CN108908388B - Micro gear mechanical claw and working method thereof - Google Patents
Micro gear mechanical claw and working method thereof Download PDFInfo
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- CN108908388B CN108908388B CN201811014924.1A CN201811014924A CN108908388B CN 108908388 B CN108908388 B CN 108908388B CN 201811014924 A CN201811014924 A CN 201811014924A CN 108908388 B CN108908388 B CN 108908388B
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- gear
- claw
- driven
- mounting plate
- driving
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
- B25J15/026—Gripping heads and other end effectors servo-actuated comprising parallel grippers actuated by gears
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to the field of mechanical claw structures, and discloses a micro gear mechanical claw and a working method thereof. The invention provides a novel mechanical claw which drives a plurality of groups of driven claws to synchronously fold or scatter through a rotary driving device and a gear meshing relationship, and the novel mechanical claw has the advantages of small volume, large grabbing, opening and closing movable stroke and capability of automatically righting grabbed objects, can be suitable for being installed in a narrow space, and achieves the aim of grabbing small objects in compact automatic instruments and equipment. In addition, the miniature gear mechanical claw has the characteristics of low realization cost, simple and convenient control mode, easy accurate positioning and the like, and is convenient for practical popularization and application.
Description
Technical Field
The invention belongs to the field of mechanical claw structures, and particularly relates to a micro gear mechanical claw and a working method thereof.
Background
A gripper is a mechanical component that can perform a function similar to a human hand, and is mainly used for gripping a workpiece or an object, etc., and is one of important actuators. Currently, the claws can be classified into three types according to the shape of the held workpiece: (1) Mechanical grippers, also known as mechanical grippers, comprising 2 fingers, 3 fingers and deformed fingers; (2) special claws including magnetic chuck, welding gun, etc.; (3) universal claws, including 2 to 5 fingers.
However, most of the existing mechanical claws are cylinder-type, and the problems of large volume, small movable stroke of grabbing, opening and closing and the like exist, so that the mechanical claws cannot be directly used on compact instruments and equipment, namely the problem of grabbing small objects in compact automatic instruments and equipment cannot be solved. In addition, other mechanical claws driven by a motor have the problems of high cost and difficult popularization, so that the development of a novel mechanical claw with small size, large grabbing and opening and closing strokes and reasonable cost is imperative.
Disclosure of Invention
In order to solve the above problems in the prior art, the present invention is directed to a micro gear mechanical claw and a working method thereof.
The technical scheme adopted by the invention is as follows:
A micro gear mechanical claw comprises a main mounting plate, a gear mounting plate, a rotary driving device, a driving gear and at least three groups of driven claws;
The gear mounting plate is arranged on the front surface of the main mounting plate, the rotary driving device is arranged on the back surface of the main mounting plate, a rotating shaft of the rotary driving device sequentially penetrates through the main mounting plate and the gear mounting plate, and the driving gear is fixedly sleeved on the rotating shaft;
The driven claw comprises a driven gear fixing shaft, a driven gear and a claw rod, wherein one end of the driven gear fixing shaft is vertically arranged on the front face of the gear mounting plate, the driven gear is movably sleeved at the other end of the driven gear fixing shaft, and one end of the claw rod is vertically arranged on the edge area of the front face of the driven gear;
All driven gears are disposed around the driving gear and engage the driven gears only with the driving gear.
Preferably, the device further comprises a tubular outer cover, wherein a back pipe orifice of the tubular outer cover is matched with the main mounting plate to form a protective shell surrounding the gear mounting plate, the driving gear, the driven gear fixing shaft and the driven gear; the other end of the claw rod extends out of the tubular outer cover.
Further preferably, a sealing plate is arranged at the positive pipe orifice of the pipe-shaped outer cover, and arc-shaped movement track through holes which are in one-to-one correspondence with the claw rods are formed in the sealing plate; the other end of the claw rod extends out of the tubular outer cover after penetrating through the corresponding arc-shaped movement track through hole.
Specifically, the tubular housing is a metal housing.
Preferably, the other end of the claw rod is sleeved with an anti-skid sleeve.
Preferably, all driven gears are equally spaced around the driving gear.
Preferably, when the number of the driven claws is three, all the driven gears form an equilateral triangle around the driving gear.
Specifically, the claw rod is a metal rod.
Specifically, the rotary driving device is a miniature motor or a rotary cylinder.
The other technical scheme adopted by the invention is as follows:
the working method of the micro gear mechanical claw comprises the following steps:
(A) When grabbing objects: starting a rotary driving device to drive the rotating shaft and the driving gear to rotate clockwise, and then driving the driven gear to rotate anticlockwise through the meshing relationship between the driving gear and the driven gear, so that all claw rods are folded relative to the axis of the rotating shaft so as to clamp a target object;
(B) Upon release of the article: and starting the rotary driving device to drive the rotating shaft and the driving gear to rotate anticlockwise, and then driving the driven gear to rotate clockwise through the meshing relationship between the driving gear and the driven gear, so that all claw rods are scattered relative to the axis of the rotating shaft, and the clamping object is loosened.
The beneficial effects of the invention are as follows:
(1) The invention provides a novel mechanical claw which drives a plurality of groups of driven claws to synchronously furl or scatter through a meshing relationship of a rotary driving device and a gear, and the novel mechanical claw has the advantages of small volume, large grabbing, opening and closing movable stroke and capability of automatically righting grabbed objects, can be suitable for being arranged in a narrow space, and achieves the aim of grabbing small objects in compact automatic instruments and equipment;
(2) By arranging the tubular outer cover, the inside and the outside can be isolated, the damage to an external human body or an object caused by the internal meshing action can be avoided, the internal meshing action can be prevented from being interfered by the outside, and the normal work of the mechanical claw is ensured;
(3) The anti-skid sleeve is arranged at the end part of the claw rod, so that the friction force between the claw rod and a grabbing object can be greatly improved, and the grabbing stability of the object is ensured;
(4) The micro gear mechanical claw has the characteristics of low realization cost, simple control mode, easy accurate positioning and the like, and is convenient for practical popularization and application.
Drawings
In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic diagram of the front structure of a micro-gear gripper provided by the invention.
Fig. 2 is a schematic diagram of the front structure of the inside of the cover of the micro gear pawl according to the present invention.
Fig. 3 is a schematic side view of a micro-gear gripper according to the present invention.
Fig. 4 is a schematic view of the back structure of the micro gear pawl provided by the present invention.
In the above figures: 1-a main mounting plate; 2-a gear mounting plate; 3-a rotary drive; 301-rotating shaft; 4-a drive gear; 5-a driven gear fixed shaft; 6-a driven gear; 7-claw poles; 701-an anti-skid sleeve; 8-a tubular housing; 801-a closure plate; 802-arc motion trail through hole.
Detailed Description
The invention is further described with reference to the drawings and specific examples. It should be noted that the description of these examples is for aiding in understanding the present invention, but is not intended to limit the present invention.
The term "and/or" is herein merely an association relationship describing an associated object, meaning that there may be three relationships, e.g., a and/or B, may represent: the terms "/and" herein describe another associative object relationship, indicating that there may be two relationships, e.g., a/and B, may indicate that: the character "/" herein generally indicates that the associated object is an "or" relationship.
Example 1
As shown in fig. 1 to 4, the micro-gear mechanical claw provided in the present embodiment includes a main mounting plate 1, a gear mounting plate 2, a rotation driving device 3, a driving gear 4, and at least three groups of driven claws; the gear mounting plate 2 is mounted on the front surface of the main mounting plate 1, the rotary driving device 3 is mounted on the back surface of the main mounting plate 1, a rotating shaft 301 of the rotary driving device 3 sequentially penetrates through the main mounting plate 1 and the gear mounting plate 2, and the driving gear 4 is fixedly sleeved on the rotating shaft 301; the driven claw comprises a driven gear fixing shaft 5, a driven gear 6 and a claw rod 7, wherein one end of the driven gear fixing shaft 5 is vertically arranged on the front surface of the gear mounting plate 2, the driven gear 6 is movably sleeved on the other end of the driven gear fixing shaft 5, and one end of the claw rod 7 is vertically arranged on the edge area of the front surface of the driven gear 6; all driven gears 6 are disposed around the driving gear 4, and the driven gears 6 are engaged with only the driving gear 4.
As shown in fig. 1 to 4, in the structure of the micro gear mechanical claw, the rotation driving device 3 is used to drive the driving gear 4 to rotate clockwise or counterclockwise through the rotation shaft 301, which may be, but not limited to, a micro motor or a conventional rotation driving device such as a rotary cylinder. The driving gear 4 is used for driving the driven gears 6 in the driven claws of each group to rotate anticlockwise (the driving gear 4 rotates clockwise at the moment) or rotate clockwise (the driving gear 4 rotates anticlockwise at the moment) through the gear tooth meshing relationship. The driven claws are used as movable fingers to realize the actions of gathering and grabbing objects or scattering and releasing objects, and can be arranged into three groups, four groups, five groups or the like as shown in fig. 1 and 2. The driven gear 6 is used for driving the claw rods 7 in the same group to rotate anticlockwise or clockwise around the axis of the claw rods in the rotating process. Since all the driven gears 6 are disposed around the driving gear 4, the claw bars 7 must approach or separate from the axis of the rotation shaft 301 (i.e. the axis of the driving gear 4) along the arc-shaped movement track in the process of rotating around the axis of the same group of impulse gears 6, so that the claw bars 7 in all the groups can be folded together to form a claw capable of grabbing objects.
The working method of the micro gear mechanical claw can include, but is not limited to, the following: (a) while gripping the object: starting the rotary driving device 3 to drive the rotary shaft 301 and the driving gear 4 to rotate clockwise, and then driving the driven gear 6 to rotate anticlockwise through the meshing relationship between the driving gear 4 and the driven gear 6, so that all claw rods 7 are folded relative to the axis of the rotary shaft 301 to clamp a target object; (B) upon release of the article: the rotary driving device 3 is started to drive the rotary shaft 301 and the driving gear 4 to rotate anticlockwise, and then the driven gear 6 is driven to rotate clockwise through the meshing relationship between the driving gear 4 and the driven gear 6, so that all claw rods 7 are dispersed relative to the axis of the rotary shaft 301, and the clamping object is released. In addition, when the claw rod 7 can rotate unconstrained (i.e. 360 degrees of rotation), the object can be clamped by driving the driving gear 4 anticlockwise when the object is grabbed, and the object can be released by driving the driving gear 4 clockwise when the object is released.
Therefore, through the detailed description of the micro-gear mechanical claw and the working method thereof, a novel mechanical claw which drives a plurality of groups of driven claws to synchronously fold or scatter by utilizing the meshing relationship of the rotary driving device and the gears can be provided, and the novel mechanical claw has the advantages of small volume, large grabbing and opening and closing movable stroke (the grabbing and opening and closing movable stroke is the distance between two ends of the arc-shaped movement track of the claw rod 7, and can be the maximum diameter of the driven gear 6) and automatic righting of the grabbed objects, and can be suitable for being installed in a narrow space, so that the purpose of grabbing small objects in compact automatic instrument equipment is realized. In addition, the novel mechanization has the characteristics of low realization cost, simple control mode, easy accurate positioning and the like, and is convenient for practical popularization and application.
Preferably, the device further comprises a tubular housing 8, wherein a pipe orifice of the tubular housing 8 facing away from the main mounting plate 1 is matched with the main mounting plate to form a protective shell which surrounds the gear mounting plate 2, the driving gear 4, the driven gear fixing shaft 5 and the driven gear 6; the other end of the claw rod 7 extends out of the tubular housing 8. As shown in fig. 1 to 3, by providing the tubular housing 8, the inside and outside of the housing can be isolated, not only the damage to the external body or the object caused by the internal engagement action can be avoided, but also the internal engagement action can be prevented from being interfered by the outside, and the normal operation of the mechanical claw can be ensured. Furthermore, in particular, the tubular casing 8 may be, but is not limited to, a metal casing.
Further preferably, a sealing plate 801 is arranged at the position of the positive pipe orifice of the pipe-shaped outer cover 8, and arc-shaped movement track through holes 802 which are in one-to-one correspondence with the claw rods 7 are formed in the sealing plate 801; the other end of the claw pole 7 extends out of the tubular housing 8 after passing through the corresponding arc-shaped movement track through hole 802. As shown in fig. 1, by providing the tubular housing 8 and the sealing plate 801, the inside and outside can be maximally isolated, and the normal operation of the gripper can be further ensured. In addition, since the arc-shaped movement trace through hole 802 restricts the rotation angle of the claw rod 7, the object gripping action can be realized only by the method (a), and the object releasing action can be realized by the method (B).
Preferably, the other end of the claw rod 7 is sleeved with an anti-slip sleeve 701. As shown in fig. 3, by arranging the anti-slip cover 701 at the end of the claw rod 7, the friction force between the claw rod and the object can be greatly improved, and the object grabbing stability is ensured. In addition, the anti-slip cover 701 may be made of an elastic material such as silica gel, rubber, or beef tendon, but not limited thereto.
Preferably, all driven gears 6 are equally spaced around the driving gear 4. As shown in fig. 2, through the foregoing design, each claw rod 7 can clamp the central object with the same force when grabbing the object, so as to further improve the grabbing stability of the object. For example, when the number of the driven claws is three, all the driven gears 6 form an equilateral triangle around the driving gear 4.
In particular, the claw pole 7 may be, but is not limited to, a metal pole. Furthermore, preferably, in order to be suitable for gripping objects of non-standard dimensions, the claw bar 7 may also be an elastic bar, so that all the driven gears 6 can rotate synchronously by means of the flexible nature of the elastic bar (in this case all the ends of the claw bar 7 are in contact with objects of non-standard dimensions).
In summary, the micro gear mechanical claw and the working method thereof provided by the embodiment have the following technical effects:
(1) The embodiment provides a novel mechanical claw which drives a plurality of groups of driven claws to synchronously furl or scatter through a rotary driving device and a gear meshing relationship, and the novel mechanical claw has the advantages of small volume, large grabbing, opening and closing movable stroke and capability of automatically righting the grabbed objects, can be suitable for being installed in a narrow space, and achieves the aim of grabbing small objects in compact automatic instruments and equipment;
(2) By arranging the tubular outer cover, the inside and the outside can be isolated, the damage to an external human body or an object caused by the internal meshing action can be avoided, the internal meshing action can be prevented from being interfered by the outside, and the normal work of the mechanical claw is ensured;
(3) The anti-skid sleeve is arranged at the end part of the claw rod, so that the friction force between the claw rod and a grabbing object can be greatly improved, and the grabbing stability of the object is ensured;
(4) The micro gear mechanical claw has the characteristics of low realization cost, simple control mode, easy accurate positioning and the like, and is convenient for practical popularization and application.
The invention is not limited to the alternative embodiments described above, but any person may derive other various forms of products in the light of the present invention. The above detailed description should not be construed as limiting the scope of the invention, which is defined in the claims and the description may be used to interpret the claims.
Claims (5)
1. The working method of the micro gear mechanical claw is characterized in that the micro gear mechanical claw comprises a main mounting plate (1), a gear mounting plate (2), a rotary driving device (3), a driving gear (4) and at least three groups of driven claws; the gear mounting plate (2) is mounted on the front surface of the main mounting plate (1), the rotary driving device (3) is mounted on the back surface of the main mounting plate (1), a rotating shaft (301) of the rotary driving device (3) sequentially penetrates through the main mounting plate (1) and the gear mounting plate (2), and the driving gear (4) is fixedly sleeved on the rotating shaft (301); the driven claw comprises a driven gear fixing shaft (5), a driven gear (6) and a claw rod (7), wherein one end of the driven gear fixing shaft (5) is vertically arranged on the front surface of the gear mounting plate (2), the driven gear (6) is movably sleeved on the other end of the driven gear fixing shaft (5), and one end of the claw rod (7) is vertically arranged on the front surface edge area of the driven gear (6); all driven gears (6) are arranged around the driving gear (4) and the driven gears (6) are meshed with the driving gear (4) only; an anti-slip sleeve (701) is sleeved at the other end of the claw rod (7);
the claw rods (7) are elastic rods, and when the ends of all the claw rods (7) are contacted with objects with different sizes, all the driven gears (6) can synchronously rotate by utilizing the flexible characteristics of the elastic rods;
The miniature gear mechanical claw also comprises a tubular outer cover (8), wherein a pipe orifice of the tubular outer cover (8) facing away from the main mounting plate (1) is matched with the main mounting plate to form a protective shell which surrounds the gear mounting plate (2), the driving gear (4), the driven gear fixing shaft (5) and the driven gear (6); the other end of the claw rod (7) extends out of the tubular outer cover (8); a sealing plate (801) is arranged at the positive pipe orifice of the pipe-shaped outer cover (8), and arc-shaped movement track through holes (802) which are in one-to-one correspondence with the claw rods (7) are formed in the sealing plate (801); the other end of the claw rod (7) extends out of the tubular outer cover (8) after passing through the corresponding arc-shaped movement track through hole (802);
The working method comprises the following steps:
(A) When grabbing objects: starting a rotary driving device (3), driving a rotating shaft (301) and a driving gear (4) to rotate clockwise, and then driving the driven gear (6) to rotate anticlockwise through the meshing relationship between the driving gear (4) and the driven gear (6), so that all claw rods (7) are folded relative to the axis of the rotating shaft (301) so as to clamp a target object;
(B) Upon release of the article: and starting the rotary driving device (3), driving the rotary shaft (301) and the driving gear (4) to rotate anticlockwise, and then driving the driven gear (6) to rotate clockwise through the meshing relationship between the driving gear (4) and the driven gear (6), so that all claw rods (7) are scattered relative to the axis of the rotary shaft (301) to release the clamped objects.
2. A working method according to claim 1, characterized in that the tubular casing (8) is a metal casing.
3. A method according to claim 1, characterized in that all driven gears (6) are arranged equally spaced around the driving gear (4).
4. A working method according to claim 1, characterized in that when the number of driven claws is three, all driven gears (6) form an equilateral triangle around the driving gear (4).
5. A working method according to claim 1, characterized in that the rotary drive means (3) is a micro motor or a rotary cylinder.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811014924.1A CN108908388B (en) | 2018-08-31 | 2018-08-31 | Micro gear mechanical claw and working method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811014924.1A CN108908388B (en) | 2018-08-31 | 2018-08-31 | Micro gear mechanical claw and working method thereof |
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| Publication Number | Publication Date |
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| CN108908388A CN108908388A (en) | 2018-11-30 |
| CN108908388B true CN108908388B (en) | 2024-10-15 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201811014924.1A Active CN108908388B (en) | 2018-08-31 | 2018-08-31 | Micro gear mechanical claw and working method thereof |
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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109822613B (en) * | 2019-01-29 | 2022-02-08 | 北京镁伽机器人科技有限公司 | Mechanical claw assembly and robot |
| CN109693260B (en) * | 2019-01-29 | 2023-09-05 | 北京镁伽机器人科技有限公司 | Mechanical claw assembly and robot |
| CN110973667B (en) * | 2019-04-18 | 2021-06-29 | 中国计量大学 | Multi-station chicken fir automatic root cutting device |
| CN113910280B (en) * | 2021-12-14 | 2022-03-08 | 季华实验室 | An electric gripper device |
| CN113927620A (en) * | 2021-12-16 | 2022-01-14 | 季华实验室 | Multi-finger clamping jaw device capable of achieving iris contraction movement and manipulator |
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| CN208645363U (en) * | 2018-08-31 | 2019-03-26 | 四川晟实科技有限公司 | A kind of miniature gears gripper |
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| DE102010063195B4 (en) * | 2010-12-16 | 2019-10-02 | Robert Bosch Gmbh | Gripping device for a handling device, in particular a handling robot |
| JP6092183B2 (en) * | 2011-03-21 | 2017-03-08 | エスアールアイ インターナショナルＳＲＩ Ｉｎｔｅｒｎａｔｉｏｎａｌ | Mobile robot manipulator system |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS571686A (en) * | 1980-05-27 | 1982-01-06 | Shigeo Hirose | Gripping mechanism |
| JPH07266277A (en) * | 1994-03-30 | 1995-10-17 | Mitsubishi Chem Corp | Holding device for cylindrical workpiece |
| JPH1035887A (en) * | 1996-07-22 | 1998-02-10 | Kubota Corp | Device for feeding bulbous vegetable |
| CN104816303A (en) * | 2015-05-12 | 2015-08-05 | 江南大学 | Manipulator with elastic bellows single-acting cylinder driving serial flexible hinge framework |
| CN208645363U (en) * | 2018-08-31 | 2019-03-26 | 四川晟实科技有限公司 | A kind of miniature gears gripper |
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| CN108908388A (en) | 2018-11-30 |
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