommunication, accessory channel (32) set up the inboard of finger part (3), every still be equipped with on finger part (3) with trachea (8) of main entrance (31) intercommunication, the activity is pegged graft in accessory channel (32) has butt piece (7).

2. The gripper of claim 1, wherein: connecting pieces (5) are arranged at the bottoms of the mounting seats (2), and one ends of the finger parts (3) are hinged to the connecting pieces (5) through hinge pins (6).

3. The gripper of claim 2, wherein: the outer wall of one end, connected with the connecting piece (5), of the finger part (3) is provided with an arc surface, the circle center of the arc surface is located on the axis of the pin shaft (6), the transmission part comprises worm gear teeth (30) arranged on the arc surface and a worm (4) fixedly connected with the output end of a motor of the electric steering engine (1), and the worm gear teeth (30) are meshed with the worm (4).

4. The gripper of claim 1, wherein: it is a plurality of finger portion (3) all are crescent, and are a plurality of finger portion (3) inboard between form and hold the thing space (9) that to wait to snatch the work piece.

5. The gripper of claim 1, wherein: the plurality of contact pieces (7) are arranged at intervals along the length direction of the inner side of the finger part (3).

6. The gripper of claim 1, wherein: the abutting part (7) comprises a rod part (70), and a ball head (71) and a piston head (72) which are respectively arranged at two ends of the rod part (70), wherein the piston head (72) is positioned in the auxiliary channel (32), and the ball head (71) is positioned outside the auxiliary channel (32).

7. The gripper of claim 6, wherein: the diameter of the ball head (71) is larger than that of the rod part (70), and the ball head (71) is made of rubber.

8. A robot, includes fuselage, its characterized in that: the mechanical claw assembly further comprises two mechanical claws as claimed in any one of claims 1 to 7, wherein the two mechanical claws are respectively arranged on two sides of the machine body.