A mechanical gripper for box-shaped parts

Abstract

This invention proposes a mechanical gripper for box-shaped parts, comprising a guide rail assembly, a linkage assembly, a scissor assembly, and four grippers. The guide rail assembly includes a cross-shaped guide rail, comprising a first guide rail and a second guide rail. A slider is slidably mounted on each end of the first and second guide rails. Two sliders on the first guide rail are each fixed to a slide rail. The linkage assembly includes four links, each located between two adjacent sliders along the circumferential direction, with each link hinged to its adjacent slider at both ends. Each slider is connected to a linear drive device for driving its movement. A gripper is slidably connected to each end of each slide rail. Two grippers on the same end of two slide rails are connected by a scissor assembly. Two sets of scissor assemblies are driven to move along the slide rails by a reciprocating drive mechanism. This invention enables adjustment of the clamping range size, is suitable for clamping parts of different sizes, and provides high clamping stability.

Description

Technical Field

[0001] This invention relates to the field of industrial automation technology, and specifically to a mechanical gripper for box-type parts. Background Technology

[0002] Mechanical grippers for box-shaped parts have wide applications in industrial automation, intelligent manufacturing, and collaborative robots. However, traditional grippers, typically with two or three fingers, still have several shortcomings in practical applications. First, traditional two- or three-finger grippers have limited contact points with box-shaped parts and cannot guarantee that they can be positioned in the same place for gripping every time, thus failing to provide sufficient contact points and gripping stability, resulting in poor gripping accuracy and stability. Second, traditional grippers have poor versatility. For box-shaped parts of various sizes, traditional grippers often require frequent manual replacement or intervention in size adjustment, leading to low efficiency. Therefore, a mechanical gripper that can guarantee gripping stability and is applicable to box-shaped parts of various sizes is needed. Summary of the Invention

[0003] To address the problems in the background art, this invention proposes a mechanical gripper for box-type parts, comprising a guide rail assembly, a linkage assembly, a scissor assembly, and four grippers. The guide rail assembly includes a cross-shaped guide rail, which includes a first guide rail and a second guide rail arranged perpendicularly to each other. A slider is slidably mounted on both ends of the first guide rail and the second guide rail. Two sliders on the first guide rail are each fixed to a slide rail, which is parallel to the second guide rail. The linkage assembly includes four linkages, which are located between two adjacent sliders along the circumferential direction, and the two ends of the linkages are hinged to the two adjacent sliders. Each slider is connected to a linear drive device for driving the slider to slide. A gripper is slidably connected to both ends of each slide rail. Two grippers on the same end of two slide rails are connected by a scissor assembly. Two sets of scissor assemblies are driven to move along the slide rails by a reciprocating drive mechanism.

[0004] Preferably, the reciprocating drive mechanism includes a motor and a linkage assembly. The linkage assembly includes a first linkage rod, a second linkage rod, a third linkage rod, a fourth linkage rod, a fifth linkage rod, a sixth linkage rod, and a seventh linkage rod. One end of the second and third linkage rods is hinged to both ends of the first linkage rod. One end of the fourth and fifth linkage rods is hinged to the other end of the second linkage rod. The other ends of the fourth and fifth linkage rods are respectively hinged to a set of scissor lift assemblies. One end of the sixth and seventh linkage rods is hinged to the other end of the third linkage rod. The other ends of the sixth and seventh linkage rods are respectively hinged to another set of scissor lift assemblies. The motor is fixed at the center of the cross-shaped guide rail, and the motor output shaft is fixedly connected to the center of the first linkage rod.

[0005] Preferably, the scissor lift assembly includes multiple intermediate scissor lift groups and two end scissor lift groups. The intermediate scissor lift groups include a first scissor lift rod and a second scissor lift rod, and the first scissor lift rod and the second scissor lift rod are hinged at their center positions.

[0006] For two adjacent sets of intermediate scissor lifts, one end of the first scissor lift and the second scissor lift in one set of intermediate scissor lifts are respectively hinged to one end of the second scissor lift and the first scissor lift in the other set of intermediate scissor lifts.

[0007] The end scissor lift assembly includes a third scissor lift and a fourth scissor lift. One end of the third scissor lift and the fourth scissor lift are hinged together, and the hinged end of the third scissor lift and the fourth scissor lift are hinged to the gripper. The other ends of the third scissor lift and the fourth scissor lift are respectively hinged to one end of the first scissor lift and the second scissor lift in their adjacent intermediate scissor lift assemblies.

[0008] Preferably, in the scissor lift assembly, the number of intermediate scissor lift groups on both sides of a set of intermediate scissor lift groups is the same, and the intermediate scissor lift group with the same number of intermediate scissor lift groups on both sides is the central scissor lift group.

[0009] One end of the fourth and fifth linkage rods is hinged to one end of the second and first scissor rods in a set of central scissor rods, respectively. One end of the sixth and seventh linkage rods is hinged to one end of the second and first scissor rods in another set of central scissor rods, respectively.

[0010] Preferably, one end of two adjacent connecting rods is hinged together, and the four connecting rods form a parallelogram structure with four hinge points, which are respectively located on the four sliders.

[0011] Preferably, the gripper is provided with a rectangular slot for gripping the edges of box-shaped parts.

[0012] The beneficial effects of this invention are as follows:

[0013] This invention is equipped with four grippers, which can grip the four sides of a box-shaped part during gripping. The grippers have sufficient contact points with the box-shaped part, and the four grippers are arranged in a rectangular shape, which can achieve centering gripping of the part and ensure that the gripping position is evenly located at the four corners of the box-shaped part, thus ensuring gripping stability.

[0014] During the gripping process, the linear drive device drives the slider to slide. The slider, through a linkage assembly, moves the two slide rails closer together or further apart, thus adjusting the longitudinal dimension of the gripper gripping area. The reciprocating drive mechanism, through a scissor assembly, moves the grippers at both ends of the guide rail closer together or further apart, thus adjusting the lateral dimension of the gripper gripping area. The adjustments to the lateral and longitudinal dimensions of the gripper gripping area are independent and do not affect each other, enabling the gripping of box-shaped parts of different sizes and improving the flexibility and efficiency of the gripping operation. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0016] Figure 2 This is a schematic diagram of the guide rail assembly structure of the present invention;

[0017] Figure 3 This is a schematic diagram of the linkage assembly structure of the present invention;

[0018] Figure 4 This is a schematic diagram of the scissor lift assembly structure of the present invention;

[0019] Figure 5 This is a schematic diagram of the linkage component structure of the present invention.

[0020] The diagram is labeled as follows: 1. Guide rail assembly; 101. First guide rail; 102. Second guide rail; 103. Slide rail; 104. Slider; 2. Linkage assembly; 201. Linkage rod; 3. Scissor lift assembly; 301. First scissor lift rod; 302. Second scissor lift rod; 303. Third scissor lift rod; 304. Fourth scissor lift rod; 4. Linkage assembly; 401. First linkage rod; 402. Second linkage rod; 403. Third linkage rod; 404. Fourth linkage rod; 405. Fifth linkage rod; 406. Sixth linkage rod; 407. Seventh linkage rod; 5. Gripper. Detailed Implementation

[0021] To make the present invention clearer and more understandable, the technical solution of the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the given embodiments are only one of the implementation methods and do not represent all embodiments.

[0022] In this article, terms such as "horizontal" and "vertical" are established based on the positional relationships shown in the attached drawings. Depending on the attached drawings, the corresponding positional relationships may also change. Therefore, they should not be interpreted as an absolute limitation on the scope of protection.

[0023] Combined with appendix Figure 1 - Appendix Figure 5A mechanical gripper for box-shaped parts includes a guide rail assembly 1, a connecting rod assembly 2, a scissor assembly 3, and four grippers 5. The guide rail assembly 1 includes a cross-shaped guide rail, which includes a first guide rail 101 and a second guide rail 102 arranged perpendicularly. A slider 104 is slidably mounted on each end of the first guide rail 101 and the second guide rail 102. Each of the two sliders 104 on the first guide rail 101 is fixed to a slide rail 103, which is parallel to the second guide rail 102. The rod assembly 2 includes four connecting rods 201, which are located between two adjacent sliders 104 along the circumferential direction. The two ends of the connecting rods 201 are respectively hinged to the two adjacent sliders 104. Each slider 104 is connected to a linear drive device that drives the slider 104 to slide. Each end of each slide rail 103 is slidably connected to a gripper 5. The two grippers 5 on the same end of the two slide rails 103 are connected by a scissor assembly 3. The two sets of scissor assemblies 3 are driven to move along the slide rails 103 by a reciprocating drive mechanism.

[0024] Specifically, the linear drive device can be an electric actuator or a linear module. When an electric actuator is used, the electric actuator is fixed to either end of the first guide rail 101 or the second guide rail 102. The extension and retraction direction of the output end of the electric actuator is set along the length direction of the guide rail where the electric actuator is located. The output end of the electric actuator is connected to the slider 104 at the end of the guide rail where it is located, and the slider 104 is driven to slide by the electric actuator.

[0025] When a linear module is used, the track of the linear module is fixed at either end of the first guide rail 101 or the second guide rail 102. The slide of the linear module is connected to the slider 104 at the end of the guide rail where it is located. The driving direction of the linear module is consistent with the length direction of the guide rail where it is located.

[0026] Specifically, the reciprocating drive mechanism includes a motor and a linkage assembly 4. The linkage assembly 4 includes a first linkage rod 401, a second linkage rod 402, a third linkage rod 403, a fourth linkage rod 404, a fifth linkage rod 405, a sixth linkage rod 406, and a seventh linkage rod 407. One end of the second linkage rod 402 and the third linkage rod 403 are respectively hinged to both ends of the first linkage rod 401. One end of the fourth linkage rod 404 and the fifth linkage rod 405 are both hinged to the other end of the second linkage rod 402. The other ends of the fourth linkage rod 404 and the fifth linkage rod 405 are respectively hinged to a set of scissor lift assemblies 3. One end of the sixth linkage rod 406 and the seventh linkage rod 407 are both hinged to the other end of the third linkage rod 403. The other ends of the sixth linkage rod 406 and the seventh linkage rod 407 are respectively hinged to another set of scissor lift assemblies 3. The motor is fixed at the center of the cross-shaped guide rail, and the motor output shaft is fixedly connected to the center of the first linkage rod 401.

[0027] In use, when the motor is started and rotated forward, the motor output drives the first linkage rod 401 to rotate, changing the length direction of the first linkage rod 401 from longitudinal to transverse. The ends of the second linkage rod 402 and the third linkage rod 403 that are not connected to the first linkage rod 401 move away from the first linkage rod 401, thereby driving the two sets of scissor assemblies 3 to move away from each other through the fourth linkage rod 404, the fifth linkage rod 405, the sixth linkage rod 406, and the seventh linkage rod 407, respectively. The scissor assemblies 3 then drive the grippers 5 at both ends of the two slide rails 103 to move away from each other, thus increasing the size of the clamping range laterally. When the motor is started in reverse, the motor drives the first linkage rod 401 to rotate, changing the length direction of the first linkage rod 401 from transverse to longitudinal. Each linkage rod drives the two sets of scissor assemblies 3 to move closer together, thereby bringing the grippers 5 at both ends of the two slide rails 103 closer together, thus decreasing the size of the clamping range laterally.

[0028] Specifically, the scissor fork assembly 3 includes multiple sets of intermediate scissor fork groups and two sets of end scissor fork groups. The intermediate scissor fork groups include a first scissor fork rod 301 and a second scissor fork rod 302, and the first scissor fork rod 301 and the second scissor fork rod 302 are hinged at their center positions.

[0029] For two adjacent intermediate scissor sets, one end of the first scissor bar 301 and the second scissor bar 302 in one intermediate scissor set is respectively hinged to one end of the second scissor bar 302 and the first scissor bar 301 in the other intermediate scissor set.

[0030] The end scissor lift assembly includes a third scissor lift 303 and a fourth scissor lift 304. One end of the third scissor lift 303 and the fourth scissor lift 304 are hinged together, and the hinged end of the third scissor lift 303 and the fourth scissor lift 304 is hinged to one end of the first scissor lift 301 and the second scissor lift 302 in their adjacent intermediate scissor lift assembly, respectively. The scissor lift assembly 3 can drive the two grippers 5 located on the same end of the two slide rails 103 to slide synchronously without affecting the relative movement of the two slide rails 103, and at the same time, it can improve the stability of the relative movement of the two slide rails 103.

[0031] Specifically, in the scissor lift assembly 3, the number of intermediate scissor lift groups on both sides of a set of intermediate scissor lift groups is the same, and the intermediate scissor lift groups on both sides with the same number of intermediate scissor lift groups are the central scissor lift groups. That is, the structure of the scissor lift assembly 3 is symmetrical about the center point of the central scissor lift assembly 3. The center point of the central scissor lift assembly 3 is the point where the first scissor lift rod 301 and the second scissor lift rod 302 in the central scissor lift assembly 3 are hinged.

[0032] One end of the fourth linkage 404 and the fifth linkage 405 are respectively hinged to one end of the second scissor bar 302 and the first scissor bar 301 in one set of central scissor bar assemblies. One end of the sixth linkage 406 and the seventh linkage 407 are respectively hinged to one end of the second scissor bar 302 and the first scissor bar 301 in another set of central scissor bar assemblies. This improves the synchronization and stability of the linkage assembly 4 driving the two sets of scissor bar assemblies 3.

[0033] Specifically, one end of two adjacent connecting rods 201 is hinged together, and the four connecting rods 201 form a parallelogram structure with four hinge points, which are respectively located on the four sliders 104.

[0034] Specifically, the gripper 5 is provided with rectangular slots for gripping the edges of box-shaped parts. That is, the four rectangular slots can form a cubic gripping area. When gripping, the four grippers 5 can be located at the four edges of the box-shaped part, and the two sides of the rectangular slots respectively fit against the sides of the part on the corresponding edges, thereby increasing the contact area between the gripper 5 and the part and improving the stability of gripping.

[0035] Working process: Start the reciprocating drive mechanism to move the two sets of scissor assemblies 3 closer together or further apart, adjusting the lateral dimension of the clamping area. Start the linear drive mechanism to move the slider 104. The slider 104, through the connecting rod assembly 2, drives the other three sliders 104 to move, with opposite sliders 104 moving closer together or further apart. The slider 104 also drives the two slide rails 103 to move closer together or further apart, adjusting the longitudinal dimension of the clamping area. Adjust the dimensions until the four grippers 5 can grasp the part.

[0036] It should be understood that the horizontal direction refers to the length direction of the second guide rail 102, and the vertical direction refers to the length direction of the first guide rail 101.

[0037] Although embodiments of the invention have been shown and described, those skilled in the art will be able to make various changes, modifications, substitutions and alterations to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A mechanical gripper for box-type parts, characterized in that: The assembly includes a guide rail assembly (1), a linkage assembly (2), a scissor lift assembly (3), and four grippers (5). The guide rail assembly (1) includes a cross-shaped guide rail, which includes a first guide rail (101) and a second guide rail (102) arranged perpendicularly to each other. A slider (104) is slidably mounted on both ends of the first guide rail (101) and both ends of the second guide rail (102). The two sliders (104) on the first guide rail (101) are each fixed with a slide rail (103). The slide rail (103) is parallel to the second guide rail (102). The linkage assembly (2) includes... Includes four connecting rods (201), which are located between two adjacent sliders (104) along the circumferential direction, and the two ends of the connecting rods (201) are respectively hinged to the two adjacent sliders (104). Each slider (104) is connected to a linear drive device that drives the slider (104) to slide. Each end of each slide rail (103) is slidably connected to a gripper (5). The two grippers (5) on the same end of the two slide rails (103) are connected by a scissor assembly (3). The two sets of scissor assemblies (3) are driven to move along the slide rail (103) by a reciprocating drive mechanism. The reciprocating drive mechanism includes a motor and a linkage assembly (4). The linkage assembly (4) includes a first linkage rod (401), a second linkage rod (402), a third linkage rod (403), a fourth linkage rod (404), a fifth linkage rod (405), a sixth linkage rod (406), and a seventh linkage rod (407). One end of the second linkage rod (402) and the third linkage rod (403) are respectively hinged to both ends of the first linkage rod (401). One end of the fourth linkage rod (404) and the fifth linkage rod (405) are both hinged to the first linkage rod (401). The other end of the second linkage rod (402) is hinged, the other ends of the fourth linkage rod (404) and the fifth linkage rod (405) are respectively hinged to a set of scissor assemblies (3), one end of the sixth linkage rod (406) and the seventh linkage rod (407) are both hinged to the other end of the third linkage rod (403), the other ends of the sixth linkage rod (406) and the seventh linkage rod (407) are respectively hinged to another set of scissor assemblies (3), the motor is fixed at the center of the cross-shaped guide rail, and the motor output shaft is fixedly connected to the center of the first linkage rod (401); The scissor lift assembly (3) includes multiple intermediate scissor lift groups and two end scissor lift groups. The intermediate scissor lift group includes a first scissor lift (301) and a second scissor lift (302). The first scissor lift (301) and the second scissor lift (302) are hinged at their center positions. For two adjacent intermediate scissor lift groups, one end of the first scissor lift (301) and the second scissor lift (302) in one intermediate scissor lift group is hinged to one end of the second scissor lift (302) and the first scissor lift (301) in the other intermediate scissor lift group, respectively. The end scissor lift assembly includes a third scissor lift (303) and a fourth scissor lift (304). One end of the third scissor lift (303) and the fourth scissor lift (304) are hinged together, and the hinged end of the third scissor lift (303) and the fourth scissor lift (304) is hinged to one end of the first scissor lift (301) and the second scissor lift (302) in their adjacent intermediate scissor lift assembly, respectively.

2. The mechanical gripper for box-type parts according to claim 1, characterized in that: The number of intermediate scissor groups on both sides of a set of intermediate scissor groups in the scissor assembly (3) is the same, and the intermediate scissor group with the same number of intermediate scissor groups on both sides is the central scissor group. One end of the fourth linkage (404) and the fifth linkage (405) are respectively hinged to one end of the second scissor bar (302) and the first scissor bar (301) in a set of central scissor bar groups, and one end of the sixth linkage (406) and the seventh linkage (407) are respectively hinged to one end of the second scissor bar (302) and the first scissor bar (301) in another set of central scissor bar groups.

3. The mechanical gripper for box-type parts according to claim 1, characterized in that: One end of two adjacent connecting rods (201) is hinged together, and the four connecting rods (201) form a parallelogram structure with four hinge points, which are located on the four sliders (104) respectively.

4. The mechanical gripper for box-type parts according to claim 1, characterized in that: The gripper (5) is provided with a rectangular slot for clamping the edges of box-type parts.

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