Modular gripper

Abstract

The present application provides a kind of modularization gripper, including fixed plate body, drive module, two screw rod bodies, two extension plates, two extension screws and two nuts.Pairs of screw rod bodies, extension plates, extension screws and nuts are bilateral symmetry.Two screw rod bodies are concentrically arranged along the first direction, connected to drive module, and are rotated by drive module.Two extension plates are respectively detachably butted to the two sides of fixed plate body by connecting piece.Two extension screws are respectively connected to two screw rod bodies, and the thread of extension screw is connected to the thread of screw rod body.Two nuts are respectively sleeved on two screw rod bodies, and when drive module drives two screw rod bodies and two extension screws to rotate synchronously, two nuts are allowed to be displaced relative to screw rod body and extension screw in the first direction, and are close to or away from each other to realize a clamping operation.

Description

Technical Field

[0001] This invention relates to a gripper structure, and more particularly to a modular gripper in which the screw, linear guide, and fixing plate are modularly designed, allowing for changes in length and adjustment of the working stroke as needed, without the need to redesign the screw and fixing plate. Background Technology

[0002] A robotic arm is an automated control device that mimics the functions of a human arm and can perform various tasks. It is now widely used in automated machinery. Besides its primary application in industrial manufacturing, it can also be found in commercial agriculture, medical rescue, entertainment services, and military security. Structurally, it consists of a mechanical body, controller, servo mechanism, and sensors, and its specific actions are programmed according to the job requirements. The device installed at the end of the robotic arm to directly grasp objects is usually called a gripper, end effector, or robothand. Its purpose is to replace human fingers to skillfully complete many complex tasks or manipulate various objects. However, different working strokes often require different drive methods to structure the gripper.

[0003] Taking a common long-stroke gripper structure on the market as an example, its structure includes a left-hand screw and a right-hand screw, with pulleys added to both screws. The motor rotates, driving the belt, which in turn drives the screws. The rotation of the screws on both sides causes the nuts to move, thus achieving the gripping action. However, the movement of the gripper seats is limited by the length of their respective screws, restricting the gripping operation to a fixed stroke range. If the user needs to perform operations with a wider stroke using the grippers, the gripper mounting plate and the screws on both sides must be redesigned; direct length changes are not possible.

[0004] In view of this, it is necessary to provide a modular gripper with a modular design for the screw, linear guide and fixing plate, which can change the length and adjust the working stroke as needed, without redesigning the screw and fixing plate, thus solving the defects of known technologies. Summary of the Invention

[0005] The purpose of this invention is to provide a modular gripper with a modular design for the screw, linear guide, and fixing plate. The length can be changed and the working stroke adjusted as needed, without the need to redesign the screw and fixing plate.

[0006] Another objective of this invention is to provide a modular gripper. The length of the two opposite ends of the main body fixing plate can be increased by extension plates. The main body fixing plate and the extension plates are fixed in a parallel locking manner, avoiding vertical stacking and thus not increasing the overall plate thickness. Furthermore, the length of the two screw bodies of the left-hand and right-hand screws can be increased by extension screws. The connection between the screw bodies and the extension screws is concentric along the axial direction, and their threads are continuous. Since the left-hand and right-hand screws are connected to the motor of the drive module via concentrically mounted pulleys, when the motor rotates the pulleys via the belt, it can drive the left-hand and right-hand screws to operate simultaneously, allowing the corresponding nuts to move within the range of the screw bodies and extension screws. Moreover, the nuts on the left-hand and right-hand screws are mounted on the linear guide via sliders as adapter plates, enabling the gripper to smoothly move left and right synchronously with the nuts, completing long-stroke gripping operations.

[0007] Another objective of this invention is to provide a modular gripper. The screw body, extension plate, extension screw, nut, linear guide, and extension rail components employ a bi-symmetrical design, which facilitates modularity and easy replacement and adjustment, enabling gripping of components with varying stroke lengths. When an increased stroke length is required, the stroke length is increased by adding extension screws, extension plates, and extension rails on both sides, eliminating the need to redesign the gripper structure and increasing the versatility of product applications.

[0008] To achieve the aforementioned objectives, the present invention provides a modular gripper, comprising a main body fixing plate, a first extension plate, a second extension plate, a drive module, a first screw body, a second screw body, a first extension screw, a second extension screw, a first nut, and a second nut. The main body fixing plate has two opposite mating ends in a first direction. The first extension plate and the second extension plate are bilaterally symmetrical and are detachably connected to the two mating ends of the main body fixing plate in the first direction via a first connector and a second connector, respectively. The drive module is disposed on the main body fixing plate. The first screw body and the second screw body are bilaterally symmetrical and disposed on the main body fixing plate, and are concentrically arranged in the first direction. The first screw body includes a first drive end and a first extension end, and the second screw body includes a second drive end and a second extension end. The first drive end and the second drive end face each other in the first direction and are connected to the drive module. The first extension end and the second extension end are oppositely arranged in the first direction. The first and second extension screws are symmetrically arranged on both sides. The first extension screw is detachably connected to the first extension end, and its thread is connected to the thread of the first screw body. The second extension screw is detachably connected to the second extension end, and its thread is connected to the thread of the second screw body. The first and second nuts are symmetrically arranged on both sides and are respectively fitted and paired to the first and second screw bodies. When the drive module drives the first screw body and the first extension screw to rotate synchronously, the first nut is allowed to move relative to the first screw body and the first extension screw in a first direction. When the drive module drives the second screw body and the second extension screw to rotate synchronously, the second nut is allowed to move relative to the second screw body and the second extension screw in a first direction. The first and second nuts move closer or further apart to achieve a clamping operation. Attached Figure Description

[0009] Figure 1 This is a perspective structural diagram of the modular gripper of a preferred embodiment of the present invention;

[0010] Figure 2 This is an exploded view of the modular gripper structure of a preferred embodiment of the present invention;

[0011] Figure 3 This is a cross-sectional view of the modular gripper of a preferred embodiment of the present invention.

[0012] Figure 4 This is a schematic diagram showing the extension plate connected to the main body fixing plate via connectors.

[0013] Figure 5A A three-dimensional structural diagram of the connector is provided.

[0014] Figure 5B This is a cross-sectional structural diagram of the connector.

[0015] Figure 6A and Figure 6B A schematic diagram showing the disassembly of the screw body and the extension screw is provided.

[0016] Figure 7A and Figure 7B A schematic diagram showing the connection between the screw body and the extension screw is provided.

[0017] Figure 8A and Figure 8B The structural cross-sectional views of the screw body and the extension screw are disclosed.

[0018] Figure 9A and Figure 9B To disclose another structural cross-sectional view of the screw body and the extension screw;

[0019] Figure 10A and Figure 10B A three-dimensional structural diagram of the joint of the extension screw is provided.

[0020] Figure 11A and Figure 11B The front view of the joint of the extended screw is shown.

[0021] Figure 12A and Figure 12B An exploded view of the structure in which the screw body and the extension screw are joined by a connector is disclosed.

[0022] Figure 13A and Figure 13B To disclose a cross-sectional view of the structure in which the screw body and the extension screw are joined by a coupling;

[0023] Figure 14A and Figure 14B An exploded view of the structure in which the screw body and the extension screw are joined by another connector is disclosed; and

[0024] Figure 15A and Figure 15B This is a cross-sectional view of the structure in which the screw body and the extension screw are joined by another connector.

[0025] The attached figures are labeled as follows:

[0026] 1: Modular grippers

[0027] 10: Main body fixing plate

[0028] 11a, 11b: Connecting ends

[0029] 12: Window

[0030] 20a: First extension plate

[0031] 20b: Second extension plate

[0032] 21a: First connector

[0033] 21b: Second connector

[0034] 211: First Lock Firmware

[0035] 212: Second Locking Fitting

[0036] 213: Restrictive components

[0037] 214, 215: Operating terminals

[0038] 30: Driver Module

[0039] 31: Motor

[0040] 32: Belt

[0041] 33: Pulley

[0042] 40a: First screw body

[0043] 41a: First external thread

[0044] 42a: First driving end

[0045] 43a: First extension end

[0046] 44a: First front-joining screw hole

[0047] 45a: First front positioning port

[0048] 40b: Second screw body

[0049] 41b: Second external thread

[0050] 42b: Second drive end

[0051] 43b: Second extension end

[0052] 44b: Second front-joining screw hole

[0053] 45b: Second front positioning port

[0054] 50a: First extension screw

[0055] 51a: First extended external thread

[0056] 52a: First joint

[0057] 53a: First support section

[0058] 54a: First mating external thread

[0059] 55a: First positioning segment

[0060] 56a: First post-joining screw hole

[0061] 57a: First rear positioning port

[0062] 50b: Second extension screw

[0063] 51b: Second extended external thread

[0064] 52b: Second joint

[0065] 53b: Second support section

[0066] 54b: Second mating external thread

[0067] 55b: Second positioning segment

[0068] 56b: Second post-joining screw hole

[0069] 57b: Second rear positioning port

[0070] 60a: First nut

[0071] 60b: Second nut

[0072] 70: Linear rail

[0073] 71a: First extension rail

[0074] 71b: Second extension rail

[0075] 72a: First slider

[0076] 72b: Second slider

[0077] 80a: First clip

[0078] 80b: Second clip

[0079] 90a, 90a': First mating parts

[0080] 91a: First Positioning Body

[0081] 92a, 92a': First front-joining external thread

[0082] 93a: First post-joining external thread

[0083] 90b, 90b': Second mating parts

[0084] 91b: Second positioning body

[0085] 92b, 92b': Second front-joining external thread

[0086] 93b: Second post-joining external thread

[0087] A1: First extension thread insertion angle

[0088] A1': Second extension thread insertion angle

[0089] A2: First engagement external thread insertion angle

[0090] A2': Second engagement external thread insertion angle

[0091] C: Central line

[0092] D: Thread pitch

[0093] E1, E1': End point

[0094] L1, L2: Combination length

[0095] S1, S1', S2, S2': Starting point

[0096] T1, T2, T3, T1', T2', T3': Length

[0097] X, Y, Z: Axes Detailed Implementation

[0098] Some typical embodiments embodying the features and advantages of the present invention will be described in detail in the following description. It should be understood that the present invention can be varied in different ways without departing from its scope, and the descriptions and drawings herein are illustrative in nature and not intended to limit the invention. For example, if the following description of a first feature disposed on or above a second feature indicates that it includes embodiments where the first and second features are in direct contact, and also includes embodiments where additional features may be disposed between the first and second features, so that the first and second features may not be in direct contact. Furthermore, different embodiments in this disclosure may use repeated reference numerals and / or markings. These repetitions are for simplification and clarity and are not intended to limit the relationships between the various embodiments and / or the described appearance structures. Moreover, to facilitate the description of the relationship between one component or feature and another (or multiple) component or feature in the drawings, spatially related terms such as "front," "rear," "left," "right," and similar terms may be used. In addition to the orientations shown in the accompanying drawings, spatially relevant terms are used to cover different orientations of the device in use or operation. The device may also be otherwise positioned (e.g., rotated 90 degrees or located in other orientations), and the descriptions of the spatially relevant terms used will be interpreted accordingly. Furthermore, when a component is referred to as "connected to" or "coupled to" another component, it may be directly connected to or coupled to the other component, or there may be intervening components. Although the numerical ranges and parameters of the broad scope of this disclosure are approximate, values ​​are stated as precisely as possible in specific examples. Additionally, it is understood that while terms such as "first," "second," etc., may be used in the claims to describe different components, these components should not be limited by these terms, and the components described accordingly in the embodiments are represented by different component symbols. These terms are used to distinguish different components. For example, a first component may be referred to as a second component, and similarly, a second component may be referred to as a first component without departing from the scope of the embodiments. The term "and / or" as thus used includes any or all combinations of one or more of the related listed items.

[0099] refer to Figures 1 to 3This invention provides a modular gripper 1, comprising a main body fixing plate 10, a first extension plate 20a, a second extension plate 20b, a drive module 30, a first screw body 40a, a second screw body 40b, a first extension screw 50a, a second extension screw 50b, a first nut 60a, and a second nut 60b. The main body fixing plate 10 can be, for example, composed of two parallel main body fixing plates 10 joined together to form a fixing frame, or it can be used as a single main body fixing plate 10. However, in this embodiment, only a single main body fixing plate 10 is used for illustration, and this is not intended to limit the invention. The main body fixing plate 10 is, for example, bilaterally symmetrical with respect to a central line C, and has two opposite mating ends 11a and 11b in a first direction, for example, the X-axis. The first extension plate 20a and the second extension plate 20b are bilaterally symmetrical and are detachably connected to the two docking ends 11a and 11b of the main body fixing plate 10 via the first connector 21a and the second connector 21b, respectively, in the first direction (i.e., the X-axis direction). Specifically, the first extension plate 20a is detachably connected to the right docking end 11a of the main body fixing plate 10 from the right side of the center line C via the first connector 21a; the second extension plate 20b is detachably connected to the left docking end 11b of the main body fixing plate 10 from the left side of the center line C via the second connector 21b. The drive module 30 is disposed on the main body fixing plate 10, or more specifically, between the front and rear main body fixing plates 10; however, the invention is not limited thereto. The first screw body 40a and the second screw body 40b are bilaterally symmetrical and disposed on the main body fixing plate 10, and are concentrically arranged in the first direction (i.e., the X-axis direction). The first screw body 40a on the right side includes a first driving end 42a and a first extension end 43a, while the second screw body 40b on the left side includes a second driving end 42b and a second extension end 43b. The first driving end 42a and the second driving end 42b face each other in a first direction, are adjacent to the center line C, and are connected to the drive module 30. Furthermore, the first extension end 43a and the second extension end 43b are arranged opposite to each other in the first direction, spatially relative to the right docking end 11a and the left docking end 11b of the body fixing plate 10, respectively. In this embodiment, the first extension screw 50a and the second extension screw 50b are bilaterally symmetrical. The first extension screw 50a is detachably connected to the first extension end 43a of the first screw body 40a, and the thread of the first extension screw 50a continues the thread of the first screw body 40a. The second extension screw 50b is detachably connected to the second extension end 43b of the second screw body 40b, and the thread of the second extension screw 50b is connected to the thread of the second screw body 40a.Both the first nut 60a and the second nut 60b are standard nuts, symmetrically arranged on both sides, and respectively fitted and paired onto the first screw body 40a and the second screw body 40b. When the drive module 30 drives the right-side first screw body 40a and the first extension screw 50a to rotate synchronously, the first nut 60a is allowed to displace relative to the first screw body 40a and the first extension screw 50a in a first direction. Similarly, when the drive module 30 drives the left-side second screw body 40b and the second extension screw 50b to rotate synchronously, the second nut 60b is allowed to displace relative to the second screw body 40b and the second extension screw 50b in a first direction. Thus, the first nut 60a and the second nut 60b can approach or move away from each other to achieve a clamping operation.

[0100] In this embodiment, the drive module 30 includes a motor (including a reduction mechanism) 31, a belt 32, and a pulley 33. The pulley 33 is located, for example, at the center line C, and is connected to the first drive end 42a of the right first screw body 40a and the second drive end 42b of the left second screw body 40b. The motor 31 is mounted on the body fixing plate 10 and is connected to the pulley 33 via the belt 32, assembling with the drive pulley 33 and driving the first screw body 40a and the second screw body 40b to rotate concentrically. In this embodiment, the first screw body 40a has a first external thread 41a, and the second screw body 40b has a second external thread 41b. The rotation directions of the first external thread 41a and the second external thread 41b are opposite, for example, a right-hand thread and a left-hand thread, respectively. When the drive module 30 drives the first screw body 40a and the second screw body 40b to rotate concentrically, the first nut 60a is acted upon by the first external thread 41a of the first screw body 40a, and the second nut 60b is acted upon by the second external thread 41b of the second screw body 40b. They simultaneously move closer to or further away from the central line C to achieve a gripping operation. Similarly, in this embodiment, the first extension screw 50a has a first extension external thread 51a, and the second extension screw 50b has a second extension external thread 51b. The rotation directions of the first extension external thread 51a and the second extension external thread 51b are opposite, being right-hand and left-hand threads respectively connecting the first external thread 41a and the second external thread 41b. When the modular gripper 1 performs a gripping action, the first nut 60a and the second nut 60b are symmetrically displaced relative to the central line C on the right side of the first screw body 40a and the first extension screw 50a, and on the left side of the second screw body 40b and the second extension screw 50b.

[0101] In this embodiment, the modular gripper 1 further includes a linear guide 70, a first extension rail 71a, a second extension rail 71b, a first slider 72a, and a second slider 72b. The linear guide 70 may be composed of two parallel linear guides 70, or it may be used alone; however, this embodiment only describes a single linear guide 70 and does not limit the invention. In this embodiment, the linear guide 70 is disposed on the body fixing plate 10 along a first direction (i.e., the X-axis direction), spatially relative to the first screw body 40a and the second screw body 40b. The first extension rail 71a and the second extension rail 71b are bilaterally symmetrical and respectively disposed on the first extension plate 20a and the second extension plate 20b, and are respectively connected to both ends of the linear guide 70 and arranged linearly along the first direction. In this embodiment, the first slider 72a and the second slider 72b are respectively straddled on the paired linear guides 70. The first slider 72a is connected to the first nut 60a and is allowed to move synchronously with the first nut 60a relative to the linear guide 70 and the first extension rail 71a in a first direction. The second slider 72b is connected to the second nut 60b and is allowed to move synchronously with the second nut 60b relative to the linear guide 70 and the second extension rail 71b in the first direction.

[0102] In this embodiment, the modular gripper 1 further includes a first clamping piece 80a and a second clamping piece 80b, which are respectively fixed to the first slider 72a and the second slider 72b. When the drive module 30 synchronously drives the right first screw body 40a and the first extension screw 50a, as well as the left second screw body 40b and the second extension screw 50b, to rotate, the first nut 60a, the first slider 72a, and the first clamping piece 80a are driven to approach or move away from the second nut 60b, the second slider 72b, and the second clamping piece 80b, thereby realizing the gripping operation.

[0103] It should be noted that, in this embodiment, the first screw body 40a and the second screw body 40b can be extended in the first direction via the first extension screw 50a and the second extension screw 50b, the linear guide 70 can be extended in the first direction via the first extension rail 71a and the second extension rail 71b, and the body fixing plate 10 can be extended in the first direction via the first extension plate 20a and the second extension plate 20b. The first extension screw 50a and the second extension screw 50b, the first extension rail 71a and the second extension rail 71b, and the first extension plate 20a and the second extension plate 20b can all be replaced according to actual application requirements, thereby adjusting the stroke length of the modular gripper 1. In other words, the modular gripper 1 of the present invention adopts a modular design, and the length can be changed and the working stroke adjusted according to requirements without redesigning the screw and the fixing plate.

[0104] In this embodiment, the first extension plate 20a is detachably connected to the right end 11a of the main body fixing plate 10 via the first connector 21a in the first direction (i.e., the X-axis direction). The second extension plate 20b is detachably connected to the left end 11b of the main body fixing plate 10 via the second connector 21b in the first direction (i.e., the X-axis direction). The first connector 21a and the second connector 21b, in the first direction (i.e., the X-axis direction), do not exceed the overlap range of the first extension plate 20a, the main body fixing plate 10, and the second extension plate 20b along the first direction. This ensures that the main body fixing plate 10 is fixed to the first extension plate 20a and the second extension plate 20b in a parallel locking manner, avoiding vertical stacking locking in the Y-axis or Z-axis directions, thus not increasing the overall plate thickness. Furthermore, the first extension screw 50a, the second extension screw 50b, the first extension rail 71a, and the second extension rail 71b can be supported by the first extension plate 20a and the second extension plate 20b.

[0105] refer to Figures 1 to 4 , Figure 5A and Figure 5B In this embodiment, the first connector 21a connecting the main body fixing plate 10 and the first extension plate 20a, and the second connector 21b connecting the main body fixing plate 10 and the second extension plate 20b, have the same structure; however, Figure 4The accompanying drawings only illustrate the connection between the first connector 21a and the main body fixing plate 10 and the first extension plate 20a. In this embodiment, the number of the first connector 21a and the second connector 21b can be adjusted according to actual application requirements. Each first connector 21a and the second connector 21b includes a first locking member 211, a second locking member 212, and a limiting member 213. The first locking member 211 and the second locking member 212 are, for example, two screws arranged concentrically. The operating end 214 of the first locking member 211 and the operating end 215 of the second locking member 212 face each other. The limiting member 213 is disposed between the first locking member 211 and the second locking member 212, which restricts the axial distance between the first locking member 211 and the second locking member 212, allowing the first locking member 211 and the second locking member 212 to rotate around the axial center, but preventing them from disengaging from each other. In this embodiment, a window 12 is formed when the first extension plate 20a mates with the main body fixing plate 10 and when the second extension plate 20b mates with the main body fixing plate 10. The operating ends 214 of the first locking fastener 211 and 215 of the second locking fastener 212 are exposed through the window 12. Thus, the user can operate the first locking fastener 211 and the second locking fastener 212 through the window 12 to complete the connection between the main body fixing plate 10 and the first extension plate 20a and the second extension plate 20b. In this embodiment, the first locking fastener 211 and the second locking fastener 212 are two screws with the same or opposite directions of rotation. Of course, in other embodiments, the main body fixing plate 10 and the first extension plate 20a and the second extension plate 20b can also be parallelly locked using other splicing connectors. This invention is not limited thereto, and further details will not be provided.

[0106] refer to Figures 1 to 4 , Figure 6A , Figure 6B , Figure 7A and Figure 7BIn this embodiment, a first extension screw 50a is disposed on a first extension plate 20a and detachably connected to a first extension end 43a of a first screw body 40a. The first extension screw 50a and the first screw body 40a are concentrically arranged in a first direction (i.e., the X-axis direction). In this embodiment, the first screw body 40a has a first external thread 41a, and the first extension screw 50a has a first external thread 51a. The end point E1 of the first external thread 41a connects to the start point S1 of the first external thread 51a. Furthermore, in this embodiment, a second extension screw 50b is disposed on a second extension plate 20b and detachably connected to a second extension end 43b of a second screw body 40b. The second extension screw 50b and the second screw body 40b are concentrically arranged in the first direction (i.e., the X-axis direction). In this embodiment, the second screw body 40b has a second external thread 41b, and the second extension screw 50b has a second external thread 51b. The end point E1' of the second external thread 41b is connected to the start point S1' of the second external thread 51b.

[0107] refer to Figures 1 to 11BIn this embodiment, the first extension screw 50a includes a first connecting portion 52a and a first support portion 53a located at opposite ends. The first connecting portion 52a is detachably connected to the first extension end 43a of the first screw body 40a, so that the end point E1 of the external thread 41a of the first body connects to the starting point S1 of the first extension external thread 51a. The first support portion 53a pivotally connects the other end of the first extension screw 50a to the first extension plate 20a and provides support. In this embodiment, the second extension screw 50b includes a second connecting portion 52b and a second support portion 53b located at opposite ends. The second connecting portion 52b is detachably connected to the second extension end 43b of the second screw body 40b, so that the end point E1' of the external thread 41b of the second body connects to the starting point S1' of the second extension external thread 51b. The second support portion 53b pivotally connects the other end of the second extension screw 50b to the second extension plate 20b and provides support. In this embodiment, the external threads of the first front engagement screw hole 44a, the first engagement external thread 54a, the second front engagement screw hole 44b, and the second engagement external thread 54b have the same thread pitch D. The first engagement portion 52a and the second engagement portion 52b have an engagement length L1, which is N times the thread pitch D, where N is an integer and N≧1. In this embodiment, the starting point S1 of the first extended external thread 51a has a first extended thread insertion angle A1. The first screw body 40a includes a first front engagement screw hole 44a disposed at the first extension end 43a, and the first engagement portion 52a includes a first engagement external thread 54a corresponding to the first front engagement screw hole 44a. In this embodiment, the starting point S2 of the first engaging external thread 54a has a first engaging external thread entry angle A2, and the first extending thread entry angle A1 is equal to the first engaging external thread entry angle A2. Therefore, the ending point E1 of the first main body external thread 41a connects to the starting point S1 of the first extending external thread 51a. In this embodiment, the starting point S1' of the second extending external thread 51b has a second extending thread entry angle A1'. The second screw body 40b includes a second front engaging screw hole 44b disposed at the second extending end 43b, and the second engaging portion 52b includes a second engaging external thread 54b corresponding to the second front engaging screw hole 44b. In this embodiment, the starting point S2' of the second engaging external thread 54b has a second engaging external thread entry angle A2', and the second extending thread entry angle A1' is equal to the second engaging external thread entry angle A2'. Therefore, the ending point E1' of the second main body external thread 41b connects to the starting point S1' of the second extending external thread 51b.

[0108] In this embodiment, the first connecting portion 52a further includes a first positioning section 55a, disposed between the first engaging external thread 54a and the first extending external thread 51a. The first screw body 40a includes a first front positioning port 45a, and spatially relative to the first positioning section 55a, the first front engaging screw hole 44a communicates externally through the first front positioning port 45a. The alignment of the first front positioning port 45a with the first positioning section 55a helps improve the engaging efficiency between the first extending screw 50a and the first screw body 40a. Similarly, in this embodiment, the second connecting portion 52b also includes a second positioning section 55b, disposed between the second engaging external thread 54b and the second extending external thread 51b. The second screw body 40b includes a second front positioning port 45b, and spatially relative to the second positioning section 55b, the second front engaging screw hole 44b communicates externally through the second front positioning port 45b. The alignment of the second front positioning port 45b with the second positioning segment 55b helps improve the engagement efficiency between the second extension screw 50b and the second screw body 40b. In other embodiments, the first positioning segment 55a, the second positioning segment 55b, the first front positioning port 45a, and the second front positioning port 45b can be omitted, such as... Figure 9A and Figure 9B As shown. By designing the engagement length L2 of the first engagement portion 52a of the first extension screw 50a and the engagement length L2 of the second engagement portion 52b of the second extension screw 50b to be N times the thread pitch D, it is also possible to achieve the connection between the end point E1 of the first external thread 41a and the start point S1 of the first extended external thread 51a, and the connection between the end point E1' of the second external thread 41b and the start point S1' of the second extended external thread 51b.

[0109] It should be noted that the connection method of the first extension screw 50a with the first screw body 40a or the second extension screw 50b with the second screw body 40b is not limited to the aforementioned methods. (See reference) Figure 3 , Figures 12A to 15B The first screw body 40a and the first extension screw 50a can be connected via a first coupling 90a. The second screw body 40b and the second extension screw 50b can be connected via a second coupling 90b. In this embodiment, the first screw body 40a includes a first front coupling screw hole 44a disposed at the first extension end 43a. The first extension screw 50a includes a first rear coupling screw hole 56a and a first support portion 53a (see...). Figure 3The first support portion 53a is pivotally connected to the first extension plate 20a, and the first front engagement screw hole 44a and the first rear engagement screw hole 56a respectively engage with the two opposite ends of the first coupling member 90a, so that the first extension screw 50a is connected to the first extension end 43a of the first screw body 40a. In addition, in this embodiment, the second screw body 40b includes a second front engagement screw hole 44b disposed at the second extension end 43b. The second extension screw 50b includes a second rear engagement screw hole 56b and a second support portion 53b (see...). Figure 3 The second support portion 53b is pivotally connected to the second extension plate 20b, and the second front engagement screw hole 44b and the second rear engagement screw hole 56b respectively engage with the two opposite ends of the second coupling member 90b, so that the second extension screw 50b is connected to the second extension end 43b of the second screw body 40b.

[0110] In this embodiment, the first coupling member 90a includes a first positioning body 91a, a first front coupling external thread 92a, and a first rear coupling external thread 93a. The first front coupling external thread 92a and the first rear coupling external thread 93a are respectively disposed at opposite ends of the first positioning body 91a, and are assembled and engaged with the first front coupling screw hole 44a and the first rear coupling screw hole 56a. Additionally, in this embodiment, the first screw body 40a includes a first front positioning port 45a, and spatially relative to the first positioning body 91a, the first front coupling screw hole 44a communicates externally through the first front positioning port 45a. The first extension screw 50a also includes a first rear positioning port 57a, and spatially relative to the first positioning body 91a, the first rear coupling screw hole 56a communicates externally through the first rear positioning port 57a. In this embodiment, the sum of the lengths T2 of the first front positioning port 45a and the first rear positioning port 57a is greater than the length T1 of the first positioning body 91a and less than the length T3 of the first coupling member 90a. Thus, the first coupling 90a can accurately engage the first extension screw 50a and the first screw body 40a, and realize the connection between the end point E1 of the external thread 41a of the first body and the starting point S1 of the first extension external thread 51a, as shown. Figure 7AAs shown. In this embodiment, the second coupling member 90b includes a second positioning body 91b, a second front coupling external thread 92b, and a second rear coupling external thread 93b. The second front coupling external thread 92b and the second rear coupling external thread 93b are respectively disposed at opposite ends of the second positioning body 91b, and are assembled and engaged with the second front coupling screw hole 44b and the second rear coupling screw hole 56b. In addition, in this embodiment, the second screw body 40b includes a second front positioning port 45b, and the second front coupling screw hole 44b is spatially connected to the outside through the second front positioning port 45b relative to the second positioning body 91b. The second extension screw 50b also includes a second rear positioning port 57b, and the second rear coupling screw hole 56b is spatially connected to the outside through the second rear positioning port 57b relative to the second positioning body 91b. In this embodiment, the sum of the lengths T2' of the second front positioning port 45b and the second rear positioning port 57b is greater than the length T1' of the second positioning body 91b, and less than the length T3' of the second coupling member 90b. Therefore, the second coupling member 90b can accurately engage the second extension screw 50b and the first screw body 40b, and achieve the connection between the end point E1' of the external thread 41b of the second body and the starting point S1' of the second extension external thread 51b, as shown below. Figure 7B As shown.

[0111] In this embodiment, the rotation direction of the first front-engaging external thread 92a is the same as the rotation direction of the first body external thread 41a, but opposite to the rotation direction of the first rear-engaging external thread 93a. The rotation direction of the second front-engaging external thread 92b is the same as the rotation direction of the second body external thread 41b, but opposite to the rotation direction of the second rear-engaging external thread 93b. In other embodiments, the rotation direction of the first front-engaging external thread 92a' of the first coupling member 90a' is opposite to the rotation direction of the first body external thread 41a and also opposite to the rotation direction of the first rear-engaging external thread 93a. The rotation direction of the second front-engaging external thread 92b' of the second coupling member 90b' is opposite to the rotation direction of the second body external thread 41b and also opposite to the rotation direction of the second rear-engaging external thread 93b. In other embodiments, the rotation direction of the first engaging external thread 54a, the second engaging external thread 54b, the first front engaging external thread 92a, the first rear engaging external thread 93a, the second front engaging external thread 92b, and the second rear engaging external thread 93b can all be adjusted according to actual application requirements, and is not limited to the rotation direction of the first body external thread 41a and the second body external thread 41b. Further details will not be provided here.

[0112] As can be seen from the above, the components of the present invention, such as the first extension plate 20a and the second extension plate 20b, the first screw body 40a and the second screw body 40b, the first extension screw 50a and the second extension screw 50b, the first nut 60a and the second nut 60b, the first extension rail 71a and the second extension rail 71b, adopt a double-sided symmetrical design, which helps to achieve modularity and is easy to disassemble and adjust, realizing the clamping of parts with different strokes. When the clamping structure needs to increase the stroke length, the stroke length is increased by adding the first extension plate 20a and the second extension plate 20b, the first extension screw 50a and the second extension screw 50b, the first extension rail 71a and the second extension rail 71b on both sides, without the need to redesign the clamping structure, which helps to increase the versatility of product applications. Of course, the length of the first extension plate 20a and the second extension plate 20b, the first extension screw 50a and the second extension screw 50b, the first extension rail 71a and the second extension rail 71b, and the number added along both sides can be adjusted according to actual needs. The present invention is not limited thereto.

[0113] In summary, this invention provides a modular gripper whose length can be changed and whose working stroke adjusted as needed, without requiring redesign of the screw and body fixing plate. The length of the two opposite ends of the body fixing plate can be increased via extension plates. The body fixing plate and extension plates are fixed using parallel locking, avoiding vertical stacking and thus not increasing the overall plate thickness. Furthermore, the screw bodies of the left-hand and right-hand screws can be lengthened via extension screws. The connection between the screw body and the extension screw is concentric along the axial direction, with continuous threads. Since the left-hand and right-hand screws are connected to the drive module's motor via concentrically mounted pulleys, when the motor rotates the pulleys via the belt, it drives both the left-hand and right-hand screws simultaneously, allowing the corresponding nuts to move within the range of the screw body and the extension screw. Moreover, the nuts on the left-hand and right-hand screws are mounted on the linear guide via sliders as adapter plates, enabling the gripper to smoothly follow the nuts and move synchronously left and right, completing long-stroke gripping operations. The screw body, extension plate, extension screw, nut, linear guide, and extension rail components adopt a double-sided symmetrical design, which facilitates modularity and easy replacement and adjustment, enabling clamping of parts with different strokes. When the clamping structure requires an increased stroke length, the stroke length can be increased by adding extension screws, extension plates, and extension rails on both sides, without the need to redesign the clamping structure, thus increasing the versatility of product applications.

[0114] This invention may be modified in various ways by those skilled in the art, but all such modifications shall not depart from the protection sought by the appended claims.

Claims

1. A modular gripper, comprising: A body fixing plate having two opposite mating ends in a first direction; A first extension plate and a second extension plate are symmetrical on both sides and are detachably connected to the two mating ends of the main body fixing plate in the first direction by a first connector and a second connector, respectively. A drive module is mounted on the mounting plate of the main body; A first screw body and a second screw body are symmetrically arranged on both sides of the body fixing plate and concentrically arranged in the first direction. The first screw body includes a first driving end and a first extension end, and the second screw body includes a second driving end and a second extension end. The first driving end and the second driving end face each other in the first direction and are connected to the driving module. The first extension end and the second extension end are arranged opposite to each other in the first direction. A first extension screw and a second extension screw are symmetrically arranged on both sides, wherein the first extension screw is detachably connected to the first extension end, and the thread of the first extension screw is connected to the thread of the first screw body; wherein the second extension screw is detachably connected to the second extension end, and the thread of the second extension screw is connected to the thread of the second screw body; and A first nut and a second nut are symmetrically arranged on both sides and are respectively fitted and paired onto the first screw body and the second screw body. When the drive module drives the first screw body and the first extension screw to rotate synchronously, the first nut is allowed to move relative to the first screw body and the first extension screw in the first direction. When the drive module drives the second screw body and the second extension screw to rotate synchronously, the second nut is allowed to move relative to the second screw body and the second extension screw in the first direction. The first nut and the second nut move closer to each other or further away to achieve a clamping operation.

2. The modular gripper as claimed in claim 1, wherein each of the first connector and the second connector includes a first locking member, a second locking member, and a limiting member, the first locking member and the second locking member are concentrically arranged, the operating ends of the first locking member and the second locking member face each other, and the limiting member is disposed between the first locking member and the second locking member to restrict the axial distance between the first locking member and the second locking member, wherein when the first extension plate is docked with the main body fixing plate and when the second extension plate is docked with the main body fixing plate, a window is formed respectively, and the operating ends of the first locking member and the second locking member are exposed through the window.

3. The modular gripper as claimed in claim 1, wherein the first screw body has a first external thread, the second screw body has a second external thread, the rotation directions of the first external thread and the second external thread are opposite, the first extension screw has a first external thread, the second extension screw has a second external thread, the rotation directions of the first external thread and the second external thread are opposite; wherein the end point of the first external thread is connected to the beginning point of the first external thread, and the end point of the second external thread is connected to the beginning point of the second external thread of the second extension screw.

4. The modular gripper as claimed in claim 3, wherein the first extension screw includes a first connecting portion and a first supporting portion, the first connecting portion being detachably connected to the first extension end, and the first supporting portion being pivotally connected to the first extension plate; wherein the second extension screw includes a second connecting portion and a second supporting portion, the second connecting portion being detachably connected to the second extension end, and the second supporting portion being pivotally connected to the second extension plate.

5. The modular gripper as described in claim 4, wherein the starting point of the first extended external thread has a first extended thread infeed angle, the first screw body includes a first front engagement screw hole disposed at the first extended end, the first engagement portion includes a first engagement external thread corresponding to the first front engagement screw hole, wherein the starting point of the first engagement external thread has a first engagement external thread infeed angle, the first extended thread infeed angle is equal to the first engagement external thread infeed angle, wherein the starting point of the second extended external thread has a second extended thread infeed angle, the second screw body includes a second front engagement screw hole disposed at the second extended end, the second engagement portion includes a second engagement external thread corresponding to the second front engagement screw hole, wherein the starting point of the second engagement external thread has a second engagement external thread infeed angle, the second extended thread infeed angle is equal to the second engagement external thread infeed angle.

6. The modular gripper as described in claim 5, wherein the first connecting portion further includes a first positioning section disposed between the first connecting external thread and the first extending external thread, the first screw body includes a first front positioning port spatially relative to the first positioning section, and the first front connecting screw hole communicates externally through the first front positioning port; the second connecting portion further includes a second positioning section disposed between the second connecting external thread and the second extending external thread, the second screw body includes a second front positioning port spatially relative to the second positioning section, and the second front connecting screw hole communicates externally through the second front positioning port.

7. The modular gripper as claimed in claim 1, wherein the first screw body includes a first front engagement screw hole disposed at the first extension end, the first extension screw includes a first rear engagement screw hole and a first support portion disposed at opposite ends, the first support portion is pivotally connected to the first extension plate, the first front engagement screw hole and the first rear engagement screw hole engage with opposite ends of a first coupling member, so that the first extension screw is connected to the first extension end of the first screw body; wherein the second screw body includes a second front engagement screw hole disposed at the second extension end, the second extension screw includes a second rear engagement screw hole and a second support portion disposed at opposite ends, the second support portion is pivotally connected to the second extension plate, the second front engagement screw hole and the second rear engagement screw hole engage with opposite ends of a second coupling member, so that the second extension screw is connected to the second extension end of the second screw body.

8. The modular gripper of claim 7, wherein the first coupling member includes a first positioning body, a first front coupling external thread, and a first rear coupling external thread, the first front coupling external thread and the first rear coupling external thread being respectively disposed at opposite ends of the first positioning body, and engaging with the first front coupling screw hole and the first rear coupling screw hole; the first screw body includes a first front positioning through-hole, spatially relative to the first positioning body, the first front coupling screw hole communicating externally through the first front positioning through-hole; the first extension screw includes a first rear positioning through-hole, spatially relative to the first positioning body, the first rear coupling screw hole communicating externally through the first rear positioning through-hole. The second connecting member includes a second positioning body, a second front connecting external thread, and a second rear connecting external thread. The second front connecting external thread and the second rear connecting external thread are respectively disposed at opposite ends of the second positioning body and are assembled and engaged with the second front connecting screw hole and the second rear connecting screw hole. The second screw body includes a second front positioning port, which is spatially relative to the second positioning body. The second front connecting screw hole is connected to the outside through the second front positioning port. The second extension screw includes a second rear positioning port, which is spatially relative to the second positioning body. The second rear connecting screw hole is connected to the outside through the second rear positioning port.

9. The modular gripper as claimed in claim 1, wherein the drive module includes a motor, a belt and a pulley, the pulley being connected to the first drive end of the first screw body and the second drive end of the second screw body, the motor being disposed on the body fixing plate and connected to the pulley via the belt, thereby driving the pulley and causing the first screw body and the second screw body to rotate concentrically.

10. The modular gripper as claimed in claim 1, further comprising a linear guide, a first extension rail, a second extension rail, a first slider, and a second slider, wherein the linear guide is disposed on the body fixing plate along the first direction and spatially relative to the first screw body and the second screw body, the first extension rail and the second extension rail are bilaterally symmetrical to each other and are respectively disposed on the first extension plate and the second extension plate, and are respectively connected to both ends of the linear guide, wherein the first slider is connected to the first nut and is allowed to move synchronously with the first nut relative to the linear guide and the first extension rail in the first direction; wherein the second slider is connected to the second nut and is allowed to move synchronously with the second nut relative to the linear guide and the second extension rail in the first direction.

11. The modular gripper as described in claim 10 further includes a first clamping piece and a second clamping piece, respectively fixed to the first slider and the second slider, wherein when the driving module drives the first screw body, the first extension screw, the second screw body and the second extension screw to rotate, the first nut, the first slider and the first clamping piece are driven to approach or move away from the second nut, the second slider and the second clamping piece to achieve the gripping operation.

Images