CN219946263U - An under-actuated mechanical gripper that adapts to the shape of the grasped object - Google Patents

Abstract

The utility model discloses an under-driven mechanical gripper that adapts to the shape of a grasped object, relates to the field of mechanical engineering, and includes a base, a stepper motor, a transmission frame, a first finger, a second finger, and an end connector of an industrial robot arm. . Among them, the base includes an upper base plate, a lower base plate, and a support column; the transmission frame includes a linear bearing and a screw nut; the first finger and the second finger are under-actuated fingers with exactly the same structure, including finger input phalanx and proximal phalanx input Phalanges, middle phalanx of proximal phalanx, working phalanx of proximal phalanx, connecting phalanx of proximal phalanx, middle phalanx of middle phalanx, working phalanx of middle phalanx, working phalanx of distal phalanx, flexible pad of working phalanx of proximal phalanx, flexible pad of working phalanx of middle phalanx Pad, flexible pad of distal phalanx working phalanx, first to eighth pins. The utility model is an under-driven mechanical clamp that adapts to the shape of the object to be grasped. It can stably grasp objects of different sizes and shapes. It adopts a stepper motor drive source and a screw nut transmission mechanism. It has a compact structure and is economical. It has the characteristics of low cost, strong applicability and practicality.

Description

An under-actuated mechanical gripper that adapts to the shape of the grasped object

Technical field

The utility model relates to the field of mechanical engineering, and in particular to an under-driven mechanical gripper that adapts to the shape of an object to be grasped.

Background technique

With the continuous development of mechanical grippers in the field of mechanical engineering, research on various special mechanical grippers at home and abroad has also been in-depth. However, the special mechanical gripper is not very versatile and flexible. This is reflected in the fact that the special mechanical gripper is designed for specific scenes and operating objects. Once it is separated from the specific scenes and operating objects, it is difficult to effectively perform its grabbing function. Especially when grabbing objects with different shapes and volumes from the specific operating objects set during the design, the special mechanical grippers have poor adaptability to the shape of the objects to be grasped, which makes it difficult for them to effectively grasp the objects. Get function. Therefore, it is particularly important to design a mechanical gripper that can adapt to different shapes of grasped objects and improve versatility and flexibility.

Utility model content

In order to make up for the shortcomings of the above-mentioned prior art, the present invention provides an under-driven mechanical gripper that adapts to the shape of the object to be grasped, so as to solve the problems in the above-mentioned background technology and realize the shape adaptation of objects with different shapes. .

In order to achieve the above purpose, the utility model provides an under-driven mechanical gripper that adapts to the shape of the object to be grasped, which is characterized in that it includes a base, a stepper motor, a transmission frame, a first finger, a second finger, and an industrial gripper. Robotic arm end connector. Among them, the base includes an upper base plate, a lower base plate, and a support column; the transmission frame includes a linear bearing and a screw nut; the first finger and the second finger are under-actuated fingers with exactly the same structure, including finger input phalanx and proximal phalanx input Phalanges, middle phalanx of proximal phalanx, working phalanx of proximal phalanx, connecting phalanx of proximal phalanx, middle phalanx of middle phalanx, working phalanx of middle phalanx, working phalanx of distal phalanx, flexible pad of working phalanx of proximal phalanx, flexible pad of working phalanx of middle phalanx Pad, flexible pad of distal phalanx working phalanx, first to eighth pins. The mechanical clamping jaw adopts a screw nut transmission mechanism.

Further, the upper bottom plate of the base is provided with a motor mounting hole, a support column mounting hole, an optical axis holder mounting hole, and a mechanical arm end connector mounting hole; the stepper motor passes through the stepper motor mounting hole, using The threaded connection is installed on the upper bottom plate of the base; the support column is fixedly connected to the upper bottom plate of the base through the support column mounting hole; the optical axis fixing seat is fixedly connected to the optical axis fixing seat through the mounting hole of the optical axis fixing seat. The upper bottom plate of the base is installed with a threaded connection; the upper bottom plate of the base is installed with an industrial robot arm end connector through a connector mounting hole.

Further, the lower bottom plate of the base is provided with a screw support bearing mounting hole, a support column mounting hole and an optical axis holder mounting hole; the screw support bearing is installed through the screw support bearing mounting hole using a threaded connection. On the lower bottom plate of the base; the support column is fixedly connected to the lower bottom plate of the base through the support column mounting hole; the optical axis fixing seat is threadedly connected through the optical axis fixing seat mounting hole Installed under the base plate.

Further, the transmission frame is provided with a linear bearing mounting hole and a screw nut mounting hole. The linear bearing passes through the linear bearing mounting hole and is installed on the transmission frame through a threaded connection; the screw nut passes through the screw nut mounting hole. Installed on the transmission frame using threaded connection.

Further, among the first finger and the second finger, the first pin is used to connect the finger input phalanx and the transmission frame; the second pin is used to connect the lower bottom plate of the base, The input phalanx of the proximal phalanx and the working phalanx of the proximal phalanx; the third pin is used to connect the input phalanx of the finger, the input phalanx of the proximal phalanx and the middle phalanx of the proximal phalanx; the third pin The four pins are used to connect the working phalanx of the proximal phalanx, the connecting phalanx of the proximal phalanx and the working phalanx of the middle phalanx; the fifth pin is used to connect the middle phalanx of the proximal phalanx, the connecting phalanx of the proximal phalanx and the working phalanx of the middle phalanx. The sixth pin is used to connect the connecting phalanx of the proximal phalanx and the middle phalanx of the middle phalanx; the seventh pin is used to connect the working phalanx of the middle phalanx and the working phalanx of the distal phalanx. The phalanges; the eighth pin is used to connect the middle phalanx of the middle phalanx and the working phalanx of the distal phalanx; the flexible cushion layer of the working phalanx of the proximal phalanx, the flexible cushion layer of the working phalanx of the middle phalanx, and the working phalanx of the distal phalanx The flexible cushion is installed on the working phalanx of the proximal phalanx, the working phalanx of the middle phalanx, and the working phalanx of the distal phalanx through interference fit.

Further, when the first finger and the second finger grasp an object and the flexible pad of the phalanx of each knuckle does not come into contact with the object, the first finger and the second finger move in a free motion manner. When the knuckle works, The flexible cushion layer of the phalanges comes into contact with the object. The flexible cushion layer adapts to the shape of the grasped object through deformation, and the corresponding knuckles lose their free movement state, while the movement of the other knuckles is not affected.

In the preferred embodiment of the present invention, when grabbing an object, after the flexible pad of the working phalanx of the middle knuckle contacts the object and undergoes maximum deformation, the stepper motor continues to move linearly by driving the transmission frame, thereby causing the first finger and Closure of the second finger continues. During the closing process, after the flexible pad of the working phalanx of the distal phalanx comes into contact with the grasped object and undergoes maximum deformation, under the combined action of the flexible pad of the working phalanx of the middle phalanx and the flexible pad of the working phalanx of the distal phalanx, the grasped object When the displacement occurs to one side of the lower base plate, the flexible cushion layer of the working phalanx near the knuckle and the lower base plate come into contact with the object one after another, realizing adaptive grasping of the shape of the object to be grasped.

In another preferred embodiment of the present invention, when grabbing an object, the bottom plate of the base first comes into contact with the object, and the stepper motor continues to move linearly by driving the transmission frame, so that the first finger and the second finger continue to move closure. During the closing process, the flexible cushioning layer of the working phalanx of the proximal phalanx, the flexible cushioning layer of the working phalanx of the middle phalanx, and the flexible cushioning layer of the working phalanx of the distal phalanx successively come into contact with the grasped object, and the flexible cushioning layer is adaptively grasped through passive deformation. After reaching the maximum deformation, the object to be grasped will be displaced toward one side of the bottom plate of the base, thereby realizing the grasping of the object to be grasped.

Description of the drawings

Figure 1 is a schematic diagram of the main structure of the utility model;

Figure 2 is a schematic diagram of the base structure of the utility model;

Figure 3 is a schematic structural diagram of the transmission frame of the present utility model;

Figure 4 is a schematic diagram of the finger structure of the present utility model;

Figure 5 is a schematic structural diagram of the end connector of the industrial robot arm of the present invention.

Detailed ways

The following describes the preferred embodiments of the present invention with reference to the accompanying drawings to make the technical content easy to understand. The present utility model can be implemented through different forms of embodiments, and the protection scope of the present utility model is not limited to the embodiments mentioned in the text.

In the drawings, components with the same structure are represented by the same numerals, and components with similar structures or functions are represented by similar numerals. The size of each component shown in the drawings is not limited, and in order to make the illustration clear, the size of the components is exaggerated in some drawings.

As shown in Figure 1, an under-driven mechanical gripper that adapts to the shape of the object to be grasped includes a base 1, a stepper motor 2, a transmission frame 3, a first finger 4, and a second finger 5.

As shown in Figure 2, the base 1 includes an upper base plate 6, a lower base plate 7, a support column 8, an optical axis 9, an optical axis fixed seat 10 and a screw support bearing 11. The support column 8 connects the upper base plate 6 and the screw support bearing 11 through a threaded connection. The lower base plate 7 and the optical axis 9 are installed on the optical axis fixing seat 10 through interference fit. The optical axis fixing seat 10 is installed on the upper base plate 6 and the lower base plate 7 through threaded connection. The screw support bearing 11 is installed on the lower base plate 7 through threaded connection.

As shown in Figure 3, the transmission frame 3 includes a linear bearing 12 and a screw nut 13. The linear bearing 12 and the screw nut 13 are installed on the transmission frame 3 through threaded connection.

As shown in Figure 4, the first finger 4 and the second finger 5 are under-actuated fingers with identical structures, including finger input phalanx 14, proximal phalanx input phalanx 15, proximal phalanx middle phalanx 16, proximal phalanx working phalanx Phalange 17, proximal phalanx connecting phalanx 18, middle phalanx working phalanx 19, middle phalanx middle phalanx 20, distal phalanx working phalanx 21, first pin 22, second pin 23, third pin 24, fourth pin Shaft 25, fifth pin 26, sixth pin 27, seventh pin 28, eighth pin 29, proximal phalanx working phalanx flexible cushion 30, middle phalanx working phalanx flexible cushion 31, distal phalanx working Finger bone flexible pad 32.

As shown in Figure 5, the end connector of the industrial robot arm can be installed on the upper bottom plate of the frame through a connector mounting hole and a threaded connection.

The preferred embodiments of the present invention have been described above. It should be understood that those skilled in the art can make modifications and changes based on the concept of the present invention without creative efforts. Therefore, any technical solutions that can be obtained by those skilled in the technical field through logical analysis, reasoning or limited experiments based on the concept of the present invention and the existing technology should be within the scope of protection determined by the claims. .

Claims (1)

1. The utility model provides a self-adaptation is snatched thing appearance under-actuated machinery clamping jaw, includes base, step motor, drive frame, first finger, second finger, industrial machinery arm end-to-end connection spare, its characterized in that:

the base comprises an upper bottom plate, a lower bottom plate and a supporting column, the transmission frame comprises a linear bearing and a screw nut, the first finger and the second finger comprise finger input phalanges, proximal knuckle middle phalanges, proximal knuckle working phalanges, proximal middle knuckle connecting phalanges, middle knuckle middle phalanges, middle knuckle working phalanges, distal knuckle working phalanges, first to eighth pin shafts, proximal knuckle working phalanges flexible cushion layers, middle knuckle working phalanges flexible cushion layers and distal knuckle working phalanges flexible cushion layers;

the base upper bottom plate is provided with a motor mounting hole, a support column mounting hole, an optical axis fixing seat mounting hole and a mechanical arm end connecting piece mounting hole, the stepping motor is mounted on the base upper bottom plate through the stepping motor mounting hole by adopting threaded connection, the support column is fixedly connected with the base upper bottom plate through the support column mounting hole by adopting threaded connection, the optical axis fixing seat is mounted on the base upper bottom plate through the optical axis fixing seat mounting hole by adopting threaded connection, and the base upper bottom plate is mounted on the industrial mechanical arm end connecting piece through the connecting piece mounting hole by adopting threaded connection;

the base lower bottom plate is provided with a screw rod support bearing mounting hole, a support column mounting hole and an optical axis fixing seat mounting hole, the screw rod support bearing is mounted on the base lower bottom plate through the screw rod support bearing mounting hole in a threaded connection mode, the support column is fixedly connected with the base lower bottom plate through the support column mounting hole in a threaded connection mode, and the optical axis fixing seat is mounted on the base lower bottom plate through the optical axis fixing seat mounting hole in a threaded connection mode;

the transmission frame is provided with a linear bearing mounting hole and a screw nut mounting hole, the linear bearing is mounted on the transmission frame through the linear bearing mounting hole in a threaded connection mode, and the screw nut is mounted on the transmission frame through the screw nut mounting hole in a threaded connection mode;

the first pin shaft is used for connecting the finger input finger bone and the transmission frame, the second pin shaft is used for connecting the base lower plate, the proximal knuckle input finger bone and the proximal knuckle working finger bone, the third pin shaft is used for connecting the finger input finger bone, the proximal knuckle input finger bone and the proximal knuckle middle finger bone, the fourth pin shaft is used for connecting the proximal knuckle working finger bone, the proximal knuckle connecting finger bone and the middle knuckle working finger bone, the fifth pin shaft is used for connecting the proximal knuckle middle finger bone and the proximal knuckle connecting finger bone, the sixth pin shaft is used for connecting the middle knuckle connecting phalanges and the middle knuckle middle phalanges, the seventh pin shaft is used for connecting the middle knuckle working phalanges and the far knuckle working phalanges, the eighth pin shaft is used for connecting the middle knuckle middle phalanges and the far knuckle working phalanges, and the middle knuckle working phalanges flexible cushion layer, the middle knuckle working phalanges flexible cushion layer and the far knuckle working phalanges flexible cushion layer are arranged on the middle knuckle working phalanges, the middle knuckle working phalanges and the far knuckle working phalanges through interference fit;

when the first finger and the second finger grab objects, the first finger and the second finger move in a free movement mode when the flexible cushion layer of the working phalanx of each knuckle is not contacted with the objects, the flexible cushion layer is self-adaptive to the appearance of the grabbed objects through deformation, the corresponding knuckle loses a free movement state, and the movement states of the other knuckles are not influenced.