Novel gripper assembly and control method thereof

Abstract

The invention relates to the technical field of production and carrying, and provides a novel gripper assembly and a control method thereof.The novel gripper assembly comprises a connecting piece, a cross-shaped block is arranged at the bottom of the connecting piece, the novel gripper assembly further comprises a cross-shaped through hole formed in the outer surface of the cross-shaped block, and a plurality of moving frames are arranged on the inner wall of the cross-shaped through hole; the multiple connecting rods are arranged on the inner walls of the multiple movable frames correspondingly, and connecting plates are arranged at the two ends of the multiple connecting rods correspondingly; the multiple grabbing plates are arranged on the outer surfaces of the multiple connecting plates correspondingly, in the using process, when the grabbing plates grab bagged materials and the buffering rollers make contact with the bagged materials, deformation can be generated, the buffering protection effect on the bagged materials is facilitated, and the buffering effect is good. When the bagged materials move on the surfaces of the buffer rollers, the buffer rollers and the rotating rods are driven to rotate in the grabbing plates under the action of friction force, the friction force between the bagged materials and the buffer rollers is reduced, and the situation that the outer surfaces of the bagged materials are damaged due to large friction force is avoided.

Description

Technical Field

[0001] The invention relates to the technical field of production handling, and in particular to a novel gripper assembly and a control method thereof. Background Art

[0002] The gripper assembly is a key component in the robot system for grasping, moving and releasing objects. It is usually installed on the end effector of the robot and uses the gripper assembly to move bagged materials.

[0003] The patent application number is 202210733576.3, which states in the specification that "the present invention proposes a gripper assembly and a control method for the gripper assembly, the gripper assembly includes a connecting seat; a first gripping mechanism is arranged on the first side of the connecting seat; a second gripping mechanism is arranged on the second side of the connecting seat; a pressing mechanism and a driving mechanism are arranged on the connecting seat; the driving mechanism is used to drive the first gripping mechanism and the second gripping mechanism to grip or release materials; the driving mechanism includes a first driving member and a second driving member, as well as two first transmission members and two second transmission members; the first transmission member and the second transmission member have the same structure, both of which are connecting rod mechanisms; the first driving member and the second driving member simultaneously drive the first transmission member and the second transmission member to move, thereby driving the first gripping mechanism and the second gripping mechanism to move, so that the connecting seat and the first gripping mechanism, the second gripping mechanism, the two first transmission members, and the two second transmission members located around the connecting seat form a closed gripping space, and the gripping space is used to limit the gripped materials in multiple directions."

[0004] However, the above technology will have the following disadvantages when used: the gripper assembly of the above technology will generate greater friction when grabbing bagged materials, and the friction will cause damage to the surface of the bagged materials, which is not conducive to protecting the bagged materials. In addition, the gripping range of the above technology is limited. Therefore, a new gripper assembly and its control method are urgently needed to solve the above problems. Summary of the invention

[0005] The purpose of the present invention is to solve the problem in the prior art that the gripper assembly of the above technology will generate large friction when grabbing bagged materials, and the friction will cause damage to the surface of the bagged materials, which is not conducive to protecting the bagged materials. In addition, the gripping range of the above technology is limited.

[0006] In order to achieve the above-mentioned purpose, the present invention adopts the following technical solution: a new gripper assembly and a control method thereof, comprising: a connecting member, a cross block is arranged at the bottom of the connecting member, and further comprising:

[0007] A cross through hole is arranged on the outer surface of the cross block, and a plurality of movable racks are arranged on the inner wall of the cross through hole;

[0008] A plurality of connecting rods are respectively arranged on the inner walls of the plurality of movable frames, and connecting plates are arranged at both ends of the plurality of connecting rods;

[0009] A plurality of grab plates are respectively arranged on the outer surfaces of the plurality of connecting plates, and the outer surfaces of the plurality of grab plates are each provided with a plurality of circular through holes;

[0010] A plurality of rotating rods are respectively arranged on the inner walls of the plurality of circular through holes, and a buffer roller is arranged on the outer surfaces of the plurality of rotating rods.

[0011] Preferably, the outer surface of the connecting piece is provided with a plurality of mounting holes, the tops of the plurality of grab plates are provided with a connecting block 1, the outer surfaces of the plurality of connecting blocks 1 are provided with a connecting tube 1, the inner walls of the plurality of connecting tubes 1 are provided with a connecting shaft, and the inner walls of the plurality of connecting shafts are provided with a connecting block 2.

[0012] The technical effect of adopting the above further scheme is: when in use, the external power supply is turned on, the setting of the connecting parts and the mounting holes is convenient for installation in coordination with the external connecting structure such as a robot articulated arm or a moving component, the moving frame slides in the cross through hole, and the connecting rod is rotatably installed on the inner wall of the moving frame, which is convenient for the connecting plate, the grab plate, the circular through hole, the rotating rod and the buffer roller to rotate, the connecting block one is fixed on the grab plate, the inner wall of the connecting tube one is rotatably connected to the connecting block one, which is convenient for one end of the connecting tube one to rotate on the connecting block one, and the inner wall of the connecting shaft is rotatably installed on the outer surface of the connecting block two.

[0013] Preferably, the outer surfaces of the multiple connecting blocks 2 are respectively arranged on the outer surfaces of the multiple movable racks, the outer surfaces of the multiple movable racks are provided with multiple slide grooves, the inner walls of the multiple connecting tubes 1 are provided with elastic parts, the outer surfaces of the multiple connecting shafts are provided with sealing rings, and the outer surfaces of the multiple sealing rings are respectively in contact with the inner walls of the multiple connecting tubes 1.

[0014] The technical effect of adopting the above further solution is: the connection block 2 is fixed on the mobile frame, which is convenient for enhancing the stability of the connection block 2, and the setting of the sealing ring is convenient for enhancing the sealing between the connecting shaft and the connecting pipe 1.

[0015] Preferably, the other ends of the multiple elastic members are respectively arranged on the outer surfaces of the multiple connecting shafts, the outer surfaces of the multiple connecting tubes one are each provided with a connecting tube two, the other ends of the multiple connecting tubes two are each provided with a hose, and the other ends of the multiple hoses are each provided with a connecting tube three.

[0016] The technical effect of adopting the above further scheme is: the two ends of the elastic member are respectively fixed to the outer surface of the connecting shaft and the inner wall of the connecting pipe one, which is convenient for restoring the connecting shaft to its original position, and the setting of the hose is convenient for adapting to the position change of the connecting pipe one.

[0017] Preferably, the outer surfaces of the plurality of connecting tubes three are each provided with a plurality of connecting blocks three, the other ends of the plurality of connecting tubes three are each provided with a J-shaped tube, the outer surface of the J-shaped tube is arranged on the outer surface of the cross block, and the inner wall of the J-shaped tube is provided with a piston.

[0018] The technical effect of adopting the above further scheme is: the setting of the connecting block three facilitates the fixing of the connecting pipe three on the cross block, which is beneficial to improving the stability of the connecting pipe three, the J-tube is fixed on the outer surface of the cross block to facilitate enhancing the stability of the J-tube, the J-tube is filled with oil, and the setting of the piston facilitates enhancing the sealing inside the J-tube to avoid oil leakage.

[0019] Preferably, an electric push rod is provided on the outer surface of the piston, the other end of the electric push rod is provided on the inner wall of the connecting piece, the output end of the electric push rod is in contact with the inner wall of the J-shaped tube, and the inner wall of the cross through hole is provided with multiple groups of mounting blocks, and the outer surfaces of the multiple groups of mounting blocks are in contact with the inner walls of multiple slide grooves respectively.

[0020] The technical effect of adopting the above further scheme is: the piston is fixedly connected to the output end of the electric push rod, which makes it convenient for the electric push rod to drive the piston to move, and the outer surface of the mounting block contacts the inner wall of the slide groove, which makes it convenient to improve the stability of the mobile frame during movement, while reducing external dust from entering the cross hole.

[0021] Preferably, the inner walls of the plurality of groups of mounting blocks are all provided with threaded rods, the outer surfaces of the plurality of threaded rods are respectively provided on the inner walls of the plurality of movable frames, and one end of the plurality of threaded rods is provided with a bevel gear.

[0022] The technical effect of adopting the above further scheme is: the threaded rod is rotatably installed in the mounting block, so as to enhance the stability of the threaded rod; the threaded rod is threadedly connected to the movable frame, so as to drive the movable frame to move when the threaded rod rotates; the threaded rod is fixedly connected to the bevel gear, so as to enhance the stability between the two.

[0023] Preferably, the outer surfaces of the plurality of bevel gears one are each provided with a bevel gear two, the inner wall of the bevel gear two is provided with a drive shaft, both ends of the drive shaft are provided on the inner wall of the cross block, one end of the drive shaft is provided with a worm wheel, and the outer surface of the worm wheel is provided with a worm.

[0024] The technical effect of adopting the above further scheme is: bevel gear one is meshedly connected with bevel gear two, which is convenient for coordinated rotation between the two. The setting of the drive shaft facilitates the transmission of kinetic energy. When the worm rotates, it drives the worm wheel to rotate. The two groups have a self-locking feature, which is convenient for improving the stability of the present invention when grabbing materials.

[0025] Preferably, rectangular blocks are provided at both ends of the worm, a sealing plate is provided on the inner wall of the rectangular block, a motor is provided on the outer surface of the rectangular block, and an output end of the motor is provided at one end of the worm.

[0026] The technical effect of adopting the above further scheme is: the motor is fixed on the rectangular block, which is convenient for enhancing the stability of the motor when working. The motor drives the worm to rotate when working. The direct drive form is convenient for reducing kinetic energy loss. The sealing plate cooperates with the rectangular block to shield the worm and worm wheel, which is beneficial to avoid the external environment affecting the working state of the worm and worm wheel, and prolonging the service life of the worm and worm wheel.

[0027] On the other hand, the present invention also provides a novel control method for a gripper assembly, comprising the following steps:

[0028] Step 1, turn on the external power supply, the staff controls the electric push rod to drive the piston to move in the J-tube when working, the J-tube is filled with oil, and when the piston moves, the oil is pushed through the connecting tube 3, the hose and the connecting tube 2 and then enters the connecting tube 1, and the oil entering the connecting tube 1 shrinks the connecting shaft in the connecting tube 1, so that the total length of the connecting tube 1 and the connecting shaft is shortened, and the elastic member is compressed at the same time, and the grab plate and the connecting plate are pulled to move, and when the connecting plate moves, the connecting rod is driven to rotate in the circular through hole, and the bagged material is grabbed into a funnel-shaped space formed by multiple grab plates, and the funnel space is wide at the top and narrow at the bottom. Under the action of gravity, the bagged material is squeezed with the bottom of the multiple grab plates, and the buffer roller is deformed when it contacts the bagged material. When the bagged material moves on the surface of the buffer roller, the friction force drives the buffer roller and the rotating rod to rotate in the grab plate;

[0029] Step 2: When the staff controls the output end of the electric push rod to contract, the piston is driven to move and no longer pushes the oil body. The elastic member returns to its original state and drives the connecting shaft to extend from the connecting pipe 1, so that the total length of the connecting pipe 1 and the connecting shaft increases, thereby changing the shape of the funnel-shaped space from being wide at the top and narrow at the bottom to being narrow at the top and wide at the bottom, thereby unloading the bagged materials inside the multiple grab plates;

[0030] Step three, when the staff controls the motor to work, it drives the worm in the rectangular block to rotate. When the worm rotates, it drives the worm wheel, the drive shaft, the bevel gear 2 and the bevel gear 1 to rotate. When the bevel gear 1 rotates, it drives the threaded rod in the mounting block to rotate. When the threaded rod rotates, it drives the movable frame and the slide groove to move on the inner wall of the cross hole. The slide groove moves on the outer surface of the mounting block. When the movable frame moves, it drives the connecting rod and the connecting block 2 to move. When the connecting rod and the connecting block 2 move, they drive the connecting plate, the grab plate, the connecting block 1, the connecting pipe 1 and the connecting shaft to move.

[0031] Compared with the prior art, the advantages and positive effects of the present invention are:

[0032] 1. When the present invention is in use, when the grab plate grabs the bagged materials, the buffer roller will be deformed when it contacts the bagged materials, which is beneficial to provide buffering protection for the bagged materials. When the bagged materials move on the surface of the buffer roller, the friction force drives the buffer roller and the rotating rod to rotate in the grab plate, which is beneficial to reduce the friction between the bagged materials and the buffer roller, and avoid the situation where the outer surface of the bagged materials is damaged by large friction.

[0033] 2. When the present invention is in use, the movable frame drives the connecting rod and the connecting block 2 to move, and the connecting rod and the connecting block 2 drive the connecting plate, the grab plate, the connecting block 1, the connecting pipe 1 and the connecting shaft to move. By changing the distance between the multiple grab plates, it is beneficial to adapt to bagged materials of different sizes and improve the scope of application.

[0034] 3. When the present invention is in use, the outer surface of the mounting block contacts the inner wall of the slide groove, which is convenient for improving the stability of the mobile frame during movement and blocking external dust from entering the cross through hole, thereby preventing dust from adhering to the threaded rod and increasing the friction between the threaded rod and the mobile frame. The sealing plate cooperates with the rectangular block to shield the worm and the worm wheel, which is beneficial to preventing the external environment from affecting the working state of the worm and the worm wheel, extending the service life of the worm and the worm wheel, and saving the later maintenance cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 A schematic structural diagram of a novel gripper assembly and a control method thereof provided by the present invention;

[0036] Figure 2 A bottom-up structural schematic diagram of a novel gripper assembly and a control method thereof provided by the present invention;

[0037] Figure 3 A schematic diagram of a rectangular block cross-sectional structure of a novel gripper assembly and a control method thereof provided by the present invention;

[0038] Figure 4 A schematic cross-sectional structural diagram of a novel gripper assembly and a control method thereof provided by the present invention;

[0039] Figure 5 A cross-sectional structural diagram of a connecting pipe of a novel gripper assembly and a control method thereof provided by the present invention;

[0040] Figure 6 A schematic diagram of a J-tube cross-sectional structure of a novel gripper assembly and a control method thereof provided by the present invention;

[0041] Figure 7 A novel gripper assembly and control method thereof provided by the present invention Figure 5 A magnified image of point A;

[0042] Figure 8 A novel gripper assembly and control method thereof provided by the present invention Figure 6 Enlarged view of point B.

[0043] Legend:

[0044] 1. Connector; 2. Cross block; 201. Mounting block; 202. Threaded rod; 203. Bevel gear 1; 204. Bevel gear 2; 205. Drive shaft; 206. Worm gear; 207. Worm; 208. Cross through hole; 209. Sealing plate; 210. Rectangular block; 3. Moving frame; 301. Slide; 4. Connecting rod; 401. Connecting plate; 402. Grabbing plate; 403. Rotating rod; 404. Buffer roller; 405. Connecting block 1; 406. Circular through hole; 5. Connecting block 2; 6. Electric push rod; 7. Connecting pipe 1; 701. Connecting shaft; 702. Sealing ring; 703. Elastic part; 704. Connecting pipe 2; 8. J-tube; 801. Connecting pipe 3; 802. Connecting block 3; 803. Hose; 804. Piston; 9. Motor; 10. Mounting hole. DETAILED DESCRIPTION

[0045] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0046] Embodiment 1, as Figure 1 - Figure 8 As shown, the present invention provides a technical solution: a new gripper assembly and a control method thereof, comprising: a connecting member 1, a cross block 2 is arranged at the bottom of the connecting member 1, and further comprising:

[0047] A cross through hole 208 is provided on the outer surface of the cross block 2, and a plurality of movable racks 3 are provided on the inner wall of the cross through hole 208;

[0048] A plurality of connecting rods 4 are respectively arranged on the inner walls of the plurality of moving frames 3, and connecting plates 401 are arranged at both ends of the plurality of connecting rods 4;

[0049] A plurality of gripping plates 402 are respectively arranged on the outer surfaces of the plurality of connecting plates 401, and the outer surfaces of the plurality of gripping plates 402 are all provided with a plurality of circular through holes 406;

[0050] The plurality of rotating rods 403 are respectively disposed on the inner walls of the plurality of circular through holes 406 , and the outer surfaces of the plurality of rotating rods 403 are all provided with buffer rollers 404 .

[0051] In one embodiment, when in use, an external power supply is turned on, and the setting of the connecting piece 1 and the mounting hole 10 is convenient for installation in coordination with an external connecting structure such as a robot articulated arm or a moving component. The moving frame 3 slides in the cross through hole 2, and the connecting rod 4 is rotatably installed on the inner wall of the moving frame 3, so as to facilitate the rotation of the connecting plate 401, the grab plate 403, the circular through hole 406, the rotating rod 403 and the buffer roller 404.

[0052] Embodiment 2, as Figure 1 - Figure 8 As shown, the outer surface of the connecting member 1 is provided with a plurality of mounting holes 10, the tops of the plurality of grab plates 402 are provided with connecting blocks 1 405, the outer surfaces of the plurality of connecting blocks 1 405 are provided with connecting pipes 1 7, the inner walls of the plurality of connecting pipes 1 7 are provided with connecting shafts 701, the inner walls of the plurality of connecting shafts 701 are provided with connecting blocks 2 5, the outer surfaces of the plurality of connecting blocks 2 5 are respectively provided on the outer surfaces of the plurality of moving frames 3, the outer surfaces of the plurality of moving frames 3 are provided with a plurality of slide grooves 301, the inner walls of the plurality of connecting pipes 1 7 are provided with elastic members 703, the outer surfaces of the plurality of connecting shafts 701 are provided with sealing rings 702, and the plurality of sealing rings 703 are provided on the outer surfaces of the plurality of connecting shafts 701. The outer surfaces of 02 are respectively in contact with the inner walls of multiple connecting tubes 7, the other ends of the multiple elastic members 703 are respectively arranged on the outer surfaces of multiple connecting shafts 701, the outer surfaces of multiple connecting tubes 7 are each provided with connecting tubes 2 704, the other ends of multiple connecting tubes 2 704 are each provided with hoses 803, the other ends of multiple hoses 803 are each provided with connecting tubes 3 801, the outer surfaces of multiple connecting tubes 3 801 are each provided with multiple connecting blocks 3 802, the other ends of multiple connecting tubes 3 801 are each provided with J-shaped tubes 8, the outer surface of the J-shaped tubes 8 is arranged on the outer surface of the cross block 2, and the inner wall of the J-shaped tubes 8 is provided with pistons 804.

[0053] In one embodiment, when in use, the staff controls the electric push rod 6 to drive the piston 804 to move in the J-tube 8. The J-tube 8 is filled with oil. When the piston 804 moves, it pushes the oil through the connecting pipe 3 801, the hose 803 and the connecting pipe 2 704 and then enters the connecting pipe 1 7. The setting of the connecting block 3 802 is convenient for fixing the connecting pipe 3 801 on the cross block 2, which is beneficial to improving the stability of the connecting pipe 3 801. The oil entering the connecting pipe 1 7 shrinks the connecting shaft 701 in the connecting pipe 1 7. When the connecting shaft 701 moves, it drives the sealing ring 702 to move on the inner wall of the connecting pipe 1 7, so that the total length of the connecting pipe 1 7 and the connecting shaft 701 is shortened, and the elastic member 703 is compressed at the same time, pulling the grab plate 402 and the connecting plate 401 to move. When the connecting plate 401 moves, it drives the connecting rod 4 to rotate in the circular through hole 406, so that the bagged material is grabbed to a The bagged materials are squeezed against the bottom of the plurality of gripping plates 402 by gravity, and the buffer roller 404 is deformed when in contact with the bagged materials, which is beneficial to buffering and protecting the bagged materials. When the bagged materials move on the surface of the buffer roller 404, the buffer roller 404 and the rotating rod 403 are driven to rotate in the gripping plate 402 by the friction force, which is beneficial to reducing the friction between the bagged materials and the buffer roller 404, and avoiding the situation where the outer surface of the bagged materials is damaged by the large friction force. When the staff controls the output end of the electric push rod 6 to contract, the piston 804 is driven to move and no longer push the oil body. The elastic member 703 returns to its original state and drives the connecting shaft 701 to extend out of the connecting pipe 7, so that the total length of the connecting pipe 7 and the connecting shaft 701 increases, thereby changing the shape of the funnel-shaped space from being wide at the top and narrow at the bottom to being narrow at the top and wide at the bottom, thereby unloading the bagged materials inside the plurality of gripping plates 402.

[0054] Embodiment 3, as Figure 1 - Figure 8As shown, the outer surface of the piston 804 is provided with an electric push rod 6, the other end of the electric push rod 6 is arranged on the inner wall of the connecting member 1, the output end of the electric push rod 6 contacts the inner wall of the J-shaped tube 8, the inner wall of the cross through hole 208 is provided with multiple groups of mounting blocks 201, the outer surfaces of the multiple groups of mounting blocks 201 are respectively in contact with the inner walls of the multiple slide grooves 301, the inner walls of the multiple groups of mounting blocks 201 are all provided with threaded rods 202, the outer surfaces of the multiple threaded rods 202 are respectively arranged on the inner walls of the multiple moving frames 3, and one end of the multiple threaded rods 202 is provided with a bevel gear One 203, the outer surfaces of the multiple bevel gears one 203 are all provided with bevel gear two 204, the inner wall of the bevel gear two 204 is provided with a driving shaft 205, the two ends of the driving shaft 205 are arranged on the inner wall of the cross block 2, one end of the driving shaft 205 is provided with a worm wheel 206, the outer surface of the worm wheel 206 is provided with a worm 207, the two ends of the worm 207 are provided with rectangular blocks 210, the inner wall of the rectangular block 210 is provided with a sealing plate 209, the outer surface of the rectangular block 210 is provided with a motor 9, and the output end of the motor 9 is provided at one end of the worm 207.

[0055] In one embodiment, when the staff controls the motor 9 to work, the worm 207 in the rectangular block 210 is driven to rotate. When the worm 207 rotates, it drives the worm wheel 206, the drive shaft 205, the bevel gear 204 and the bevel gear 1 203 to rotate. When the bevel gear 1 203 rotates, it drives the threaded rod 202 to rotate in the mounting block 201. When the threaded rod 202 rotates, it drives the moving frame 3 and the slide 301 to move on the inner wall of the cross hole 208. The slide 301 moves on the outer surface of the mounting block 201. When the moving frame 3 moves, The movable connecting rod 4 and the connecting block 25 move, and when the connecting rod 4 and the connecting block 25 move, they drive the connecting plate 401, the grab plate 402, the connecting block 1 405, the connecting pipe 1 7 and the connecting shaft 701 to move. By changing the distance between the multiple grab plates 402, it is beneficial to adapt to bagged materials of different sizes and improve the scope of application. The sealing plate 209 cooperates with the rectangular block 210 to shield the worm 207 and the worm wheel 206, which is beneficial to avoid the external environment from affecting the working state of the worm 207 and the worm wheel 206 and prolonging the service life of the worm 207 and the worm wheel 206.

[0056] On the other hand, the present invention also provides a novel control method for a gripper assembly, comprising the following steps:

[0057] Step 1: Turn on the external power supply. When the staff controls the electric push rod 6 to work, it drives the piston 804 to move in the J-tube 8. The J-tube 8 is filled with oil. When the piston 804 moves, it pushes the oil through the connecting tube 3 801 and the connecting tube 2 704 and then enters the connecting tube 1 7. The oil entering the connecting tube 1 7 shrinks the connecting shaft 701 in the connecting tube 1 7. When the connecting shaft 701 moves, it drives the sealing ring 702 to move on the inner wall of the connecting tube 1 7, so that the total length of the connecting tube 1 7 and the connecting shaft 701 is shortened, and at the same time, the elastic member 703 is pressed. The grab plate 402 and the connecting plate 401 are compressed, and the grab plate 402 and the connecting plate 401 are pulled to move. When the connecting plate 401 moves, the connecting rod 4 is driven to rotate in the circular through hole 406, and the bagged material is grabbed into a funnel-shaped space formed by the multiple grab plates 402. The funnel space is wide at the top and narrow at the bottom. Under the action of gravity, the bagged material is squeezed with the bottom of the multiple grab plates 402, and the buffer roller 404 is deformed when it contacts the bagged material. When the bagged material moves on the surface of the buffer roller 404, the friction force drives the buffer roller 404 and the rotating rod 403 to rotate in the grab plate 402;

[0058] Step 2: When the output end of the electric push rod 6 is contracted, the staff drives the piston 804 to move and no longer pushes the oil body, and the elastic member 703 returns to its original state to drive the connecting shaft 701 to extend from the connecting pipe 7, so that the total length of the connecting pipe 7 and the connecting shaft 701 increases, thereby changing the shape of the funnel-shaped space from being wide at the top and narrow at the bottom to being narrow at the top and wide at the bottom, thereby unloading the bagged materials inside the multiple grab plates 402;

[0059] Step three, when the staff controls the motor 9 to work, it drives the worm 207 in the rectangular block 210 to rotate. When the worm 207 rotates, it drives the worm wheel 206, the drive shaft 205, the bevel gear 204 and the bevel gear 1 203 to rotate. When the bevel gear 1 203 rotates, it drives the threaded rod 202 to rotate in the mounting block 201. When the threaded rod 202 rotates, it drives the movable frame 3 and the slide groove 301 to move on the inner wall of the cross hole 208. The slide groove 301 moves on the outer surface of the mounting block 201. When the movable frame 3 moves, it drives the connecting rod 4 and the connecting block 2 5 to move. When the connecting rod 4 and the connecting block 2 5 move, they drive the connecting plate 401, the grab plate 402, the connecting block 1 405, the connecting pipe 1 7 and the connecting shaft 701 to move.

[0060] Working principle: when in use, the external power supply is turned on, the setting of the connecting piece 1 and the mounting hole 10 is convenient for installation in coordination with the external connecting structure such as a robot joint arm or a moving component. When the staff controls the electric push rod 6 to work, it drives the piston 804 to move in the J-tube 8. The J-tube 8 is filled with oil. When the piston 804 moves, it pushes the oil through the connecting pipe three 801, the hose 803 and the connecting pipe two 704 and then enters the connecting pipe one 7. The setting of the connecting block three 802 is convenient for fixing the connecting pipe three 801 on the cross block 2, which is beneficial to improve the stability of the connecting pipe three 801. The oil entering the connecting pipe one 7 shrinks the connecting shaft 701 in the connecting pipe one 7. When the connecting shaft 701 moves, it drives the sealing ring 702 on the inner wall of the connecting pipe one 7. The connecting plate 401 is moved to shorten the total length of the connecting tube 7 and the connecting shaft 701, and the elastic member 703 is compressed at the same time, so as to pull the grab plate 402 and the connecting plate 401 to move. When the connecting plate 401 moves, it drives the connecting rod 4 to rotate in the circular through hole 406, and grabs the bagged material into a funnel-shaped space formed by multiple grab plates 402. The funnel space is wide at the top and narrow at the bottom. Under the action of gravity, the bagged material is squeezed with the bottom of the multiple grab plates 402. The buffer roller 404 is deformed when it contacts the bagged material, which is beneficial to buffer and protect the bagged material. When the bagged material moves on the surface of the buffer roller 404, the friction force drives the buffer roller 404 and the rotating rod 403 to rotate in the grab plate 402, which is beneficial to reduce the bagged material and the buffer roller. 404, to avoid the situation where the friction is too large to damage the outer surface of the bagged material. When in use, the staff controls the output end of the electric push rod 6 to contract, driving the piston 804 to move and no longer push the oil body, and the elastic member 703 returns to its original state to drive the connecting shaft 701 to extend out of the connecting pipe 7, so that the total length of the connecting pipe 7 and the connecting shaft 701 increases, thereby changing the shape of the funnel-shaped space from wide at the top and narrow at the bottom to narrow at the top and wide at the bottom, thereby unloading the bagged materials inside the multiple grab plates 402. When in use, the staff controls the motor 9 to drive the worm 207 in the rectangular block 210 to rotate when working, and the worm 207 drives the worm wheel 206, the drive shaft 205, the bevel gear 204 and the bevel gear 1 when rotating. 203 rotates, and when the bevel gear 1 203 rotates, it drives the threaded rod 202 to rotate in the mounting block 201. When the threaded rod 202 rotates, it drives the moving frame 3 and the slide groove 301 to move on the inner wall of the cross hole 208, and the slide groove 301 moves on the outer surface of the mounting block 201. When the moving frame 3 moves, it drives the connecting rod 4 and the connecting block 2 5 to move. When the connecting rod 4 and the connecting block 2 5 move, they drive the connecting plate 401, the grab plate 402, the connecting block 1 405, the connecting pipe 1 7 and the connecting shaft 701 to move. By changing the distance between the multiple grab plates 402, it is beneficial to adapt to bagged materials of different sizes and improve the scope of application. The sealing plate 209 cooperates with the rectangular block 210 to shield the worm 207 and the worm wheel 206.This is beneficial to prevent the external environment from affecting the working state of the worm 207 and the worm wheel 206, and prolonging the service life of the worm 207 and the worm wheel 206.

[0061] The above description is only a preferred embodiment of the present invention and does not limit the present invention in other forms. Any technician familiar with the profession may use the technical content disclosed above to change or modify it into an equivalent embodiment with equivalent changes and apply it to other fields. However, any simple modification, equivalent change and modification made to the above embodiment based on the technical essence of the present invention without departing from the content of the technical solution of the present invention still falls within the protection scope of the technical solution of the present invention.

Claims

1. A new gripper assembly, comprising: A connecting piece (1), wherein a cross block (2) is arranged at the bottom of the connecting piece (1), characterized in that it further comprises: A cross through hole (208) is arranged on the outer surface of the cross block (2), and a plurality of movable frames (3) are arranged on the inner wall of the cross through hole (208); A plurality of connecting rods (4) are respectively arranged on the inner walls of the plurality of movable frames (3), and connecting plates (401) are arranged at both ends of the plurality of connecting rods (4); A plurality of gripping plates (402) are respectively arranged on the outer surfaces of the plurality of connecting plates (401), and the outer surfaces of the plurality of gripping plates (402) are each provided with a plurality of circular through holes (406); A plurality of rotating rods (403) are respectively arranged on the inner walls of the plurality of circular through holes (406), and a buffer roller (404) is arranged on the outer surfaces of the plurality of rotating rods (403).

2. A new gripper assembly according to claim 1, characterized in that: The outer surface of the connecting member (1) is provided with a plurality of mounting holes (10), the tops of the plurality of grab plates (402) are provided with a connecting block 1 (405), the outer surfaces of the plurality of connecting blocks 1 (405) are provided with a connecting pipe 1 (7), the inner walls of the plurality of connecting pipes 1 (7) are provided with a connecting shaft (701), and the inner walls of the plurality of connecting shafts (701) are provided with a connecting block 2 (5).

3. A new gripper assembly according to claim 2, characterized in that: The outer surfaces of the plurality of connecting blocks (5) are respectively arranged on the outer surfaces of the plurality of movable frames (3), the outer surfaces of the plurality of movable frames (3) are provided with a plurality of slide grooves (301), the inner walls of the plurality of connecting pipes (7) are respectively provided with elastic members (703), the outer surfaces of the plurality of connecting shafts (701) are respectively provided with sealing rings (702), and the outer surfaces of the plurality of sealing rings (702) are respectively in contact with the inner walls of the plurality of connecting pipes (7).

4. A new gripper assembly according to claim 3, characterized in that: The other ends of the multiple elastic members (703) are respectively arranged on the outer surfaces of the multiple connecting shafts (701), the outer surfaces of the multiple connecting tubes (7) are each provided with connecting tubes (704), the other ends of the multiple connecting tubes (704) are each provided with hoses (803), and the other ends of the multiple hoses (803) are each provided with connecting tubes (801).

5. A new gripper assembly according to claim 4, characterized in that: The outer surfaces of the plurality of connecting tubes three (801) are each provided with a plurality of connecting blocks three (802); the other ends of the plurality of connecting tubes three (801) are each provided with a J-shaped tube (8); the outer surface of the J-shaped tube (8) is provided on the outer surface of the cross block (2); and the inner wall of the J-shaped tube (8) is provided with a piston (804).

6. A new gripper assembly according to claim 5, characterized in that: The outer surface of the piston (804) is provided with an electric push rod (6), the other end of the electric push rod (6) is provided on the inner wall of the connecting piece (1), the output end of the electric push rod (6) is in contact with the inner wall of the J-shaped tube (8), and the inner wall of the cross through hole (208) is provided with multiple groups of mounting blocks (201), and the outer surfaces of the multiple groups of mounting blocks (201) are in contact with the inner walls of multiple slide grooves (301) respectively.

7. A new gripper assembly according to claim 6, characterized in that: The inner walls of the plurality of groups of mounting blocks (201) are all provided with threaded rods (202), the outer surfaces of the plurality of threaded rods (202) are respectively provided on the inner walls of the plurality of moving frames (3), and one end of the plurality of threaded rods (202) is all provided with a bevel gear 1 (203).

8. A new gripper assembly according to claim 7, characterized in that: The outer surfaces of the plurality of bevel gears one (203) are all provided with bevel gears two (204), the inner wall of the bevel gears two (204) is provided with a drive shaft (205), both ends of the drive shaft (205) are provided on the inner wall of the cross block (2), one end of the drive shaft (205) is provided with a worm wheel (206), and the outer surface of the worm wheel (206) is provided with a worm (207).

9. A new gripper assembly according to claim 8, characterized in that: Rectangular blocks (210) are arranged at both ends of the worm (207), a sealing plate (209) is arranged on the inner wall of the rectangular block (210), a motor (9) is arranged on the outer surface of the rectangular block (210), and an output end of the motor (9) is arranged at one end of the worm (207).

10. A control method for a novel gripper assembly, based on the novel gripper assembly according to any one of claims 1 to 9, characterized in that: Step 1: Turn on the external power supply. When the staff controls the electric push rod (6) to work, it drives the piston (804) to move in the J-shaped tube (8). The J-shaped tube (8) is filled with oil. When the piston (804) moves, it pushes the oil through the connecting tube (3) (801), the hose (803) and the connecting tube (2) (704) and then enters the connecting tube (1) (7). The oil entering the connecting tube (1) (7) shrinks the connecting shaft (701) in the connecting tube (1) (7). When the connecting shaft (701) moves, it drives the sealing ring (702) to move on the inner wall of the connecting tube (1) (7), so that the total length of the connecting tube (1) (7) and the connecting shaft (701) is shortened and the connecting shaft (701) is tightened. The elastic member (703) is compressed to pull the gripping plate (402) and the connecting plate (401) to move. When the connecting plate (401) moves, it drives the connecting rod (4) to rotate in the circular through hole (406), and the bagged material is grabbed into a funnel-shaped space formed by the plurality of gripping plates (402). The funnel space is wide at the top and narrow at the bottom. Under the action of gravity, the bagged material is squeezed with the bottoms of the plurality of gripping plates (402). The buffer roller (404) is deformed when in contact with the bagged material. When the bagged material moves on the surface of the buffer roller (404), the friction force drives the buffer roller (404) and the rotating rod (403) to rotate in the gripping plate (402). Step 2: When the output end of the electric push rod (6) is controlled by the staff to contract, the piston (804) is driven to move and no longer pushes the oil body, and the elastic member (703) is restored to its original state to drive the connecting shaft (701) to extend from the connecting pipe (7), so that the total length of the connecting pipe (7) and the connecting shaft (701) increases, thereby changing the shape of the funnel-shaped space from being wide at the top and narrow at the bottom to being narrow at the top and wide at the bottom, thereby unloading the bagged materials inside the multiple grab plates (402); Step 3: When the staff controls the motor (9) to work, the worm (207) in the rectangular block (210) is driven to rotate. When the worm (207) rotates, it drives the worm wheel (206), the drive shaft (205), the bevel gear 2 (204) and the bevel gear 1 (203) to rotate. When the bevel gear 1 (203) rotates, it drives the threaded rod (202) in the mounting block (201) to rotate. When the threaded rod (202) rotates, it drives the moving frame ( 3) and the slide groove (301) move on the inner wall of the cross through hole (208), the slide groove (301) moves on the outer surface of the mounting block (201), the moving frame (3) drives the connecting rod (4) and the connecting block 2 (5) to move when moving, and the connecting rod (4) and the connecting block 2 (5) drive the connecting plate (401), the grab plate (402), the connecting block 1 (405), the connecting pipe 1 (7) and the connecting shaft (701) to move when moving.

Images