CN-121447683-B - Reconfigurable three-finger clamping jaw with palm self-adaptive sucker mechanism

CN121447683BCN 121447683 BCN121447683 BCN 121447683BCN-121447683-B

Abstract

A reconfigurable three-finger clamping jaw with a palm self-adaptive sucking disc mechanism comprises a clamping jaw body mechanism, a far-end rotation center reconstruction mechanism, a palm self-adaptive sucking disc mechanism and a bottom plate. The three groups of integral units consisting of the clamping jaw body mechanisms and the far-end rotating center reconstruction mechanism are arranged on the bottom plate at equal intervals and are arranged in an equilateral triangle, wherein the clamping jaw body mechanisms are arranged on the far-end rotating center reconstruction mechanism, each clamping jaw body mechanism can independently and radially move on the far-end rotating center reconstruction mechanism to realize the grasping and opening function, and the far-end rotating center reconstruction mechanism can rotate around the center of the bottom plate to realize the far-end rotating center reconstruction function and separate the rotating center from the center of the driving source. The self-adapting sucker mechanism of the palm center is positioned in the center of the bottom plate, can move up and down along the central axis of the bottom plate and changes the curvature according to the shape of an object. The clamping jaw can select schemes such as independent working of the clamping jaw, combined working of the clamping jaw and the sucker or independent working of the sucker according to the shape and the size of the object, and is used for grabbing objects with different shapes and sizes, so that stable grabbing is realized.

Inventors

LI JITUO
NI YIFAN
ZHOU YULIANG
HU JINYAO
Diao Xiaojie
LU GUODONG

Assignees

浙江大学

Dates

Publication Date: 20260505
Application Date: 20260105

Claims (6)

1. The reconfigurable three-finger clamping jaw with the palm self-adaptive sucking disc mechanism is characterized by comprising a clamping jaw body mechanism (1), a remote rotating center reconfiguration mechanism (2), a palm self-adaptive sucking disc mechanism (3) and a bottom plate (4); Each clamping jaw body mechanism (1) can independently and radially move on a remote rotation center reconstruction mechanism (2) connected with the clamping jaw body mechanism for realizing the clamping jaw grasping and opening function, wherein the clamping jaw body mechanism (1) consists of a visual touch sensor (11), a clamping jaw arm (12) and a clamping jaw connecting piece (13); The remote rotation center reconstruction mechanism (2) consists of two groups of sliding blocks (21) and guide rails (22), a motor connecting piece (23), a reconstruction mechanism bracket (24), a clamping mechanism motor (25), a transmission rack (26) and a corresponding transmission gear (27), a clamping mechanism motor fixing piece (28), a flange bearing (29), a reconstruction mechanism transmission rod (210), a reconstruction mechanism driving rod (211) and a reconstruction mechanism motor (212); Holes at two ends of the lower side of the clamping jaw arm (12) are fixedly connected with the sliding block (21), the sliding block (21) and the guide rail (22) are arranged on the upper side of the reconstruction mechanism bracket (24), an angle of 15-45 degrees is formed between the sliding block and the horizontal direction according to actual working condition requirements, and the height of the sliding block (21) close to the center side is higher than that of the sliding block far away from the center side, so that the positions of the sliding block (21) in the horizontal direction and the vertical direction are changed when the sliding block slides on the guide rail (22); the three groups of integral units consisting of the clamping jaw body mechanisms (1) and the far-end rotating center reconstruction mechanisms (2) are arranged on the bottom plate (4) at equal intervals, and the far-end rotating center reconstruction mechanisms (2) can rotate around the circle center of the bottom plate (4) so as to change the relative positions between the clamping jaw body mechanisms (1) and the bottom plate (4) and between the three clamping jaw body mechanisms (1), wherein the far-end rotating center of the far-end rotating center reconstruction mechanisms (2) is designed to be separated from the center of a driving source, so that the far-end rotating center reconstruction mechanisms (2) can realize the far-end rotating center reconstruction function; The self-adaptive palm sucker mechanism (3) is positioned in the center of the bottom plate (4), can move up and down along the central axis of the bottom plate (4), can change the curvature of the self-adaptive palm sucker mechanism (3) according to the shape and the size of an object to be grabbed, namely, can move along the central axis and change the curvature function, and concretely, the self-adaptive palm sucker mechanism (3) consists of a self-adaptive flexible surface (31), a servo motor (32), an electric push rod (33) and a push rod motor (34), wherein the self-adaptive flexible surface (31) changes the curvature through the servo motor (32) connected with the lower end of the self-adaptive flexible surface, so that the angle of a sucker on the self-adaptive flexible surface (31) is changed, the push rod motor (34) is fixed on the bottom plate (4), the output shaft part of the self-adaptive palm sucker mechanism (3) is connected with the electric push rod (33) to extend out of a central hole (44) of the bottom plate (4), and the upper side of the electric push rod (33) is connected with the servo motor (32) so as to control the electric push rod (31) to lift through the push rod motor (34) so as to realize the up and down movement of the self-adaptive flexible surface (31).
2. A reconfigurable three-finger gripper with a palm center self-adaptive chuck mechanism according to claim 1 is characterized in that the vision touch sensor (11) is fixed at the upper end of the gripper arm (12) and is in charge of contacting an object to be gripped and acquiring gripping signals in the gripping process, the gripper connecting piece (13) is fixed at the central position of the lower end of the gripper arm (12) and is connected with the motor connecting piece (23), meanwhile, the motor connecting piece (23) is connected to the clamping mechanism motor fixing piece (28), the clamping mechanism motor (25) is internally installed, the output shaft of the clamping mechanism motor (25) is connected with a transmission gear (27) and is meshed with a transmission rack (26) fixed on the reconstruction mechanism bracket (24), when the clamping mechanism motor (25) is started, the output shaft drives the transmission gear (27) to rotate, and as the clamping mechanism motor fixing piece (28) is connected with a chute between the reconstruction mechanism bracket (24), the whole motion is converted into the clamping mechanism motor (25) to drive the transmission gear (27) and the clamping mechanism motor fixing piece (28) to move together with the upper clamping mechanism motor (21) and the lower clamping mechanism (22) to form a common motion guide rail (22), the clamping mechanism comprises a clamping mechanism motor (25), a clamping jaw body mechanism (1) and a clamping jaw body mechanism (1), wherein the clamping mechanism motor (25) can slide along a guide rail (22) to realize clamping and stretching functions of the clamping jaw, particularly, when the clamping mechanism motor (25) moves downwards, a vertical downward force is applied to a motor connecting piece (23) by a clamping mechanism motor fixing piece (28), and as the whole structure is considered to be stressed balanced in a transient state, the motor connecting piece (23) can apply a vertical upward force to a clamping jaw connecting piece (13), the component direction of the force along the direction of the guide rail (22) is the center to be the upward direction, the clamping jaw body mechanism (1) stretches out to be clamped, and similarly, when the clamping mechanism motor (25) moves upwards, the clamping jaw body mechanism (1) stretches outwards.
3. The reconfigurable three-finger clamping jaw with the palm center self-adaptive sucking disc mechanism according to claim 1, wherein the bottom plate (4) consists of a reconfiguration mechanism motor hole site (41), a reconfiguration mechanism driving rod circular arc groove (42), a reconfiguration mechanism driving rod circular arc groove (43) and a central hole (44); The mechanism comprises a reconstruction mechanism motor hole site (41), a reconstruction mechanism driving rod (211), a reconstruction mechanism driving rod arc groove (42), a reconstruction mechanism driving rod (210), a central hole (44) and three reconstruction mechanism brackets (24), wherein the reconstruction mechanism motor hole site (212) is connected with the reconstruction mechanism driving rod (211), the reconstruction mechanism driving rod arc groove (43) is connected with the reconstruction mechanism driving rod (210), the central hole (44) is matched with the three reconstruction mechanism brackets (24) coaxially, so that the coaxial partial structures of the three reconstruction mechanism brackets (24) are staggered in height to avoid interference, and a single group of reconstruction mechanism driving rods (211), the reconstruction mechanism driving rods (210) and the reconstruction mechanism brackets (24) jointly form a four-bar mechanism, so that when an output shaft of the reconstruction mechanism motor (212) rotates, the reconstruction mechanism (2) with a far-end rotation center can be driven to rotate together, and the rotation center is separated from the center of the output shaft of the reconstruction mechanism motor (212).
4. The reconfigurable three-finger clamping jaw with the palm self-adaptive sucking disc mechanism is characterized in that the reconfigurable three-finger clamping jaw with the palm self-adaptive sucking disc mechanism can determine a grabbing scheme according to the shape and the size of an object to be grabbed, and the grabbing scheme can be selected to be that the clamping jaw body mechanism (1) works independently, the clamping jaw body mechanism (1) and the palm self-adaptive sucking disc mechanism (3) work together and the palm self-adaptive sucking disc mechanism (3) works independently, so that different objects to be grabbed can be respectively corresponding, and more universal and stable grabbing can be realized.
5. The reconfigurable three-finger clamping jaw with the palm self-adaptive sucking disc mechanism according to claim 2, wherein the visual touch sensor (11) can acquire contact state information during grabbing and transmit the contact state information to a remote control end, and the remote control end comprehensively judges the information of an object to be grabbed and the current contact state information and corrects a grabbing scheme in real time.
6. The reconfigurable three-finger clamping jaw with the palm self-adaptive sucking disc mechanism is characterized in that the remote rotating center has a reconstruction function, and the reconfigurable three-finger clamping jaw with the palm self-adaptive sucking disc mechanism (3) can rotate an object to be grabbed in a certain range, so that accurate object positioning, carrying and placing functions are realized.

Description

Reconfigurable three-finger clamping jaw with palm self-adaptive sucker mechanism Technical Field The invention relates to the technical field of composite clamping jaws, in particular to a reconfigurable three-finger clamping jaw with a palm self-adaptive sucker mechanism. Background In the prior art, the three-finger clamping jaw is widely applied to the fields of industrial automation, robot grabbing and the like, such as a traditional parallel clamping jaw or a joint clamping jaw, and can clamp a regular object. However, these clamping jaws are generally fixed in structure and limited in adaptability, and cannot effectively process objects with irregular shapes or variable sizes, so that the clamping jaws have poor grabbing stability and are easy to slip or damage. Some existing designs realize clamping through synchronous driving, but have insufficient adaptability to asymmetric objects, and cannot adjust the position of a clamping jaw in real time or combine with the assistance of a sucker. In addition, the flexible suction cup device can adapt to the surface of an object through deformation, but lacks integration with a clamping jaw, and cannot realize a composite grabbing mode. In addition, in the prior art, the rotation center is usually coaxial with the driving source, so that the reconstruction flexibility is low, and the posture of an object cannot be accurately adjusted. These problems limit the use of the jaws in complex environments such as logistics sorting or precision assembly, and a reconfigurable composite jaw is needed to address this. Disclosure of Invention Aiming at the defects of the prior art, the invention provides a reconfigurable three-finger clamping jaw with a palm self-adaptive sucking disc mechanism, which can select schemes of independent work of the clamping jaw, combined work of the clamping jaw and the sucking disc, independent work of the sucking disc and the like according to the shape and the size of an object, and is used for grabbing objects with different shapes and sizes, so that stable grabbing is realized. The invention is realized by the following technical scheme: The invention provides a reconfigurable three-finger clamping jaw with a palm self-adaptive chuck mechanism, which comprises a clamping jaw body mechanism, a far-end rotating center reconstruction mechanism, a palm self-adaptive chuck mechanism and a bottom plate, wherein each clamping jaw body mechanism can independently and radially move on the far-end rotating center reconstruction mechanism connected with the clamping jaw body mechanism for realizing the function of clamping and expanding, three groups of integral units formed by the clamping jaw body mechanism and the far-end rotating center reconstruction mechanism are arranged on the bottom plate at equal intervals, the far-end rotating center reconstruction mechanism can rotate around the center of the bottom plate, so that the relative positions between the clamping jaw body mechanism and the bottom plate and between the three clamping jaw body mechanisms are changed, the far-end rotating center of the far-end rotating center reconstruction mechanism is designed to be separated from the center of a driving source, so that the far-end rotating center reconstruction mechanism can realize the far-end rotating center reconstruction function, and the palm self-adaptive chuck mechanism is positioned in the center of the bottom plate and can move up and down along the axis of the bottom plate, and meanwhile, the curvature of the palm self-adaptive chuck mechanism can be changed according to the shape and the size of an object to be grabbed, namely the curvature is changed. Specifically, the clamping jaw body mechanism consists of a visual touch sensor, a clamping jaw arm and a clamping jaw connecting piece; the remote rotary center reconstruction mechanism consists of two groups of sliding blocks, guide rails, motor connecting pieces, a reconstruction mechanism bracket, a clamping mechanism motor, a transmission rack, a corresponding transmission gear, a clamping mechanism motor fixing piece, a flange bearing, a reconstruction mechanism transmission rod, a reconstruction mechanism driving rod and a reconstruction mechanism motor, wherein the visual touch sensor is fixed at the upper end of a clamping jaw arm and is responsible for contacting an object to be grabbed in the clamping process and acquiring grabbing signals, hole sites at the two ends of the lower side of the clamping jaw arm are fixedly connected with the sliding blocks, the sliding blocks and the guide rails are arranged at the upper side of the reconstruction mechanism bracket and form an angle of 15-45 degrees with the horizontal direction according to actual working condition requirements, the height of the clamping rack close to the center side is higher than that of the clamping mechanism far from the center side, so that the positions of the sliding blocks in the horizontal dire