CN213796543U

CN213796543U - Two-dimensional omnidirectional self-adaptive mechanical gripper

Info

Publication number: CN213796543U
Application number: CN202022609131.3U
Authority: CN
Inventors: 巫凯旋; 杨韵; 黄技; 王成彦; 宋子洋; 刘湘
Original assignee: Guangdong Ocean University
Current assignee: Guangdong Ocean University
Priority date: 2020-11-12
Filing date: 2020-11-12
Publication date: 2021-07-27
Anticipated expiration: 2030-11-12

Abstract

The utility model discloses a two-dimensional omnidirectional self-adaptation gripper, including base, mechanical arm connecting piece, gripper top limb, step motor subassembly and gripper subassembly, base top mid-mounting is provided with circular carousel, and has connect mechanical arm connecting piece above the circular carousel, and the threaded rod is outer along installing outer protective sheath additional to extend 4 gripper mountings, the bottom of gripper upper limbs articulates there is gripper low limbs, gripper low limbs's bottom articulates there is tight pole, and installs ratchet subassembly between tight pole and the gripper low limbs, the one end of pressing from both sides tight pole articulates there is the middle section movable rod, and the one end of middle section movable rod articulates there is the top movable rod. The two-dimensional omnidirectional self-adaptive mechanical claw controls the opening and closing of the mechanical claw in real time through the stepping motor assembly to realize easy clamping and opening of a target object, and the two-dimensional mechanical claw is adjusted according to the posture of the target object to be self-adaptive to the specification of the target object.

Description

Two-dimensional omnidirectional self-adaptive mechanical gripper

Technical Field

The utility model relates to an automatic technical field specifically is a two-dimensional all-round self-adaptation gripper.

Background

At present, with the rapid development of industrial automation, the traditional manual work is replaced by the machine work, the mechanical claw is a high-tech automatic production device, the mechanical claw is a product produced in the mechanical and automatic development process, the specified operation task can be completed through programming, the accuracy and the high efficiency of the mechanical claw enable the mechanical claw to replace the manual work, become an important component part of the industrial automatic production, and have wide development prospect.

However, the traditional mechanical gripper has low standardization degree, poor flexibility and high cost, so certain waste can be caused in industrial production, most mechanical grippers can only grip parts with a single specification, the standardization degree is low, meanwhile, the angle for gripping a target object by a single mechanical gripper is limited, if the postures of partial target objects deviate, the mechanical gripper is difficult to flexibly adjust the angle for gripping the target object, the mechanical gripper is not suitable for multi-degree-of-freedom gripping, and the target object is easily damaged due to the unbalanced stress, so that the requirement for multi-angle gripping of the target object can not be well met by the traditional mechanical gripper.

We propose a two-dimensional omni-directional adaptive gripper to solve the problems set forth above.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a two-dimensional omnidirectional self-adaptation gripper to solve the part that the gripper on the existing market that above-mentioned background art provided can only snatch single specification, and be difficult to adjust the angle in a flexible way and snatch the target, unsuitable multi freedom clamp is got, and the uneven phenomenon of atress appears easily and then damages the problem of target object.

In order to achieve the above object, the utility model provides a following technical scheme: a two-dimensional omnidirectional self-adaptive mechanical claw comprises a base, a mechanical arm connecting assembly, a mechanical claw top limb, a stepping motor assembly and a mechanical claw assembly, wherein a circular turntable is arranged at the top of the base, the mechanical arm connecting assembly is connected above the circular turntable, the mechanical arm connecting assembly is formed by sequentially connecting a mechanical arm connecting piece and an LDX-218 steering engine to form a multi-degree-of-freedom structure, the bottom end of the stepping motor assembly is formed by combining an LDX-218 steering engine and an MG94 steering engine, a 42 stepping motor is connected at the lower end of an MG94 steering engine, a rotating assembly and a stepping motor front connecting assembly are fixedly installed between the MG94 steering engine and the 42 stepping motor, the 42 stepping motor is externally connected with a threaded rod, an outer protective sleeve is additionally installed on the outer edge of the threaded rod, and a freely movable stepping motor nut assembly is sleeved on the outer threaded rod after the 42 stepping motor is arranged at the junction of the 42 stepping motor and the threaded rod, and extend 4 gripper fixed parts outwards, gripper fixed part chucking gripper upper limbs make gripper device be difficult for droing, the bottom of gripper upper limbs articulates there is gripper lower limbs, the bottom of gripper lower limbs articulates there is the clamping bar, the one end of clamping bar articulates there is the middle section movable rod, the one end of middle section movable rod articulates there is the top movable rod, gripper upper limbs, gripper lower limbs, clamping bar and middle section movable rod set up same two sets of device, be axial symmetry distribution about the central line, and install ratchet wheel subassembly between clamping bar and the gripper lower limbs, the ratchet wheel subassembly includes support, pressure spring, pawl, fixed lock and ratchet wheel, the support imbeds the inside of ratchet wheel subassembly, and support and pawl pass through the pressure spring interconnect, the pawl outer end is fixed with fixed lock, and the pawl articulates in the gripper lower limbs, gripper lower limbs are embedded with fixed lock and ratchet wheel, and the ratchet wheel is connected with the end part of the clamping rod.

Preferably, the upper end of the base is fixedly provided with a turntable in a circular structure, and the mechanical arm connecting piece is connected with the steering engine connecting assembly and the stepping motor assembly in sequence, so that the whole mechanical arm device can be rotated with multiple degrees of freedom.

Preferably, the nut assembly of the stepping motor is of an open structure, the lower end of the nut assembly of the stepping motor is fixedly provided with 42 stepping motors, an outer protective sleeve is additionally arranged on the periphery of the threaded rod to protect an internal structure, an elastic device capable of sliding freely is formed, and four gripper fixing parts are extended from four directions around the outer protective sleeve to facilitate mounting of the grippers.

Preferably, the threaded rod is spiral and similar to a screw, and under the action of a 42-step motor, the threaded rod controls the nut component of the step motor to automatically ascend and descend and drives the mechanical claw to tighten and relax.

Preferably, the lower part of the gripper fixing part is fixedly connected with 4 grippers capable of being freely tightened and loosened, the four grippers are divided into two groups, and each group of two grippers is symmetrical about the central axis of the stepping motor nut component and is designed in a herringbone structure.

Preferably, the gripper top limb, the gripper upper limb, the gripper lower limb, the clamping rod and the middle-section movable rod are in a bilateral symmetry structure, and the gripper top limb, the gripper upper limb, the gripper lower limb, the middle-section movable rod and the top-end movable rod are connected with each other to form a closed annular structure.

Compared with the prior art, the beneficial effects of the utility model are that: the two-dimensional omnidirectional self-adaptive mechanical gripper;

(1) the nut assembly of the stepping motor is arranged to be of an open structure, two groups of two-dimensional mechanical claw fixing pieces are branched from the periphery along four directions, the mechanical claws are clamped by the mechanical claw fixing pieces, the nut assembly of the stepping motor can automatically ascend and descend along a threaded rod under the driving of a 42 stepping motor, and the nut assembly of the stepping motor is matched with the hinges among the upper limbs, the lower limbs, the clamping rods, the middle-section movable rods and the top-end movable rods of the mechanical claws to realize the integral synchronous clamping and releasing of 4 mechanical claws, the structure is simple, the degree of freedom is high, and the clamping and releasing of the mechanical claws are extremely easy to control;

(2) through setting up two sets of two dimension gripper, including the gripper upper limbs, the gripper lower limbs, press from both sides the tight pole, middle section movable rod and top activity, under mutually supporting of 42 step motor's drive and threaded rod, the two sets of two dimension gripper of simultaneous drive accomplish < 22.5 the steering motion, can relax self-adaptation clamp and get different specifications, the target object that different gestures were put, can nimble control to the snatching of target, the device compromises multiple clamp and gets the environment, need not add the snatching under the different environment of new equipment can self-adaptation when using, it is high to have the standardization level, the flexibility is strong, application scope is wide advantage.

Drawings

FIG. 1 is a schematic view of the overall structure of the present invention;

FIG. 2 is a schematic view of the front side of the utility model;

FIG. 3 is a schematic view of the three-dimensional rear structure of the present invention;

FIG. 4 is a schematic side view of the motor push rod of the present invention;

FIG. 5 is a schematic side view of the mechanical claw of the present invention;

FIG. 6 is a schematic view of a front cross-sectional structure of the ratchet assembly of the present invention;

fig. 7 is a schematic diagram of a side view structure of the steering engine of the present invention.

In the figure: 1. a base; 2. MG94 steering engine; 3. a turntable; 4. LDX-218 steering engine; 5. a steering engine connecting assembly; 6. a mechanical arm connecting piece; 7. a rotating assembly; 8. a stepping motor front connecting assembly; 9. 42 a stepping motor; 10. 42 a stepping motor rear connecting component; 11. a threaded rod; 12. a stepper motor nut assembly; 13. a gripper fixing member; 14. an outer protective sheath; 15. a gripper positioning element; 16. the mechanical claw supports the limbs; 17. the mechanical claw upper limb; 18. a gripper lower limb; 19. a clamping lever; 20. a middle section movable rod; 21. a top end movable rod; 22. A bottom end slide block; 23. a movable plate; 24. a spring; 25. a ratchet assembly; 26. a support; 27. a pressure spring; 28. A pawl; 29. fixing a lock; 30. and (4) ratchet wheels.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

Referring to fig. 1-7, the present invention provides a technical solution: a two-dimensional omnidirectional self-adaptive mechanical claw comprises a base 1, an MG94 steering engine 2, a rotary table 3, an LDX-218 steering engine 4, a steering engine connecting assembly 5, a mechanical arm connecting piece 6, a rotating assembly 7, a stepping motor front connecting assembly 8, a 42 stepping motor 9, a 42 stepping motor rear connecting assembly 10, a threaded rod 11, a stepping motor nut assembly 12, a mechanical claw fixing piece 13, an outer protective sleeve 14, a mechanical claw positioning piece 15, a mechanical claw top limb 16, a mechanical claw upper limb 17, a mechanical claw lower limb 18, a clamping rod 19, a middle-section movable rod 20, a top movable rod 21, a bottom sliding block 22, a movable plate 23, a spring 24, a ratchet wheel assembly 25, a support 26, a pressure spring 27, a pawl 28, a fixed lock 29 and a ratchet wheel 30, wherein the top of the base 1 is provided with a circular rotary table 3, the mechanical arm connecting assembly is connected above the circular rotary table 3, and the mechanical arm connecting assembly is formed by sequentially connecting the mechanical arm connecting piece 6 and the LDX-218 steering engine 4 in a multi-degree of freedom structure, the bottom end of a stepping motor component is formed by combining an LDX-218 steering engine 4 and an MG94 steering engine 2, the lower end of the MG94 steering engine 2 is connected with a 42 stepping motor 9, a rotating component 7 and a stepping motor front connecting component 8 are fixedly arranged between the MG94 steering engine 2 and the 42 stepping motor 9, the 42 stepping motor 9 is externally connected with a threaded rod 11, an outer protective sleeve 14 is additionally arranged on the outer edge of the threaded rod 11, a 42 stepping motor rear connecting component 10 is arranged at the junction of the 42 stepping motor 9 and the threaded rod 11, a freely movable stepping motor nut component 12 is sleeved on the periphery of the threaded rod 11, 4 gripper fixing parts 13 extend outwards, the gripper fixing parts 13 clamp an upper gripper limb 17, so that the gripper device is not easy to fall off, the bottom of the gripper upper limb 17 is hinged with a lower limb 18, the bottom of the gripper lower limb 18 is hinged with a clamping rod 19, one end of the clamping rod 19 is hinged with a middle section movable rod 20, one end of the middle-section movable rod 20 is hinged with a top-end movable rod 21, the mechanical claw upper limb 17, the mechanical claw lower limb 18, the clamping rod 19 and the middle-section movable rod 20 are provided with two sets of same devices which are axially symmetrically distributed about a central line, a ratchet wheel assembly 25 is arranged between the clamping rod 19 and the mechanical claw lower limb 18, the ratchet wheel assembly 25 comprises a support 26, a pressure spring 27, a pawl 28, a fixed lock 29 and a ratchet wheel 30, the support 26 is embedded into the ratchet wheel assembly 25, the support 26 and the pawl 28 are mutually connected through the pressure spring 27, the fixed lock 29 is fixed at the outer end of the pawl 28, the pawl 28 is hinged into the mechanical claw lower limb 18, the fixed lock 29 and the ratchet wheel 30 are embedded into the mechanical claw lower limb 18, and the ratchet wheel 30 is connected with the end part of the clamping rod 19.

The upper end of the base 1 is fixedly provided with a rotary table 3 with a circular structure and a mechanical arm connecting piece 6 which are sequentially connected with a steering engine connecting component 5 and a stepping motor component, so that the whole mechanical arm device can be rotated with multiple degrees of freedom, and the stability of the working state of the rotary table 3 can be ensured.

The stepping motor nut component 12 is of an open structure, the lower end of the stepping motor nut component 12 is fixedly provided with a 42 stepping motor 9, the periphery of the threaded rod 11 is additionally provided with an outer protective sleeve 14 for protecting an internal structure, an elastic device capable of sliding freely is formed, four mechanical claw fixing parts 13 extend from four directions around the outer protective sleeve 14, mechanical claws can be conveniently installed, and adverse effects of the threaded rod 11 on the outer protective sleeve 14 can be effectively avoided.

The threaded rod 11 is spiral and is similar to a screw, and under the action force of the 42 stepping motor 9, the nut component 12 of the stepping motor is controlled to automatically ascend and descend, and the mechanical claw is driven to tighten and relax, so that the working state of the threaded rod 11 can be stable.

The lower part of the gripper fixing part 13 is fixedly connected with 4 grippers which can be freely tightened and loosened, the four grippers are divided into two groups, wherein the two grippers in each group are symmetrical about the central axis of the stepping motor nut component 12 and are designed in a herringbone structure, and the use efficiency of the stepping motor nut component 12 can be effectively improved.

The gripper top limb 16, the gripper upper limb 17, the gripper lower limb 18, the clamping rod 19 and the middle-section movable rod 20 are in a bilateral symmetry structure, and the gripper top limb 16, the gripper upper limb 17, the gripper lower limb 18, the middle-section movable rod 20 and the top-end movable rod 21 are connected with each other to form a closed annular structure, so that the stability of the combined action of the middle-section movable rod 20 and the top-end movable rod 21 can be ensured.

The working principle is as follows: before the two-dimensional omnidirectional self-adaptive mechanical claw is used, the overall condition of the mechanical claw needs to be checked firstly, and normal work can be determined;

when the two-dimensional omni-directional adaptive mechanical claw is used, according to the illustration in fig. 1-7, the angles of four mechanical claws are simultaneously adjusted to adapt to the posture of a target object, the stepping motor 9 is driven by 42 to be matched with the threaded rod 11, the stepping motor nut component 12 is automatically controlled to ascend and descend so as to control the opening and closing of the mechanical claws, then the fixed lock 29 is opened to enable the whole mechanical claw to be in a relaxed state, then the fixed lock 29 is locked, when the mechanical claw is contacted with the target object, the mechanical claw upper limb 17, the mechanical claw lower limb 18, the clamping rod 19 and the middle movable rod 20 are inwards tightened through the connecting movement among all parts, meanwhile, the clamping rod 19 drives the ratchet wheel 30 to rotate at the mechanical claw lower limb 18, and under the combined action of the pawl 28 and the pressure spring 27, the clamping rod 19 is locked to enable the whole mechanical claw to be in a locked state, ensuring that the target object is not easy to fall off;

next, as shown in fig. 1 to 5 and 7, when the upper gripper limb 17, the lower gripper limb 18, the clamping rod 19, and the middle movable rod 20 are tightened inward to clamp the target object, the movable plate 23 first contacts with the target object, rotates on the bottom slider 22 according to the shape of the target object, and then drives the bottom slider 22 to slide on the bottom of the clamping rod 19 in cooperation with the spring 24, so as to fix and lock the target object, which is the working process of the entire gripper, and the details not described in detail in this specification, such as the MG94 steering engine 2, the LDX-218 steering engine 4, and the stepping motor 9, are well known in the prior art by those skilled in the art.

Although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments or portions thereof without departing from the spirit and scope of the invention.

Claims

1. The utility model provides a two-dimensional omnidirectional self-adaptation gripper, includes base (1), arm coupling assembling, gripper top limb (16), step motor subassembly and gripper subassembly, its characterized in that: the top of the base (1) is provided with a circular turntable (3), a mechanical arm connecting assembly is connected above the circular turntable (3), the mechanical arm connecting assembly is formed by sequentially connecting a mechanical arm connecting piece (6) and an LDX-218 steering engine (4) to form a multi-degree-of-freedom structure, the bottom end of the stepping motor assembly is formed by combining the LDX-218 steering engine (4) and an MG94 steering engine (2), the lower end of the MG94 steering engine (2) is connected with a 42 stepping motor (9), a rotating assembly (7) and a stepping motor front connecting assembly (8) are fixedly installed between the MG94 steering engine (2) and the 42 stepping motor (9), the 42 stepping motor (9) is externally connected with a threaded rod (11), an outer protective sleeve (14) is additionally installed on the outer edge of the threaded rod (11), and a 42 stepping motor rear connecting assembly (10) is arranged at the junction of the 42 stepping motor (9) and the threaded rod (11), the outer cover of threaded rod (11) has one step motor nut subassembly (12) that can freely move about to outwards extend 4 gripper fixing parts (13), gripper fixing part (13) chucking gripper upper limbs (17) make the gripper device be difficult for droing, the bottom of gripper upper limbs (17) articulates there is gripper lower limbs (18), and the bottom of gripper lower limbs (18) articulates there is clamping bar (19), the one end of clamping bar (19) articulates there is middle section movable rod (20), and the one end of middle section movable rod (20) articulates there is top movable rod (21), and gripper upper limbs (17), gripper lower limbs (18), clamping bar (19) and middle section movable rod (20) set up same two sets of device, be axial symmetry about the central line and distribute, and install ratchet subassembly (25) between clamping bar (19) and gripper lower limbs (18), ratchet subassembly (25) include support (26), pressure spring (27), pawl (28), fixed lock (29) and ratchet (30), the inside of ratchet subassembly (25) is embedded in support (26), and support (26) and pawl (28) pass through pressure spring (27) interconnect, and pawl (28) outer end is fixed with fixed lock (29), and pawl (28) articulate in gripper lower limbs (18) in addition, gripper lower limbs (18) are embedded to have fixed lock (29) and ratchet (30), and ratchet (30) meet with clamping lever (19) tip.

2. The two-dimensional omni-directional adaptive mechanical gripper according to claim 1, wherein: the upper end of the base (1) is fixedly provided with a rotary table (3) with a circular structure and a mechanical arm connecting piece (6), and the rotary table, the mechanical arm connecting piece (5) and the stepping motor connecting piece are sequentially connected, so that the whole mechanical arm device can be rotated with multiple degrees of freedom.

3. The two-dimensional omni-directional adaptive mechanical gripper according to claim 1, wherein: step motor nut component (12) are open structure, and this step motor nut component (12) lower extreme is fixed with 42 step motor (9) to install outer protective sheath (14) protection inner structure additional in threaded rod (11) periphery, constitute a resilient means that can freely slide, and extend four gripper mounting (13) in four directions around outer protective sheath (14) and be convenient for install the gripper.

4. The two-dimensional omni-directional adaptive mechanical gripper according to claim 1, wherein: the threaded rod (11) is spiral and is similar to a screw, and under the action force of the 42 stepping motor (9), the nut component (12) of the stepping motor is controlled to automatically ascend and descend and drive the mechanical claw to tighten and relax.

5. The two-dimensional omni-directional adaptive mechanical gripper according to claim 1, wherein: the lower part of the gripper fixing part (13) is fixedly connected with 4 grippers capable of being freely tightened and loosened, the four grippers are divided into two groups, and each group of two grippers is symmetrical about the central axis of the stepping motor nut component (12) and is designed in a herringbone structure.

6. The two-dimensional omni-directional adaptive mechanical gripper according to claim 1, wherein: the gripper top limb (16), the gripper upper limb (17), the gripper lower limb (18), the clamping rod (19) and the middle-section movable rod (20) are in a bilateral symmetry structure, and the gripper top limb (16), the gripper upper limb (17), the gripper lower limb (18), the middle-section movable rod (20) and the top-end movable rod (21) are connected with one another to form a closed annular structure.