A gripper system

Abstract

This invention discloses a gripper system, comprising: a gripper mechanism, an adjustment mechanism, and a fixed frame. The gripper mechanism includes a gripper module, a rotation module, a first translational module, and a second translational module. The rotation module includes a first rotation unit and a second rotation unit, enabling the manipulated object to rotate around its own horizontal axis when gripped. The second translational module includes a first Y-axis translational unit mounted on the first gripper and a second Y-axis translational unit mounted on the second gripper. The adjustment mechanism includes a vertical motion unit and an adjustment turntable. The gripper mechanism and the adjustment mechanism are fixedly mounted on the fixed frame. The gripper system enables multi-dimensional motion control of objects. By combining different motion modes, it can flexibly adjust the posture of objects, allowing for the manipulation of more objects and greater generalization.

Description

Technical Field

[0001] This invention relates to the field of automation equipment technology, and in particular to a gripper system. Background Technology

[0002] Traditional gripper systems are widely used in industry for grasping, handling, and manipulating various objects. These systems typically consist of grippers, drive mechanisms, control systems, and motion platforms. However, traditional gripper systems often have low operating speeds and limited flexibility, restricting their application in certain fields.

[0003] With the development of automation technology and the increasing demands for production efficiency, higher requirements are being placed on the performance and functionality of gripper systems. A highly versatile and fast-operating gripper system is expected to be able to flexibly adapt to objects of different shapes, sizes, and weights, and possess high-speed, highly versatile operating capabilities, thereby improving production efficiency and flexibility.

[0004] The following uses prior art 1 and prior art 2 as examples to illustrate the shortcomings of the prior art:

[0005] Prior art discloses a pneumatic gripper device, including a pair of grippers and a cylinder for driving the grippers to open and close. The piston rod on the cylinder is connected to the grippers through a drive shaft and a crank rod. The grippers are provided with sliding blocks, and a sliding seat fixed on the main body is provided with a sliding groove. The sliding blocks can slide in the sliding groove. The bottom of the sliding blocks is provided with a dial hole, and a guide sleeve with a U-shaped groove is provided in the dial hole. One end of the crank rod is provided with a cylindrical dial, which is set in the U-shaped groove on the guide sleeve. When the piston rod on the cylinder extends or retracts, the piston rod drives the crank rod to rotate through the drive shaft. The crank rod pushes the sliding block to slide back and forth in the sliding groove, thereby driving the grippers to open and close.

[0006] The disadvantages of the existing technology are as follows:

[0007] Complex Structural Design: The design proposed in Technique 1 aims to improve the load capacity of the gripper device, extend its service life, and reduce production costs, but its structural design is relatively complex. The combination of components such as the piston, piston rod, drive shaft, crankshaft (L-shaped structure), sliding block, and guide sleeve makes the assembly, debugging, and maintenance of the entire device quite complex, which may increase the technical difficulty and maintenance costs during production and later use.

[0008] Potential limitations in flexibility and response speed: Due to the inclusion of multiple mechanically connected components, such as piston rods, drive shafts, cranks, and sliders, this structure may limit the system's response speed and flexibility. Especially in applications requiring rapid opening and closing of grippers to accommodate high-speed automated production lines, the complex mechanical transmission chain can increase system response delays. Furthermore, mechanical coupling between multiple components can also lead to reduced power transmission efficiency, impacting the overall system performance.

[0009] Maintaining accuracy is challenging: Over time, even minute wear and deformation can affect the accuracy of the gripper mechanism. This is especially critical in precision manufacturing or high-precision clamping applications, where long-term stability and accuracy maintenance are paramount. While the design mentioned in Technique 1 incorporates measures to reduce wear and increase load capacity, the risk remains that minor deformations or wear accumulation due to the complex mechanical structure can affect clamping accuracy. This decrease in accuracy not only impacts product quality but may also necessitate frequent adjustments or repairs, increasing operating costs.

[0010] The existing electric gripper mechanism comprises a series of precisely fitted components, including a support base, a motor, a cam, two fixed members (first and second fixed members), a slide rail, an elastic clamping member, and a reset component. In this design, the motor acts as the power source, connecting to the cam through a through-hole in the support base and driving the cam to rotate. The cam has a specific geometry, designed with proximal and distal ends; its rotation enables contact and separation with the first and second bearings, thereby driving the first and second fixed members to slide along the slide rail on the surface of the support base. The sliding motion is converted into the opening and closing action of the elastic clamping member, which consists of a first and second spring, enabling stable clamping and release of objects (such as optical chips or lenses). The reset component, typically designed as a tension spring, is responsible for pulling back the first and second fixed members after the cam rotation ends, resetting the clamping member and preparing it for the next clamping action.

[0011] The disadvantages of the existing technology 2 are as follows:

[0012] Complex structure and maintenance difficulty: The system comprises multiple components, such as a support base, motor, cam, fixture, slide rail, elastic clamping element, and reset component. The coordinated operation of these components ensures the functionality of the gripper mechanism. However, this complexity can lead to increased maintenance difficulty, especially due to wear, loosening, or malfunctions that may occur during long-term operation.

[0013] Potential issues with power transmission efficiency: The system drives a cam to rotate via a motor, and the cam's mechanical action then drives the clamping element to open and close. This indirect drive method may result in suboptimal power transmission efficiency, especially when rotational resistance increases, potentially requiring higher energy input to maintain the same operating speed and clamping force.

[0014] High dependence on motor performance: The performance of the entire system is highly dependent on the stable operation and accurate control of the motor. Any performance degradation or malfunction of the motor will directly affect the accuracy and reliability of the gripper mechanism. Furthermore, the precision of motor control is crucial for ensuring the repeatability and gripping force of the clamping operation. Summary of the Invention

[0015] The purpose of this invention is to solve the problem of weak generalization of gripper systems and to provide a gripper system.

[0016] To achieve the above objectives, the present invention adopts the following technical solution:

[0017] A gripper system includes: a gripper mechanism, an adjustment mechanism, and a fixed frame.

[0018] The gripper mechanism includes a gripper module, a rotation module, a first translation module, and a second translation module. The gripper module includes a first claw and a second claw. The first claw and the second claw are respectively disposed opposite to each other on the first translation module. The first translation module is used to drive the first claw and the second claw to move on the horizontal X-axis.

[0019] The rotation module includes a first rotation unit and a second rotation unit. The first rotation unit is disposed on the side of the first claw for gripping the object being operated, and the second rotation unit is disposed on the side of the second claw for gripping the object being operated. The first rotation unit and the second rotation unit are capable of rotation, so that the object being operated can rotate around its own horizontal axis when it is gripped.

[0020] The second translation module includes a first Y-axis translation unit mounted on the first claw and a second Y-axis translation unit mounted on the second claw. The first Y-axis translation unit is used to drive the first rotation unit to move on the horizontal Y-axis, and the second Y-axis translation unit is used to drive the second rotation unit to move on the horizontal Y-axis.

[0021] The adjustment mechanism includes a vertical motion unit and an adjustment turntable. The adjustment turntable is mounted on the upper surface of the vertical motion unit. The vertical motion unit is used to drive the adjustment turntable to move up and down. The adjustment turntable can rotate to control the rotation of the object being operated on the horizontal plane.

[0022] The gripper mechanism and the adjustment mechanism are fixedly installed on the fixed frame, with the gripper mechanism located above the adjustment mechanism.

[0023] In some embodiments, the first translation module includes a first X-axis translation unit and a second X-axis translation unit. The first X-axis translation unit includes a first motor, a first gear, and a first rack. The second X-axis translation unit includes a second motor, a second gear, and a second rack. The first motor, the second motor, the first gear, and the second gear are fixed to the fixed frame via a first fixing plate. The first motor drives the first gear to rotate, and the second motor drives the second gear to rotate. The long sides of the first rack and the second rack are arranged along the X-axis. The first rack meshes with the first gear, and the second rack meshes with the second gear. A second fixing plate is arranged parallel to the bottom of the first rack and the second rack. The second fixing plate is fixed to the fixed frame. The second fixing plate is provided with a first sliding part, which provides support for the movement of the first claw and the second claw, and allows the first claw and the second claw to slide along the X-axis on the first sliding part. The first claw is fixedly connected to the first rack via a first connecting post, and the second claw is fixedly connected to the second rack via a second connecting post.

[0024] In some embodiments, the first translation module further includes a third fixing plate, which is fixed to the fixed frame. The third fixing plate is provided with a second sliding portion, which, together with the first sliding portion, provides support for the movement of the first claw and the second claw, and enables the first claw and the second claw to slide along the X-axis on the second sliding portion respectively.

[0025] In some embodiments, the first claw portion includes a first upper claw gripper plate and a first lower claw gripper plate arranged in parallel; the second claw portion includes a second upper claw gripper plate and a second lower claw gripper plate arranged in parallel; the first sliding portion includes a first slide rail and a second slide rail disposed on the upper surface of the second fixed plate; the second sliding portion includes a third slide rail and a fourth slide rail disposed on the upper surface of the third fixed plate; the end of the first lower claw gripper plate is slidably connected to the first slide rail; the end of the second lower claw gripper plate is slidably connected to the second slide rail; the end of the first upper claw gripper plate is slidably connected to the third slide rail; the end of the second upper claw gripper plate is slidably connected to the fourth slide rail; the third fixed plate is provided with a first slot and a second slot; the first rack is provided with a first through hole; the first connecting post passes through the first slot and the first through hole and its two ends are respectively connected to the first upper claw gripper plate and the first lower claw gripper plate; the second rack is provided with a second through hole; the second connecting post passes through the second slot and the second through hole and its two ends are respectively connected to the second upper claw gripper plate and the second lower claw gripper plate.

[0026] In some embodiments, the first rotating unit includes a first turntable, which is fixedly mounted on the first Y-axis translational unit via a first base. The first turntable is disposed on the side of the first claw for gripping the object being operated. The second rotating unit includes a second turntable, which is fixedly mounted on the second Y-axis translational unit via a second base. A rotation motor capable of driving the turntable to rotate is mounted on the first base or the second base.

[0027] In some embodiments, rubber sheets are attached to the surfaces of the first turntable and the second turntable, respectively.

[0028] In some embodiments, one of the first Y-axis translational unit and the second Y-axis translational unit includes: a first synchronous pulley, a second synchronous pulley, a first synchronous belt sleeved on the first synchronous pulley and the second synchronous pulley, and a fifth slide rail mounted along the Y-axis direction of the first claw or the second claw. A third motor is mounted on one of the first synchronous pulley and the second synchronous pulley for driving its rotation. The other of the first Y-axis translational unit and the second Y-axis translational unit includes: a sixth slide rail mounted along the Y-axis direction of the second claw or the first claw.

[0029] The first base or the second base is fixedly installed on the first synchronous belt. A slider is provided below the first base and the second base, respectively, and is provided on the fifth slide rail and the sixth slide rail.

[0030] In some embodiments, the adjustment turntable includes a servo fixed turntable, a servo, and an upper turntable; the vertical motion unit includes an upper base plate and a lower base plate arranged in parallel, as well as a fourth motor, a third synchronous pulley, a fourth synchronous pulley, a second synchronous belt, a lead screw nut, a lead screw, a sun gear, and planetary gears.

[0031] The upper base plate is fixedly connected to the lower base plate. The fourth motor is located above the upper base plate. The third synchronous pulley is located below the upper base plate at the corresponding position of the fourth motor. The fourth motor is used to drive the third synchronous pulley to rotate. The sun gear is located on the lower base plate and is fixedly connected to the fourth synchronous pulley. The second synchronous belt is sleeved between the third synchronous pulley and the fourth synchronous pulley. When the third synchronous pulley rotates and drives the fourth synchronous pulley to rotate, the sun gear can rotate synchronously with the fourth synchronous pulley.

[0032] The sun gear meshes with the planetary gear, and a lead screw nut is fixedly connected to the planetary gear. The sun gear can drive the planetary gear to move, thereby driving the lead screw nut to rotate. A lead screw is connected to the lead screw nut, and the lead screw passes through the upper base plate and is fixedly connected to the servo motor fixed turntable. The rotation of the lead screw nut causes the lead screw to move linearly in the Z-axis direction, thereby causing the servo motor fixed turntable to rise.

[0033] The servo is mounted on the servo fixed turntable, and the upper turntable is mounted on the servo disk of the servo.

[0034] In some embodiments, both the gripper mechanism and the adjustment mechanism are mounted on a fixed bracket and connected to the fixed frame via the fixed bracket.

[0035] In some embodiments, a depth camera is mounted on the fixed frame. The depth camera is used to detect the position and orientation of the object being operated on in real time. The gripper mechanism and the adjustment mechanism are used to adjust the operation steps according to the detection results, so that the specified point of the object being operated on can be observed by the depth camera and the position in the depth camera is the required position.

[0036] The present invention has the following beneficial effects:

[0037] The gripper system in this embodiment consists of three main parts: a gripper mechanism, an adjustment mechanism, and a fixed frame. The gripper mechanism module has three degrees of freedom, allowing control of the object's rotation in one direction and translation in two directions. The adjustment mechanism controls the object's vertical movement and rotation. The fixed frame provides support for the first two mechanisms. This gripper system enables multi-dimensional motion control of objects, allowing for flexible adjustment of the object's posture by combining different motion modes. The manipulated object only needs to be fixed at three contact points that meet the support conditions; these three contact points can be provided by the adjustment turntable and the first and second grippers. Therefore, the shape and size of the manipulated object can be flexibly adjusted, allowing for the manipulation of more objects and greater generalization. Attached Figure Description

[0038] Figure 1 This is a perspective view of a gripper system according to one embodiment of the present invention;

[0039] Figure 2 This is a schematic diagram of a gripper mechanism holding an object in one perspective according to an embodiment of the present invention.

[0040] Figure 3 This is an exploded view of the gripper mechanism and adjustment mechanism in one embodiment of the present invention;

[0041] Figure 4a This is a schematic diagram of the object being manipulated in one embodiment of the present invention;

[0042] Figure 4b This is a schematic diagram of the manipulated object in another embodiment of the present invention;

[0043] Figure 4c This is a schematic diagram of the manipulated object in another embodiment of the present invention;

[0044] Figure 4d This is a schematic diagram of the manipulated object in another embodiment of the present invention;

[0045] Figure 4e This is a schematic diagram of the manipulated object in another embodiment of the present invention;

[0046] Figure 4f This is a schematic diagram of the manipulated object in another embodiment of the present invention;

[0047] Figure 5 This is a schematic diagram of the gripper mechanism from one perspective in one embodiment of the present invention;

[0048] Figure 6 This is a schematic diagram of the gripper mechanism and adjustment mechanism from another perspective in one embodiment of the present invention;

[0049] Figure 7 This is a schematic diagram of the gripper mechanism from another perspective in one embodiment of the present invention;

[0050] Figure 8 This is a schematic diagram of the gripper mechanism and adjustment mechanism from another perspective in one embodiment of the present invention;

[0051] Figure 9 This is a top view of the rack in one embodiment of the present invention;

[0052] Figure 10 This is a top view of the third fixing plate in one embodiment of the present invention;

[0053] Figure 11 This is a partial structural schematic diagram of the gripper mechanism in one embodiment of the present invention;

[0054] Figure 12 This is a partial structural schematic diagram of the gripper mechanism from another perspective in one embodiment of the present invention;

[0055] Figure 13 This is a schematic diagram of the adjustment mechanism in one embodiment of the present invention;

[0056] Figure 14 This is an exploded view of the adjustment mechanism in one embodiment of the present invention;

[0057] Figure 15This is a schematic diagram of a fixed frame structure in one embodiment of the present invention;

[0058] Figure 16 This is a schematic diagram of the structure of the gripper mechanism and adjustment mechanism mounted on a fixed frame in one embodiment of the present invention;

[0059] Figure 17 This is a schematic diagram showing the gripper mechanism and adjustment mechanism connected to the fixed frame via a sheet metal bracket in one embodiment of the present invention;

[0060] Figure 18 yes Figure 17 Schematic diagram of the mortise and tenon structure at point A in the middle circle;

[0061] The attached figures are labeled as follows:

[0062]

[0063] Detailed Implementation

[0064] The embodiments of the present invention will be described in detail below. It should be emphasized that the following description is merely exemplary and not intended to limit the scope and application of the present invention.

[0065] It should be noted that when a component is referred to as "fixed to" or "set on" another component, it can be directly on or indirectly on that other component. When a component is referred to as "connected to" another component, it can be directly connected to or indirectly connected to that other component. Furthermore, a connection can be used for fixing, coupling, or communication.

[0066] It should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", and "outer" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the embodiments of the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the present invention.

[0067] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of embodiments of the present invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0068] Designing a gripper system with strong generalization and rapid operation faces several technical challenges, including but not limited to mechanical structure design, motion control algorithms, and system integration. The innovative solution presented in this application addresses these problems and challenges, improving the performance and functionality of the gripper system.

[0069] refer to Figures 1-6 The gripper system of this embodiment includes: gripper mechanism 1, adjustment mechanism 2, and fixed frame 3;

[0070] The gripper mechanism 1 can be composed of X-axis translation, X-axis rotation and Y-axis translation. The gripper mechanism 1 includes a gripper module 11, a rotation module 12, a first translation module 13 and a second translation module 14. The gripper module 11 includes a first claw part 111 and a second claw part 112. The first claw part 111 and the second claw part 112 are respectively disposed opposite to each other on the first translation module 13. The first translation module 13 is used to drive the first claw part 111 and the second claw part 112 to move on the horizontal X-axis.

[0071] The rotation module 12 includes a first rotation unit and a second rotation unit. The first rotation unit is disposed on the side of the first claw 111 for clamping the object 4 to be operated, and the second rotation unit is disposed on the side of the second claw 112 for clamping the object 4 to be operated. The first rotation unit and the second rotation unit can rotate, so that the object 4 to be operated can rotate around its own horizontal axis when it is clamped.

[0072] The second translation module 14 includes a first Y-axis translation unit mounted on the first claw 111 and a second Y-axis translation unit mounted on the second claw 112. The first Y-axis translation unit is used to drive the first rotation unit to move on the horizontal Y-axis, and the second Y-axis translation unit is used to drive the second rotation unit to move on the horizontal Y-axis.

[0073] The adjustment mechanism 2 includes a vertical motion unit 22 and an adjustment turntable 21. The adjustment turntable 21 is mounted on the upper surface of the vertical motion unit 22. The vertical motion unit 22 is used to drive the adjustment turntable 21 to move up and down. The adjustment turntable 21 can rotate to control the rotation of the object 4 on the horizontal plane.

[0074] The gripper mechanism 1 and the adjustment mechanism 2 are fixedly installed on the fixed frame 3, with the gripper mechanism 1 located above the adjustment mechanism 2.

[0075] refer to Figures 4a-4f In this embodiment, the shape and size of the object 4 being manipulated in the gripper system can be flexibly adjusted, making it possible to manipulate more objects and increase its generalizability.

[0076] refer to Figure 7In some embodiments, the first translation module 13 includes a first X-axis translation unit and a second X-axis translation unit. The first X-axis translation unit includes a first motor 131, a first gear 133, and a first rack 135. The second X-axis translation unit includes a second motor 132, a second gear 134, and a second rack 136. The first motor 131, the second motor 132, the first gear 133, and the second gear 134 are fixed to the fixed frame 3 by a first fixing plate 137. The first motor 131 is used to drive the first gear 133 to rotate, and the second motor 132 is used to drive the second gear 134 to rotate. The long edges of the first rack 135 and the second rack 136 are X-axis... The shaft is configured such that the first rack 135 meshes with the first gear 133, and the second rack 136 meshes with the second gear 134. A second fixing plate 138 is arranged parallel below the first rack 135 and the second rack 136. The second fixing plate 138 is fixed on the fixed frame 3. The second fixing plate 138 is provided with a first sliding part, which is used to provide support for the movement of the first claw 111 and the second claw 112, and to enable the first claw 111 and the second claw 112 to slide along the X-axis on the first sliding part respectively. The first claw 111 is fixedly connected to the first rack 135 through the first connecting post, and the second claw 112 is fixedly connected to the second rack 136 through the second connecting post.

[0077] In one specific embodiment, the first motor 131 and the second motor 132 are M3508 motors. The X-axis translation is driven by the two M3508 motors through a drive gear, which in turn drives the rack. Since the X-axis translation is driven by two motors, the two claws can move simultaneously towards each other, away from each other, or in the same direction. In one specific embodiment, the first sliding part is specifically a slide rail. A fixed slide rail is provided above the fixed plate to support the movement of the claws.

[0078] In some embodiments, the first translational module 13 further includes a third fixing plate 139, which is fixed to the fixed frame 3. The third fixing plate 139 is provided with a second sliding portion, which, together with the first sliding portion, provides support for the movement of the first claw portion 111 and the second claw portion 112, and allows the first claw portion 111 and the second claw portion 112 to slide along the X-axis on the second sliding portion respectively. In a specific embodiment, the second sliding portion is a slide rail, and the presence of slide rails at both the top and bottom can further improve the rigidity of the system.

[0079] refer to Figure 8In some embodiments, the first claw portion 111 includes a first claw upper gripping plate 1111 and a first claw lower gripping plate 1112 arranged in parallel; the second claw portion 112 includes a second claw upper gripping plate 1121 and a second claw lower gripping plate 1122 arranged in parallel; the first sliding portion includes a first slide rail 1310 and a second slide rail 1311 disposed on the upper surface of the second fixed plate 138; the second sliding portion includes a third slide rail 1312 and a fourth slide rail 1313 disposed on the upper surface of the third fixed plate 139; the end of the first claw lower gripping plate 1112 is slidably connected to the first slide rail 1310; the end of the second claw lower gripping plate 1122 is slidably connected to the second slide rail 1311; the end of the first claw upper gripping plate 1111 is slidably connected to the third slide rail 1312; the end of the second claw upper gripping plate 1121 is slidably connected to the fourth slide rail 1313; the third fixed plate 139 is provided with a first slot and a second slot. Figure 9 The first rack 135 has a first through hole. A first connecting post passes through the first slot and the first through hole, and its two ends are respectively connected to the upper gripper plate 1111 and the lower gripper plate 1112 of the first claw. The second rack 136 has a second through hole. A second connecting post passes through the second slot and the second through hole, and its two ends are respectively connected to the upper gripper plate 1121 and the lower gripper plate 1122 of the second claw. In a specific embodiment, each connecting post includes two interconnected copper posts, one with protruding threads and the other without protruding threads. These two copper posts can be connected together to form a connecting post. The upper gripper plate, the lower gripper plate, the upper gripper plate, and the lower gripper plate can move on the slide rail via a slider, thereby driving the entire gripper to perform X-axis translation. (Reference) Figure 10 The slot between the copper column and the frame plate (third fixed plate 139) serves as a limit, and the larger slide rail stroke improves the system's generalization ability.

[0080] refer to Figure 11 In some embodiments, the first rotating unit includes a first turntable 122, which is fixedly mounted on the first Y-axis translational unit via a first base 123. The first turntable 122 is disposed on the side of the first claw portion 111 used for gripping the manipulated object 4. The second rotating unit includes a second turntable 124, which is fixedly mounted on the second Y-axis translational unit via a second base 125. A rotation motor 121 capable of driving its rotation is mounted on the first base 123 or the second base 125. In a preferred embodiment, rubber sheets 126 are respectively attached to the surfaces of the first turntable 122 and the second turntable 124.

[0081] In one specific embodiment, a rotary motor 121 capable of driving the first turntable 122 to rotate is mounted on the first base 123. The rotary motor 121 is an M2006 motor. The first turntable 122 and the second turntable 124 are the motor turntable and the passive turntable, respectively. The rotation of the X-axis is powered by an M2006 motor. When the gripper is clamped to an object, the rotation of the motor output shaft drives the rotation of the motor turntable. Rubber sheets are attached to both turntables to increase the contact friction with the object being manipulated, thereby making the gripping of the object more stable and reliable. At the same time, rubber sheets are also attached to the other turntable (passive turntable), which passively rotates the object via a rotating shaft. However, when the gripper is open, the rotation of the manipulated object around the X-axis has no effect.

[0082] refer to Figure 12 In some embodiments, one of the first Y-axis translational unit and the second Y-axis translational unit includes: a first synchronous pulley 141, a second synchronous pulley 142, a first synchronous belt 143 sleeved on the first synchronous pulley 141 and the second synchronous pulley 142, and a fifth slide rail 144 mounted along the Y-axis direction of the first claw portion 111 or the second claw portion 112. A third motor 146 is mounted on one of the first synchronous pulley 141 and the second synchronous pulley 142 for driving its rotation. The other of the first Y-axis translational unit and the second Y-axis translational unit includes: a sixth slide rail 145 mounted along the Y-axis direction of the second claw portion 112 or the first claw portion 111.

[0083] The first base 123 or the second base 125 is fixedly installed on the first synchronous belt 143. A slider is provided below the first base 123 and the second base 125 respectively, and is respectively set on the fifth slide rail 144 and the sixth slide rail 145.

[0084] In one specific embodiment, the second Y-axis translational unit includes: a first synchronous pulley 141, a second synchronous pulley 142, a first synchronous belt 143 sleeved on the first synchronous pulley 141 and the second synchronous pulley 142, and a fifth slide rail 144 mounted along the Y-axis direction of the second claw portion 112. A third motor 146 is mounted on the first synchronous pulley 141 for driving the first synchronous pulley 141 to rotate. The first Y-axis translational unit includes: a sixth slide rail 145 mounted along the Y-axis direction of the first claw portion 111; and a second base 125 is fixedly mounted on the first synchronous belt 143. The third motor 146 is an M2006 motor. The Y-axis translation is driven by an M2006 motor driving a synchronous pulley. The other end of the synchronous pulley is fixed to the carbon plate of the gripper (the connecting plate between the upper and lower gripping plates of the gripper) via a screening screw. A shim in the middle facilitates the rotation of the synchronous pulley. When the synchronous pulley rotates, it may drive the screening screw to move. The first flange bearing 1210 is mounted on the screening screw, providing support. The second base 125 is fixedly mounted on the first synchronous belt 143 via a clamping block and a carbon plate 127. The clamping block and carbon plate 127 are connected by a copper pillar 128 and screws. A rotating module slider 129 is located below the carbon plate 127. When the motor drives the synchronous pulley, the synchronous belt moves horizontally, causing the clamping block and the driven turntable base to move horizontally along the Y-axis on the guide rail. Simultaneously, when the gripper is in the clamping state, the object being operated can drive the base on the other side to move along the guide rail, thereby achieving horizontal movement of the object in the Y-axis direction.

[0085] refer to Figures 13-14 In some embodiments, the adjustment turntable 21 includes a servo fixed turntable 211, a servo motor 212, and an upper turntable 213. The vertical motion unit 22 includes an upper base plate 221 and a lower base plate 222 arranged in parallel, as well as a fourth motor 223, a third synchronous pulley 224, a fourth synchronous pulley, a second synchronous belt 225, a lead screw 227, a nut 226, a lead screw 227, a sun gear, and a planetary gear 229.

[0086] The upper base plate 221 is fixedly connected to the lower base plate 222. The fourth motor 223 is located above the upper base plate 221. The third synchronous pulley 224 is located below the upper base plate 221 at the corresponding position of the fourth motor 223. The fourth motor 223 is used to drive the third synchronous pulley 224 to rotate. The sun gear is located on the lower base plate 222 and is fixedly connected to the fourth synchronous pulley. A second synchronous belt 225 is sleeved between the third synchronous pulley 224 and the fourth synchronous pulley. When the third synchronous pulley 224 rotates and drives the fourth synchronous pulley to rotate, the sun gear can rotate synchronously with the fourth synchronous pulley.

[0087] The sun gear meshes with the planetary gear 229. A lead screw 227 and a nut 226 are fixedly connected to the planetary gear 229. The sun gear can drive the planetary gear 229 to move, thereby driving the lead screw 227 and the nut 226 to rotate. A lead screw 227 is connected to the lead screw 227 and the nut 226. The lead screw 227 passes through the upper base plate 221 and is fixedly connected to the servo motor mounting plate 211. The rotation of the lead screw 227 and the nut 226 causes the lead screw 227 to move linearly in the Z-axis direction, thereby causing the servo motor mounting plate 211 to rise. The servo motor 212 is mounted on the servo motor mounting plate 211, and the upper plate 213 is mounted on the servo disk of the servo motor 212.

[0088] In one specific embodiment, the fourth motor 223 is a Chihai motor. The upper base plate 221 is fixedly connected to the lower base plate 222 via a support plate 230. The support plate 230, as a key component connecting the upper and lower base plates, can improve the rigidity of the overall system. The adjustment mechanism 2 has two degrees of freedom: rotation and translation along the Z-axis. The rotation of the Z-axis is directly driven by the servo motor 212, which is fixed on the servo motor bracket 215 and connected to the servo motor fixed turntable 211, which is fixedly connected to the flange 232. The upper turntable 213 is supported by a deep groove ball bearing 216 to ensure smooth rotation. The outer printed part 214 serves as a protective element and is connected to the servo motor fixed turntable 211. The translation of the Z-axis is powered by the Chihai motor and transmitted to the fourth synchronous pulley at the far end via the second synchronous belt 225. The fourth synchronous pulley drives the sun gear 228 to move. The sun gear 228 is supported by a second flange bearing 231 to ensure stable rotation. The sun gear 228 drives three planetary gears 229, which in turn rotate via three lead screws and nuts 226. A support bearing 233 supports the gear rotation; its outer ring supports the gear, and its inner ring is supported by a fixed member 234. The fixed member 234 is connected to a carbon plate (lower base plate 222) and supports the bearing. The rotation of the lead screws and nuts 226 causes the lead screw 227 to move linearly, raising the upper-connected adjusting turntable 21 and achieving the Z-axis lifting motion of the manipulated object. Conversely, when the motor rotates in the opposite direction, the Z-axis platform moves downward. This design allows the adjusting mechanism 2 to flexibly achieve the upward and downward movement of the object in the Z-axis direction, improving the system's operational flexibility.

[0089] refer to Figures 15-18 In some embodiments, both the gripper mechanism 1 and the adjustment mechanism 2 are mounted on a fixed bracket and connected to the fixed frame 3 via the fixed bracket.

[0090] In one specific embodiment, the fixed bracket is a sheet metal bracket 35. The parallel plates in the gripper mechanism 1 and the adjustment mechanism 2 are connected by several mortise and tenon structures and several vertical connectors. The fixed frame 3 is spliced ​​and fixed to the gripper mechanism 1 and the adjustment mechanism 2 by mortise and tenon structures and vertical adapters (the connecting carbon plate 36 is connected to the first fixed plate 137, the second fixed plate 138, the third fixed plate 139, the upper base plate 221, and the lower base plate 222 by mortise and tenon structures and vertical adapters, and then the connecting carbon plate 36 is fixedly installed on the sheet metal bracket 35, and the sheet metal bracket 35 is fixedly installed on the fixed frame 3). The mortise and tenon structure is achieved by two plates. (In this embodiment, the connecting carbon plate 36, the first fixing plate 137, the second fixing plate 138, the third fixing plate 139, the upper base plate 221, and the lower base plate 222 are all carbon plates. The gripper carbon plates have many perforations that allow electrical cables to pass through for easy arrangement. Cable ties can then be passed through the perforations to secure the cables.) They are constructed with a convex and concave shape for insertion and positioning. In practice, a stable connection structure is formed by hammering. The vertical connecting piece is a block (in some embodiments, it is a metal block; in this embodiment, it is an aluminum block) with threads on both vertical surfaces. Screws can be used to connect the plate to the block for locking. In this embodiment, the gripper carbon plates (referring to the upper gripper plate and the lower gripper plate of the first claw and their connecting plate, the upper gripper plate and the lower gripper plate of the second claw and their connecting plate, and the upper base plate and the lower base plate in the adjustment mechanism and their connecting plate) have many perforations that allow electrical cables to pass through for easy arrangement. Cable ties can then be passed through the perforations to secure the cables.

[0091] In some embodiments, a depth camera 33 is mounted on the fixed frame 3. The depth camera 33 is used to detect the position and orientation of the object 4 being operated on in real time. The gripper mechanism 1 and the adjustment mechanism 2 adjust the operation steps according to the detection results so that the specified point of the object being operated on can be observed by the depth camera and the position in the depth camera is the required position.

[0092] In one specific embodiment, the fixed frame 3 is constructed using a fixed profile bracket 31 (aluminum profile), on which an adjustable depth camera 33 is mounted. The depth camera 33 is fixed to a specially designed camera printout 32. The depth camera 33 can detect the position and orientation of the object being manipulated in real time. The gripper mechanism 1 and the adjustment mechanism 2 adjust the operation steps according to the detection results: the task of the gripper system is to ensure that the specified point of the object can be observed by the camera and that its position in the camera is the required position. The operation steps need to be adjusted according to the detection results. If the required position is not reached, the specified point of the object is brought to the required position through operations such as translation or lifting of the gripper system, and the camera feeds back to the outside. To prevent external light from interfering with camera recognition, the fixed frame 3 is equipped with light-shielding black PC boards 37 around its perimeter and supplementary lighting lamps 34 to ensure that the position and orientation of the object being measured can be more accurately identified. A connecting carbon plate 36 is used to connect the gripper mechanism 1 and the adjustment mechanism 2. It has tenon and mortise grooves and is connected and secured by a vertical adapter.

[0093] The gripper system in this embodiment consists of three main parts: a gripper mechanism, an adjustment mechanism, and a fixed frame. The gripper mechanism module has three degrees of freedom, allowing control of the object's rotation in one direction and translation in two directions. The adjustment mechanism module controls the object's vertical movement and rotation. The fixed frame provides support for the first two modules, while a camera above it identifies the object's posture. This system enables multi-dimensional motion control of the object, allowing for flexible adjustment of its posture by combining different motion modes. When the object is placed on the adjustment mechanism, the grippers open, and the rotation of the platform adjusts the object's angle or vertical position in the vertical direction. When the grippers move horizontally to clamp the object and the platform moves downward, the object can move in two directions in the horizontal plane. Simultaneously, the grippers can also allow the object to rotate autonomously around its own horizontal axis. Furthermore, this system can be connected to a general-purpose three-axis robotic arm, increasing its reach and enabling it to perform more tasks flexibly and stably in a larger space. Moreover, the manipulated object only needs to be fixed at three contact points that meet the support conditions; these three contact points can be provided by the platform and the grippers on both sides. Therefore, the shape and size of the manipulated objects can be flexibly adjusted, making the number of manipulated objects more extensive and the system more versatile.

[0094] This invention presents a gripper system with strong generalizability, fast operation, flexibility and compact layout, in order to solve the technical problems of traditional gripper systems, such as poor adaptability, low operating efficiency, insufficient flexibility, and being relatively bulky and large in size. Compared with traditional rigid grippers, the embodiments of the present invention have the following advantages: 1. Strong versatility, applicable to various sizes and shapes of manipulated objects, with high object adaptability; 2. Fast operation speed, rapid system response, and a relatively simple transmission chain, which can quickly transmit power to each execution part, shorten working time and improve system efficiency. At the same time, the lightweight design allows for faster system movement; 3. Suitable degrees of freedom, capable of adjusting the manipulated object to any posture, completing basic object state adjustment tasks, and even further superimposing more complex operation tasks; 4. Compact layout, compared with traditional gripper systems, its drive source and execution mechanism are arranged compactly, with a smaller overall size and adaptability to manipulated objects of different sizes; 5. Modular splicing, making the connection quick and stable. Different modules can be replaced to give the system diverse functions [the gripper mechanism can be replaced with a small robotic arm or other motion modules that can achieve more functions, because they are all directly connected through fixed interfaces, so only the fixed adapter interface (i.e., mortise and tenon structure) needs to be retained]. Replacing these modules makes the system more flexible and capable of performing a wider variety of operational tasks. It also facilitates the replacement and maintenance of mechanisms. 6. A structure is designed to facilitate the arrangement of electrical cables, which can pass through the perforations of the carbon plate for reasonable routing, improving the overall reliability of the system. 7. The design of this device greatly simplifies the motion control algorithm. Unlike traditional finger manipulation of objects, this device only relies on translation, lifting, and rotation to manipulate objects, thus greatly simplifying the motion control algorithm.

[0095] Through innovative design and structural optimization, the gripper system of this embodiment can be applied to a variety of objects of different sizes and shapes, has a fast operation response capability and high work efficiency, and also has the ability to flexibly adjust the posture. The overall layout is compact and easy to maintain, providing an efficient and flexible solution for manipulating objects and adjusting their posture.

[0096] The above description provides a further detailed explanation of the present invention in conjunction with specific / preferred embodiments, and it should not be construed that the specific implementation of the present invention is limited to these descriptions. For those skilled in the art, various substitutions or modifications can be made to these described embodiments without departing from the concept of the present invention, and all such substitutions or modifications should be considered within the scope of protection of the present invention. In the description of this specification, the reference to terms such as "an embodiment," "some embodiments," "preferred embodiment," "example," "specific example," or "some examples," etc., indicates that the specific features, structures, materials, or characteristics described in connection with that embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in any suitable manner in one or more embodiments or examples. Without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification and the features of different embodiments or examples. Although the embodiments of the present invention and their advantages have been described in detail, it should be understood that various changes, substitutions, and modifications can be made herein without departing from the scope of protection of the patent application.

Claims

1. A gripper system, characterized in that, include: Gripper mechanism, adjustment mechanism, and fixed frame. The gripper mechanism includes a gripper module, a rotation module, a first translation module, and a second translation module. The gripper module includes a first claw and a second claw. The first claw and the second claw are respectively disposed opposite to each other on the first translation module. The first translation module is used to drive the first claw and the second claw to move on the horizontal X-axis. The rotation module includes a first rotation unit and a second rotation unit. The first rotation unit is disposed on the side of the first claw for gripping the object being operated, and the second rotation unit is disposed on the side of the second claw for gripping the object being operated. The first rotation unit and the second rotation unit are capable of rotation, so that the object being operated can rotate around its own horizontal axis when it is gripped. The second translation module includes a first Y-axis translation unit mounted on the first claw and a second Y-axis translation unit mounted on the second claw. The first Y-axis translation unit is used to drive the first rotation unit to move on the horizontal Y-axis, and the second Y-axis translation unit is used to drive the second rotation unit to move on the horizontal Y-axis. The adjustment mechanism includes a vertical motion unit and an adjustment turntable. The adjustment turntable is mounted on the upper surface of the vertical motion unit. The vertical motion unit is used to drive the adjustment turntable to move up and down. The adjustment turntable can rotate to control the rotation of the object being operated on the horizontal plane. The gripper mechanism and the adjustment mechanism are fixedly installed on the fixed frame, with the gripper mechanism located above the adjustment mechanism. The adjustment turntable includes a servo fixed turntable, a servo, and an upper turntable. The vertical motion unit includes a parallel upper base plate and a lower base plate, as well as a fourth motor, a third synchronous pulley, a fourth synchronous pulley, a second synchronous belt, a lead screw nut, a lead screw, a sun gear, and planetary gears. The upper base plate is fixedly connected to the lower base plate. The fourth motor is located above the upper base plate. The third synchronous pulley is located below the upper base plate at the corresponding position of the fourth motor. The fourth motor is used to drive the third synchronous pulley to rotate. The sun gear is located on the lower base plate and is fixedly connected to the fourth synchronous pulley. The second synchronous belt is sleeved between the third synchronous pulley and the fourth synchronous pulley. When the third synchronous pulley rotates and drives the fourth synchronous pulley to rotate, the sun gear can rotate synchronously with the fourth synchronous pulley. The sun gear meshes with the planetary gear, and a lead screw nut is fixedly connected to the planetary gear. The sun gear can drive the planetary gear to move, thereby driving the lead screw nut to rotate. A lead screw is connected to the lead screw nut, and the lead screw passes through the upper base plate and is fixedly connected to the servo motor fixed turntable. The rotation of the lead screw nut causes the lead screw to move linearly in the Z-axis direction, thereby causing the servo motor fixed turntable to rise. The servo is mounted on the servo fixed turntable, and the upper turntable is mounted on the servo disk of the servo.

2. The gripper system as described in claim 1, characterized in that, The first translation module includes a first X-axis translation unit and a second X-axis translation unit. The first X-axis translation unit includes a first motor, a first gear, and a first rack. The second X-axis translation unit includes a second motor, a second gear, and a second rack. The first motor, the second motor, the first gear, and the second gear are fixed to the fixed frame via a first fixing plate. The first motor drives the first gear to rotate, and the second motor drives the second gear to rotate. The long sides of the first rack and the second rack are arranged along the X-axis. The first rack meshes with the first gear, and the second rack meshes with the second gear. A second fixing plate is arranged parallel to the bottom of the first rack and the second rack. The second fixing plate is fixed to the fixed frame. The second fixing plate is provided with a first sliding part, which provides support for the movement of the first claw and the second claw, and allows the first claw and the second claw to slide along the X-axis on the first sliding part. The first claw is fixedly connected to the first rack via a first connecting post, and the second claw is fixedly connected to the second rack via a second connecting post.

3. The gripper system as described in claim 2, characterized in that, The first translation module also includes a third fixing plate, which is fixed to the fixed frame. The third fixing plate is provided with a second sliding part, which together with the first sliding part provides support for the movement of the first claw and the second claw, and enables the first claw and the second claw to slide along the X-axis on the second sliding part respectively.

4. The gripper system as described in claim 3, characterized in that, The first claw portion includes a first upper claw gripper and a first lower claw gripper arranged in parallel. The second claw portion includes a second upper claw gripper and a second lower claw gripper arranged in parallel. The first sliding portion includes a first slide rail and a second slide rail disposed on the upper surface of the second fixed plate. The second sliding portion includes a third slide rail and a fourth slide rail disposed on the upper surface of the third fixed plate. The end of the first lower claw gripper is slidably connected to the first slide rail, the end of the second lower claw gripper is slidably connected to the second slide rail, the end of the first upper claw gripper is slidably connected to the third slide rail, and the end of the second upper claw gripper is slidably connected to the fourth slide rail. The third fixed plate is provided with a first slot and a second slot. The first rack is provided with a first through hole. The first connecting post passes through the first slot and the first through hole and is connected at both ends to the first upper claw gripper and the first lower claw gripper, respectively. The second rack is provided with a second through hole. The second connecting post passes through the second slot and the second through hole and is connected at both ends to the second upper claw gripper and the second lower claw gripper, respectively.

5. The gripper system as described in claim 1, characterized in that, The first rotating unit includes a first turntable, which is fixedly mounted on the first Y-axis translational unit via a first base. The first turntable is located on the side of the first claw for gripping the object being operated. The second rotating unit includes a second turntable, which is fixedly mounted on the second Y-axis translational unit via a second base. A rotation motor capable of driving the turntable to rotate is mounted on the first base or the second base.

6. The gripper system as described in claim 5, characterized in that, Rubber sheets are attached to the surfaces of the first turntable and the second turntable, respectively.

7. The gripper system as described in claim 5, characterized in that, One of the first Y-axis translational unit and the second Y-axis translational unit includes: a first synchronous pulley, a second synchronous pulley, a first synchronous belt sleeved on the first synchronous pulley and the second synchronous pulley, and a fifth slide rail installed along the Y-axis direction of the first claw or the second claw. A third motor is installed on one of the first synchronous pulley and the second synchronous pulley for driving its rotation. The other of the first Y-axis translational unit and the second Y-axis translational unit includes: a sixth slide rail installed along the Y-axis direction of the second claw or the first claw. The first base or the second base is fixedly installed on the first synchronous belt. A slider is provided below the first base and the second base, respectively, and is provided on the fifth slide rail and the sixth slide rail.

8. The gripper system as claimed in claim 1, characterized in that, Both the gripper mechanism and the adjustment mechanism are mounted on a fixed bracket and connected to the fixed frame via the fixed bracket.

9. The gripper system as claimed in claim 1, characterized in that, A depth camera is mounted on the fixed frame. The depth camera is used to detect the position and orientation of the object being operated on in real time. The gripper mechanism and adjustment mechanism are used to adjust the operation steps according to the detection results, so that the specified point of the object being operated on can be observed by the depth camera and the position in the depth camera is the required position.

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