CN-224223920-U - Sensing gear mechanical grabbing device capable of controlling output pressure

Abstract

The utility model discloses a sensing gear mechanical grabbing device capable of controlling output pressure, which comprises a controllable stepping motor and is characterized in that two synchronous translation claws which are arranged oppositely are arranged on two parallel sliding rails, a gear guide rail is arranged at the outer side of the bottom of each synchronous translation claw, a gear coupler is arranged between the two gear guide rails, the gear coupler is arranged on an output shaft of the controllable stepping motor, and a pressure sensor is arranged at the inner side of each synchronous translation claw. The robot claw can automatically adjust the grabbing angle and the grabbing force according to the sizes of books, so that the adaptability to different books are greatly improved, the pressure sensor monitors the stress of the objects in real time, and automatically adjusts the grabbing mode according to the stress of the current objects, so that accurate grabbing is realized, and the robot claw is particularly suitable for processing old and fragile books.

Inventors

• LIU JIAYU
• Liang Linyue
• HAN FANG
• Lv Zhuxi
• XU RUODAN

Assignees

• 贵州大学

Dates

Publication Date

20260512

Application Date

20250403

Claims (7)

1. 1. The sensing gear mechanical grabbing device capable of controlling output pressure comprises a controllable stepping motor (EM 01) and is characterized in that two synchronous translation claws which are arranged oppositely are arranged on two parallel sliding rails (SR 01), a gear guide rail (GR 01) is arranged at the outer side of the bottom of each synchronous translation claw, a gear coupler (GC 01) is arranged between the two gear guide rails (GR 01), the gear coupler (GC 01) is arranged on an output shaft of the controllable stepping motor (EM 01), and a pressure sensor (PT 01) is arranged at the inner side of each synchronous translation claw.
2. 2. The sensing gear mechanical grabbing device capable of controlling output pressure according to claim 1, wherein the controllable stepping motor (EM 01) is arranged in a T-shaped motor shell (MP 01), four side cover plates are arranged on the periphery of a top plate of the T-shaped motor shell (MP 01) to form a square box body, and two parallel gear guide rails (GR 01) are fixedly arranged in the box body.
3. 3. The sensing gear mechanical grabbing device capable of controlling output pressure according to claim 1, wherein a gear guide rail (GR 01) is sleeved with a shaft sleeve (OFS 01), and each synchronous translation claw is connected with two shaft sleeves (OFS 01).
4. 4. The sensing gear mechanical grabbing device capable of controlling output pressure according to claim 1 is characterized in that an outer circular gear of a gear coupler (GC 01) is matched with racks on the inner sides of two gear guide rails (GR 01), the two gear guide rails (GR 01) are respectively located on two sides of the gear coupler (GC 01), and when the gear coupler (GC 01) is driven by a motor to rotate, the two gear guide rails (GR 01) translate reversely and drive synchronous translation claws of the gear coupler to move.
5. 5. The mechanical gripping device of sensing gear capable of controlling output pressure according to claim 1, wherein the inner sides of the synchronous translation claws are engraved with textures.
6. 6. The sensing gear mechanical grabbing device capable of controlling output pressure according to claim 3, wherein the synchronous translation claws comprise mounting portions and clamping portions, step surfaces are formed between the clamping portions and the mounting portions, cavities are formed between the mounting portions when the clamping portions of the two synchronous translation claws are folded, the shaft sleeve (OFS 01) is fixed on the inner side of the mounting portions, and the gear guide rail (GR 01) is fixed on the lower side of the mounting portions.
7. 7. The mechanical gripping device for sensing gears capable of controlling output pressure according to claim 6, wherein the front end of the clamping part is in a wedge-shaped structure with straight inner side and inclined outer side.

Description

Sensing gear mechanical grabbing device capable of controlling output pressure Technical Field The utility model relates to the technical field of robots, in particular to a precise mechanical grabbing device which is mainly used for arranging, carrying and picking books in libraries or bookstores, and is particularly suitable for mechanical claws for controlling grabbing force according to the sizes of the books. Background With the progress of industrial automation and robot technology, more and more scenes begin to use robots to replace manual operation, and in the scenes of arranging, carrying and picking and placing books in libraries or bookstores, most of the existing robot claws are easy to squeeze books when grabbing the books, so that the books are damaged. In practical application, the method has the remarkable defects that in the grabbing process, books are easy to damage because the grabbing force cannot be controlled in real time, the self-adaptive capacity for adjusting the grabbing force according to the characteristics of the books is lacking, and the method is mainly characterized in that: 1. the books on two sides are easy to squeeze during grabbing, the claws of the existing robot claw device are too large, and the books on two sides are easy to squeeze, so that the books on two sides are damaged. 2. The grabbing protection is insufficient, namely the existing rigid claw device can cause damage to books when grabbing the books, and can cause grabbing failure when the strength is insufficient, so that the efficiency and stability of book arrangement or book picking and placing are affected. 3. The efficiency and the control precision of the power system are insufficient, the precision of the power system of the traditional grabbing device is low, the grabbing force and the angle cannot be adjusted in real time according to the arrangement of books, the grabbing efficiency is low, and dynamic adaptation operation is difficult to realize. Therefore, designing a robot claw device capable of adaptively adjusting according to books has become an important point of current technical research. Disclosure of Invention The utility model aims to solve the technical problem that books are easy to damage during grabbing caused by insufficient control precision of a mechanical device in the prior art, and provides a mechanical grabbing device capable of accurately controlling clamping force. The technical scheme of the utility model is as follows: The utility model provides a can control sensing gear machinery grabbing device of output pressure, includes controllable stepper motor EM01, installs two synchronous translation claws of relative arrangement on two parallel slide rail SR01, and the bottom of every synchronous translation claw is by outside installation gear guide GR01, is equipped with gear coupling GC01 between two gear guide GR01, and gear coupling GC01 installs on controllable stepper motor EM 01's output shaft, and pressure sensor PT01 is installed to synchronous translation claw inboard. The controllable stepping motor EM01 is arranged in the T-shaped motor shell MP01, four side covers are arranged on the periphery of the top plate of the T-shaped motor shell MP01 to form a square box body, and two parallel gear guide rails GR01 are fixedly arranged in the box body. The gear guide rail GR01 is sleeved with shaft sleeves OFS01, and each synchronous translation claw is connected with two shaft sleeves OFS 01. The outer circle gear of the gear coupler GC01 is matched with racks on the inner sides of the two gear guide rails GR01, the two gear guide rails GR01 are respectively positioned on two sides of the gear coupler GC01, and when the gear coupler GC01 is driven by a motor to rotate, the two gear guide rails GR01 reversely translate and respectively drive synchronous translation claws of the gear coupler GC01 to move. The inner side of the synchronous translation claw is carved with textures. The synchronous translation claw comprises a mounting part and a clamping part, a step surface is formed between the clamping part and the mounting part, a cavity is formed between the mounting parts when the clamping parts of the two synchronous translation claws are folded, the shaft sleeve OFS01 is fixed on the inner side of the mounting part, and the gear guide rail GR01 is fixed on the lower side of the mounting part. The front end of the clamping part is of a wedge-shaped structure with straight inner part and inclined outer part. Compared with the prior art, the utility model has the following advantages: 1. The self-adaptive capacity is enhanced by adopting the synchronous translation claws (ST 01 and ST 02) and the pressure sensor (PT 01), so that the robot claw can automatically adjust the grabbing angle and the grabbing force according to the size of the books, the adaptability to different books is greatly improved, the pressure sensor (PT 01) monitors the stress of the objects in real