Multi-axis high-precision narrow space material grabbing new gripper

Abstract

The application discloses a novel gripper for multi-axis high-precision material grabbing in narrow space, which is provided with a screw rod module mechanism, the screw rod module mechanism comprises a hoisting plate, a screw rod servo motor is arranged on the hoisting plate, a telescopic screw rod and a guide light rod are arranged in a transverse parallel mode below the hoisting plate, two sections of screw rod threads with opposite rotation directions are arranged on the left and right sides of the telescopic screw rod, and a moving seat is threadedly connected to each of the two sections of screw rod threads; a set of gripper modules is arranged at the bottom of each moving seat, the gripper module comprises a connecting seat, a longitudinal beam is arranged on the connecting seat, a plurality of groups of linkage claw mechanisms are arranged in a row at the bottom of the longitudinal beam, and all the linkage claw mechanisms are driven to realize unified action through a linkage rotating shaft and a gripper servo driving mechanism; the novel gripper adopts a novel structural design and can realize high-efficiency material grabbing and dropping work in a relatively narrow space.

Description

Technical Field

[0001] This invention relates to the field of automated mechanical equipment technology, and in particular to a novel multi-axis high-precision gripper for grasping materials in narrow spaces. Background Technology

[0002] During the loading of flour and fertilizer bags, the drop height should be kept as low as possible to reduce the risk of impact and damage. Excessive drop height can cause the bags to rupture, leak, or even pose a safety hazard to those nearby. In practice, the drop height should generally be kept as low as possible, based on extensive data analysis. A drop height of 700mm or less is considered suitable, taking into account factors such as the method of dropping, the hardness of the ground, and the weight of the fertilizer bags. However, the cargo box of high-sided trucks can reach a height of 2.4 meters, making it impossible for ordinary clamps to reach inside and drop the bags.

[0003] Most automatic loading grippers on the market are cylinder-driven. Due to the linear extension and retraction characteristics of cylinders, the gripper design inevitably occupies a significant amount of space on both sides when gripping the bag. The only solution manufacturers have found is to place the gripper above the side rails of the truck bed to drop the bag. Furthermore, the gripper needs fine-tuning to accommodate different bag widths. Therefore, a new type of adjustable automatic loading gripper is needed that can extend into the truck bed to open, and after dropping the bag, allow it to be close to the edge of the truck bed to properly adapt to the needs of material handling operations in confined spaces. Summary of the Invention

[0004] The purpose of this invention is to address the above-mentioned situation by providing a novel multi-axis high-precision material gripper for gripping materials in narrow spaces. This novel gripper adopts a completely new structural design, enabling high-efficiency material gripping and handling operations in relatively narrow spaces.

[0005] The specific solution of this invention is: a novel multi-axis high-precision material gripper for gripping materials in narrow spaces, comprising a lead screw module mechanism. The lead screw module mechanism includes a lifting plate, on which a lead screw servo motor is mounted. Below the lifting plate are a horizontally parallel telescopic lead screw and a guide rod. The lead screw servo motor is drively connected to the telescopic lead screw. Two sections of lead screw threads with opposite directions are provided on the left and right sides of the telescopic lead screw. Each of the two lead screw threads is threadedly connected to a movable seat, which is simultaneously mounted on the guide rod. Each movable seat has a gripper module mounted at its bottom, and the two gripper modules are arranged opposite to each other. Each gripper module includes a connecting seat. The connecting seat is placed at the bottom of the corresponding movable seat. A longitudinal beam is provided on the connecting seat. Several sets of linkage claw mechanisms are arranged in a row at the bottom of the longitudinal beam. All linkage claw mechanisms are driven by a linkage shaft and a claw servo drive mechanism to achieve unified action. The linkage claw mechanism includes a claw plate. The claw plate is arranged vertically and its upper end is fixed to the bottom of the corresponding longitudinal beam. The linkage shaft is simultaneously mounted on the upper part of the claw plate on the same side. A claw is hinged at the lower end of each claw plate. A two-link is connected to the claw. The upper end of the two-link is fixed to the corresponding linkage shaft. The lower end of the two-link is hinged to the claw near the inner end.

[0006] Furthermore, the gripper servo drive mechanism of the present invention includes a gripper servo motor, a transmission chain and two sprockets. The two sprockets are respectively mounted on one end of the output shaft of the gripper servo motor and one end of the linkage shaft. The transmission chain is wound around the two sprockets, and the gripper servo motor is mounted on the corresponding longitudinal beam.

[0007] Furthermore, in this invention, there are four sets of linkage claw mechanisms at the bottom of each longitudinal beam, and the linkage shaft is composed of segmented shafts, which are connected to form a whole shaft by couplings.

[0008] Furthermore, the dual linkage described in this invention consists of a long linkage and a short linkage. The long linkage and the short linkage are rotatably connected by a pin. The upper end of the short linkage is fixed to the linkage shaft, and the lower end of the long linkage is connected to the corresponding gripper through a hinge support.

[0009] Furthermore, the longitudinal beam described in this invention is made of an L-shaped bent strip, and the L-shaped bent strip has several mounting holes.

[0010] Furthermore, the gripper plate described in this invention is composed of two vertical plates, the upper ends of which are fixed to the bottom of the corresponding longitudinal beams, and each gripper is rotatably installed in the space between the two vertical plates via a pin.

[0011] Furthermore, the connecting seat in this invention is composed of two V-shaped bent profile plates, a middle connecting hollow profile plate, and a top connecting profile plate. The middle connecting hollow profile plate connects the two V-shaped bent profile plates together, the top connecting profile plate connects the tops of the two V-shaped bent profile plates together, and the top connecting profile plate is connected to the bottom of the movable seat.

[0012] Furthermore, the gripper described in this invention is in the shape of a straight strip, and its diameter gradually increases from one end to the other.

[0013] The present invention has the following beneficial effects: by designing a movable seat that can move left and right to open and close, the opening and closing action of the lower gripper is realized in a narrow space. At the same time, through the linkage action of the gripper servo motor, transmission chain, two sprockets and two linkages, the gripper can be easily driven to grasp and drop the material. It is very convenient and the action control is flexible. The key is that it occupies very little space. It can achieve the purpose of dropping the bag with the minimum edge distance. The actual use effect is very outstanding. It can be used for grasping and dropping bagged materials in various narrow spaces, and the economic benefits are outstanding. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0015] Figure 2 This is a schematic diagram of the structure in the main view direction of the present invention;

[0016] Figure 3 This is a schematic diagram of the structure of the gripper after packaging the material according to the present invention;

[0017] Figure 4 This is a side view structural diagram of the gripper module in this invention;

[0018] Figure 5 This is a schematic diagram of the linkage claw mechanism in this invention;

[0019] Figure 6 This is a schematic diagram of the gripper in the open state of the linkage gripper mechanism in this invention;

[0020] Figure 7 This is a schematic diagram of the clamping claw in the linked claw mechanism of the present invention in the closed state.

[0021] Figure 8 This is a schematic diagram of the invention in actual installation and use;

[0022] Figure 9 This is a first schematic diagram of the invention after the robotic arm is connected to the upper part and the whole is rotated 90°;

[0023] Figure 10 This is a second schematic diagram of the present invention after the robotic arm is connected to the upper part and the whole is rotated 90°.

[0024] In the diagram: 1—Lifting plate, 2—Screw servo motor, 3—Gripper module, 4—Telescopic screw, 5—Guide rod, 6—Moving seat, 7—Connecting seat, 8—Gripper servo motor, 9—Transmission chain, 10—Gripper plate, 11—Material bag, 12—Gripper, 13—Top connecting profile plate, 14—V-shaped bent profile plate, 15—Intermediate connecting hollow profile plate, 16—Longitudinal beam, 17—Segmented rotating shaft, 18—Coupling, 19—Sprocket, 20—Short connecting rod, 21—Long connecting rod, 22—Vertical plate. Detailed Implementation

[0025] The technical solution of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of the present invention. In the description of the present invention, it should be noted that the terms "upper," "lower," "inner," "outer," etc., indicating orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product of the invention is in use. They are only for the convenience of describing the present invention or simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed or operated in a specific orientation, and therefore should not be construed as a limitation of the present invention.

[0026] In the description of this invention, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," and "connect" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal communication between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0027] See Figures 1 to 7This invention relates to a novel multi-axis, high-precision material gripper for gripping materials in narrow spaces. It features a lead screw module mechanism, which includes a lifting plate 1, a lead screw servo motor 2 mounted on the lifting plate, and a laterally parallel telescopic lead screw 4 and a guide rod 5 mounted below the lifting plate. The lead screw servo motor is connected to the telescopic lead screw. The telescopic lead screw has two sections of oppositely oriented threads on its left and right sides, each threaded with a movable seat 6. These movable seats are simultaneously mounted on the guide rod. Each movable seat has a gripper module 3 mounted at its bottom, with two gripper modules arranged opposite each other. Each gripper module includes a connecting seat 7, which is located at the bottom of the corresponding movable seat. A longitudinal beam 16 is mounted on the connecting seat, and several sets of linked gripper mechanisms are arranged in a row at the bottom of the longitudinal beam. All the linked claw mechanisms are driven by a linkage shaft and a claw servo drive mechanism to achieve unified action. Furthermore, the claw servo drive mechanism in this invention includes a claw servo motor 8, a transmission chain 9, and two sprockets 19. The two sprockets are respectively mounted on one end of the output shaft of the claw servo motor and one end of the linkage shaft. The transmission chain is wound around the two sprockets. The claw servo motor is mounted on the corresponding longitudinal beam. The linked claw mechanism includes a claw plate 10. The claw plate is arranged vertically and its upper end is fixed to the bottom of the corresponding longitudinal beam. The linkage shaft is simultaneously mounted on the upper part of the claw plate on the same side. Each claw plate has a claw 12 hinged at its lower end. A two-linkage rod is connected to the claw. The upper end of the two-linkage rod is fixed to the corresponding linkage shaft, and the lower end of the two-linkage rod is hinged to the claw near its inner end. Furthermore, the two-link system described in this invention consists of a long link 21 and a short link 20. The long link and the short link are rotatably connected by a pin. The upper end of the short link is fixed to the linkage shaft, and the lower end of the long link is connected to the corresponding gripper through a hinge support.

[0028] Furthermore, in this embodiment, four sets of linkage claw mechanisms are provided at the bottom of each longitudinal beam. The linkage shaft is composed of segmented shafts 17, which are connected into a single integral shaft by couplings 18. Furthermore, the longitudinal beam in this invention is made of L-shaped bent strips, with several mounting holes provided on the L-shaped bent strips. Furthermore, the gripper plate 10 in this invention is composed of two vertical plates 22, the upper ends of which are fixed to the bottom of the corresponding longitudinal beam. Each gripper is rotatably installed in the space between the two vertical plates via a pin. Furthermore, the connecting seat in this invention is composed of two V-shaped bent profile plates 14, a middle connecting perforated profile plate 15, and a top connecting profile plate 13. The middle connecting perforated profile plate connects the two V-shaped bent profile plates together, and the top connecting profile plate connects the tops of the two V-shaped bent profile plates together. The top connecting profile plate is connected to the bottom of the movable seat. Furthermore, the gripper described in this invention is in the shape of a straight strip, and its diameter gradually increases from one end to the other. The purpose of this design is to facilitate the gripper to insert itself under the material bag, which is beneficial for gripping the bag.

[0029] Specific embodiments of the present invention:

[0030] The width of the material package to be gripped is the gripping dimension. After the operator inputs the width of the material package, the screw module mechanism above the grippers adjusts the distance between the two gripper modules to the gripping dimension. After the material package is conveyed to the picking position of the picking roller (see...), Figure 8 The grippers open, and the entire gripper moves down to the bottom of the material bag via an externally connected robotic arm, where it closes.

[0031] The entire gripper is transported into the car body by a gantry or robotic arm, and the package is dropped at a height of 700mm. This dropping significantly reduces the distance between the gripper and the car body, thereby increasing the loading rate of automated loading.

[0032] In this invention, the inner gripper moves together via a linkage shaft. The linkage shaft drives the two linkage rods to realize the opening and closing of the gripper. Moreover, when the gripper moves, it always moves inside the gripper plate, allowing it to be used flexibly in a narrow space.

[0033] In this invention, the left and right grippers achieve multi-axis high-precision control through the control of telescopic lead screws, related servo motors, transmission chains, and sprockets, thus better gripping the material package.

[0034] See Figure 9 and Figure 10 This is a schematic diagram of the gripper of the present invention rotating 90 degrees under the drive of an externally connected robotic arm.

[0035] By designing a movable base that can move left and right to open and close, the lower gripper can open and close in confined spaces. At the same time, through the linkage of the gripper servo motor, transmission chain, two sprockets and two linkages, the gripper can be easily driven to grasp and drop materials. It is very convenient and flexible in motion control. The key is that it occupies very little space. It is a servo gripper that can achieve the goal of dropping materials with the minimum edge distance. The actual use effect is outstanding. It can be used for grasping and dropping bagged materials in various narrow spaces, with outstanding economic benefits.

Claims

1. A novel multi-axis, high-precision material gripper for gripping materials in narrow spaces, characterized in that: The device features a lead screw module mechanism, including a lifting plate with a lead screw servo motor mounted on it. Below the lifting plate are horizontally parallel telescopic lead screws and guide rods. The lead screw servo motor is connected to the telescopic lead screw. The telescopic lead screw has two sections of oppositely oriented threads on its left and right sides, each threaded with a movable seat. These movable seats are mounted on the guide rod. Each movable seat has a gripper module at its bottom, with two gripper modules arranged opposite each other. Each gripper module includes a connecting seat located at the bottom of the corresponding movable seat. A longitudinal beam is mounted on the connecting seat, and several sets of linked gripper mechanisms are arranged in a row at the bottom of the beam. All linked gripper mechanisms are driven by a linkage shaft and a gripper servo drive mechanism to achieve unified movement. Each linked gripper mechanism includes a gripper plate and grippers. The clamping plates are arranged vertically and their upper ends are fixed to the bottom of the corresponding longitudinal beams. The linkage shafts are simultaneously mounted on the upper part of the clamping plates on the same side. Each clamping plate has a clamping jaw hinged to its lower end. A two-bar linkage is connected to the clamping jaw. The upper end of the two-bar linkage is fixed to the corresponding linkage shaft, and the lower end of the two-bar linkage is hinged to the clamping jaw near its inner end. The clamping jaw servo drive mechanism includes a clamping jaw servo motor, a transmission chain, and two sprockets. The two sprockets are respectively mounted on one end of the output shaft of the clamping jaw servo motor and one end of the linkage shaft. The transmission chain is wound around the two sprockets. The clamping jaw servo motor is mounted on the corresponding longitudinal beam. The two-bar linkage consists of a long linkage and a short linkage. The long linkage and the short linkage are rotatably connected by a pin. The upper end of the short linkage is fixed to the linkage shaft, and the lower end of the long linkage is connected to the corresponding clamping jaw through a hinge support.

2. The multi-axis high-precision narrow-space material grabbing novel gripper according to claim 1, characterized in that: The linkage claw mechanism at the bottom of each longitudinal beam is provided in four sets. The linkage shaft is composed of segmented shafts, which are connected to form a whole shaft by couplings.

3. The multi-axis high-precision narrow-space material grabbing novel gripper according to claim 1, characterized in that: The longitudinal beam is made of L-shaped bent strips, and several mounting holes are provided on the L-shaped bent strips.

4. The multi-axis high-precision narrow-space material grabbing novel gripper according to claim 1, characterized in that: The gripper plate consists of two vertical plates, the upper ends of which are fixed to the bottom of the corresponding longitudinal beams. Each gripper is rotatably installed in the space between the two vertical plates via a pin.

5. A novel multi-axis high-precision gripper for grasping materials in narrow spaces according to claim 1, characterized in that: The connecting seat is composed of two V-shaped bent profile plates, a middle connecting hollow profile plate, and a top connecting profile plate. The middle connecting hollow profile plate connects the two V-shaped bent profile plates together, the top connecting profile plate connects the tops of the two V-shaped bent profile plates together, and the top connecting profile plate is connected to the bottom of the movable seat.

6. The multi-axis high-precision narrow-space material grabbing novel gripper according to claim 1, characterized in that: The gripper is in the shape of a straight strip, and its diameter gradually increases from one end to the other.

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