Gripper device and gripper equipment

Abstract

The invention provides a gripper device and gripper equipment, the gripper device comprises a support, an electromagnetic gripper, a mechanical gripper and a locking mechanism, the electromagnetic gripper, the mechanical gripper and the locking mechanism are all mounted on the support, and the electromagnetic gripper and the mechanical gripper can be selectively in a workpiece grabbing state or a workpiece releasing state; the locking mechanism can be selectively in a locking state or an unlocking state, the locking mechanism in the locking state is connected to the mechanical gripper in a locking mode so that the mechanical gripper can be kept in a workpiece grabbing state, and the locking mechanism in the unlocking state is separated from the mechanical gripper. Thus, in the process that the gripper equipment carries a workpiece, the locking mechanism can be in the locking state so as to be connected to the mechanical gripper in a locking mode, so that the mechanical gripper can be kept in the workpiece grabbing state, and the risk that the state of the mechanical gripper is changed and the workpiece falls off due to external force collision can be reduced; and therefore, the reliability of grabbing the workpiece by the mechanical gripper can be improved.

Description

Technical Field

[0001] This application relates to the technical field of robots, and particularly to a gripper device and a gripper equipment. Background Art

[0002] In the related art, the gripper equipment is configured with an electromagnetic gripper. The electromagnetic gripper uses electromagnetic force to grasp workpieces. The robotic arm of the gripper equipment can drive the electromagnetic gripper to move so as to move the workpiece from one position to another. However, during the process of the gripper equipment transporting the workpiece, the workpiece is likely to fall off the electromagnetic gripper, resulting in low safety performance of the gripper equipment. Summary of the Invention

[0003] An embodiment of this application provides a gripper device and a gripper equipment to improve at least one of the above problems.

[0004] The embodiment of this application realizes the above object through the following technical solutions.

[0005] In a first aspect, an embodiment of this application provides a gripper device. The gripper device includes a bracket, an electromagnetic gripper, a mechanical gripper, and a locking mechanism. The electromagnetic gripper, the mechanical gripper, and the locking mechanism are all installed on the bracket. The electromagnetic gripper and the mechanical gripper can each selectively be in a workpiece grasping state or a workpiece releasing state. The locking mechanism can selectively be in a locked state or an unlocked state. The locking mechanism in the locked state is locked to the mechanical gripper to keep the mechanical gripper in the workpiece grasping state; the locking mechanism in the unlocked state is disengaged from the mechanical gripper.

[0006] In some embodiments, the mechanical gripper includes a gripper driving member and a gripper. The gripper driving member is installed on the bracket. The gripper is movably installed on the bracket. The driving end of the gripper driving member is connected to the gripper and is adapted to drive the gripper to move relative to the bracket so that the mechanical gripper can selectively be in the workpiece grasping state or the workpiece releasing state. The locking mechanism in the locked state is locked to the gripper, and the locking mechanism in the unlocked state is disengaged from the gripper.

[0007] In some embodiments, the gripper is hinged to the bracket, and the rotation of the gripper relative to the bracket enables the mechanical gripper to selectively be in the workpiece grasping state or the workpiece releasing state. The locking mechanism includes a locking driving member and a locking member. The locking driving member is installed on the bracket. The driving end of the locking driving member is connected to the locking member and is adapted to drive the locking member to move relative to the bracket so that the locking mechanism can selectively be in the locked state or the unlocked state. When the locking mechanism is in the locked state, the locking driving member drives the locking member to move to the rotation path of the gripper and restricts the rotation of the gripper relative to the bracket; when the locking mechanism is in the unlocked state, the locking driving member drives the locking member to move outside the rotation path of the gripper.

[0008] In some embodiments, when the locking mechanism is in a locked state, the locking member is inserted into the gripper, and when the locking mechanism is in an unlocked state, the locking member is separated from the gripper.

[0009] In some embodiments, when the locking mechanism is in a locked state, the locking member is further inserted into the bracket.

[0010] In some embodiments, the bracket includes a bracket body and a mechanical gripper connecting frame connected to each other, the gripper driving member is installed on the mechanical gripper connecting frame, the gripper includes a gripper portion and a locking portion connected to each other, the gripper portion is hinged to the driving end of the gripper driving member and the mechanical gripper connecting frame, and when the mechanical gripper is in a workpiece grasping state, the locking portion and the mechanical gripper connecting frame are stacked, and there is a gap between the locking portion and the mechanical gripper connecting frame.

[0011] In some embodiments, the gripper portion includes a hinged sub-portion and an abutment sub-portion that are connected to each other. The hinged sub-portion is hinged to the driving end of the gripper driving member and the mechanical gripper connecting frame. The locking portion is connected to the hinged sub-portion and avoids the abutment sub-portion. When the mechanical gripper is in a workpiece grasping state, the abutment sub-portion extends in a horizontal direction.

[0012] In some embodiments, the gripping portion further includes a hook sub-portion, the abutting sub-portion is connected between the hinge sub-portion and the abutting sub-portion, and the hook sub-portion and the hinge sub-portion are opposite and spaced apart.

[0013] In some embodiments, the electromagnetic gripper includes an electromagnetic suction cup and a plurality of elastic floating components, the plurality of elastic floating components are arranged at intervals, and each elastic floating component is connected to the bracket and the electromagnetic suction cup.

[0014] In some embodiments, the elastic floating component includes a connecting shaft, a limit member and a first elastic member, one end of the connecting shaft is connected to the electromagnetic suction cup, and the other end of the connecting shaft is movably arranged in the bracket along the height direction of the bracket, the limit member is connected to the connecting shaft and is located on the side of the bracket away from the electromagnetic suction cup, and the first elastic member is sleeved on the outer periphery of the connecting shaft and abuts between the bracket and the electromagnetic suction cup.

[0015] In some embodiments, the elastic floating component further includes a second elastic member, which is sleeved on the outer circumference of the connecting shaft and abuts between the limiting member and the bracket.

[0016] In some embodiments, the elastic floating component further includes an anti-loosening member, the connecting shaft is threadedly connected to the electromagnetic suction cup, and the anti-loosening member is threadedly connected to the connecting shaft and abuts between the first elastic member and the electromagnetic suction cup.

[0017] In a second aspect, an embodiment of the present application further provides a gripper device, the gripper device comprising a robotic arm and a gripper device of any of the above embodiments, the robotic arm being connected to the gripper device.

[0018] In the gripper device and the gripper equipment provided by the embodiments of the present application, the gripper device includes a bracket, an electromagnetic gripper, a mechanical gripper, and a locking mechanism. The electromagnetic gripper, the mechanical gripper, and the locking mechanism are all installed on the bracket. The electromagnetic gripper and the mechanical gripper can each selectively be in a workpiece gripping state or a workpiece releasing state, and the locking mechanism can selectively be in a locked state or an unlocked state. The locking mechanism in the locked state is locked to the mechanical gripper to keep the mechanical gripper in the workpiece gripping state, and the locking mechanism in the unlocked state is disengaged from the mechanical gripper. Thus, during the process of the gripper equipment transporting the workpiece, both the electromagnetic gripper and the mechanical gripper can be in the workpiece gripping state to cooperate to grip the workpiece together. The locking mechanism can be in the locked state to be locked to the mechanical gripper, enabling the mechanical gripper to remain in the workpiece gripping state, which helps reduce the risk that the mechanical gripper changes its state (such as changing from the workpiece gripping state to the workpiece releasing state) due to an external force collision and causes the workpiece to fall. Thereby, it helps improve the reliability of the mechanical gripper in gripping the workpiece, and further helps improve the safety of the gripper equipment in transporting the workpiece, and also helps reduce the risk of workpiece damage. In addition, the electromagnetic gripper and the mechanical gripper cooperate together to grip the workpiece, enabling the gripper device to grip the workpiece through various types of grippers, which also helps improve the reliability and safety of the gripper device. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] To more clearly illustrate the technical solutions of the present application, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0020] Figure 1 The structural schematic diagram showing the gripper device provided by the embodiments of the present application gripping a workpiece is shown.

[0021] Figure 2 Shown is Figure 1 The structural schematic diagram of another perspective of the gripper device gripping the workpiece in

[0022] Figure 3 The structural schematic diagram of the gripper device provided by the embodiments of the present application is shown.

[0023] Figure 4 Shown is Figure 3 The structural schematic diagram of another perspective of the gripper device in

[0024] Figure 5 Shown is Figure 3 The structural schematic diagram of yet another perspective of the gripper device in

[0025] Figure 6 Shown isFigure 3 Schematic structural diagram of the middle locking mechanism.

[0026] Figure 7 Shows Figure 3 Schematic structural diagram of the middle mechanical gripper.

[0027] Figure 8 Shows Figure 7 Schematic structural diagram of another perspective of the middle mechanical gripper.

[0028] Figure 9 Shows Figure 2 Schematic structural diagram of the middle electromagnetic gripper.

[0029] Figure 10 Shows Figure 9 Schematic cross-sectional view of the middle electromagnetic gripper.

[0030] Explanation of the reference numerals in the drawings:

[0031] Gripper device 10, workpiece 20, bracket 100, first locking hole 101, second locking hole 102, bracket body 110, mechanical gripper connecting frame 120, electromagnetic gripper 200, electromagnetic chuck 210, detection switch 211, elastic floating member 220, connecting shaft 221, limiting member 222, first elastic member 223, second elastic member 224, anti-loosening member 225, mechanical gripper 300, gripper driving member 310, gripper 320, gripper part 321, articulated sub-part 321a, abutting sub-part 321b, hook sub-part 321c, locking part 322, locking mechanism 400, locking driving member 410, locking member 411. Detailed implementation manners

[0032] In order to enable those skilled in the art to better understand the solution of this application, the technical solutions in the embodiments of this application will be clearly and completely described below in conjunction with the drawings in the embodiments of this application. Obviously, the described embodiments are only a part of the embodiments of the application, rather than all of the embodiments. Based on the embodiments in the application, all other embodiments obtained by those skilled in the art without creative efforts shall fall within the scope of protection of the application.

[0033] The technical solutions in the embodiments of the application will be clearly and completely described below in conjunction with the drawings in the embodiments of the application.

[0034] Please refer to Figure 1 and Figure 2 , an embodiment of this application provides a gripper device, which can be used to carry the workpiece 20 to move the workpiece 20 from one position to another position. For example, the workpiece 20 can be an excavator platform, and the gripper device can be used to move the excavator platform (such as Figure 2The workpiece is moved from one position to another. In the following embodiments, the example of a grab device for transporting an excavator platform is mainly used for illustration, and other situations requiring a grab device can refer to the implementation.

[0035] In some embodiments, the grab device may include a grab mechanism 10 and a robotic arm (not shown in the figure). The robotic arm can be connected to the grab mechanism 10. The grab mechanism 10 can be used to grasp and release the workpiece 20, and the robotic arm can be used to drive the grab mechanism 10 to move, so as to move the workpiece 20 grasped by the grab mechanism 10 from one position to another position.

[0036] The robotic arm can be composed of multiple joints, and each joint can be rotated or translated through a motor or other driving mechanism, so as to achieve the flexible movement of the robotic arm. Among them, the grab mechanism 10 can be installed at the end of the robotic arm, which helps the robotic arm drive the grab mechanism 10 to move.

[0037] The specific structure of the grab mechanism 10 can refer to the following embodiments. Since the grab device adopts all the technical solutions of the following embodiments, it at least has all the beneficial effects brought by the technical solutions of the following embodiments, and will not be elaborated one by one here.

[0038] Please refer to Figures 1 to 5 , this application embodiment also provides a grab mechanism 10. The grab mechanism 10 may include a bracket 100, an electromagnetic grab 200, a mechanical grab 300, and a locking mechanism 400. The electromagnetic grab 200, the mechanical grab 300, and the locking mechanism 400 are all installed on the bracket 100.

[0039] Both the electromagnetic grab 200 and the mechanical grab 300 can selectively be in the workpiece grasping state or the workpiece releasing state. For example, when the electromagnetic grab 200 is in the workpiece grasping state, the electromagnetic grab 200 can use electromagnetic force to grasp the workpiece 20; when the electromagnetic grab 200 is in the workpiece releasing state, the electromagnetic grab 200 can separate from the workpiece 20. Another example is that when the mechanical grab 300 is in the workpiece grasping state, the mechanical grab 300 can use mechanical force to grasp the workpiece 20; when the mechanical grab 300 is in the workpiece releasing state, the mechanical grab 300 can separate from the workpiece 20. Among them, the workpiece 20 can be a magnetic workpiece, and the grab mechanism 10 is applied to grasp the magnetic workpiece.

[0040] The locking mechanism 400 can be selectively in a locked state or an unlocked state. The locking mechanism 400 in the locked state locks and connects to the mechanical gripper 300 to keep the mechanical gripper 300 in the workpiece gripping state, and the locking mechanism 400 in the unlocked state is disengaged from the mechanical gripper 300. Thus, during the process of the gripper device transporting the workpiece 20, both the electromagnetic gripper 200 and the mechanical gripper 300 can be in the workpiece gripping state to cooperate to grip the workpiece 20. The locking mechanism 400 can be in the locked state to lock and connect to the mechanical gripper 300, enabling the mechanical gripper 300 to remain in the workpiece gripping state, which helps reduce the risk that the mechanical gripper 300 changes its state (such as the mechanical gripper 300 changing from the workpiece gripping state to the workpiece releasing state) due to an external force collision and causing the workpiece 20 to fall, thereby helping to improve the reliability of the mechanical gripper 300 in gripping the workpiece 20, further helping to improve the safety of the gripper device in transporting the workpiece 20, and also helping to reduce the risk of damage to the workpiece 20. In addition, the electromagnetic gripper 200 and the mechanical gripper 300 cooperate to grip the workpiece 20, enabling the gripper device 10 to grip the workpiece 20 through various types of grippers 320, which also helps to improve the reliability and safety of the gripper device 10.

[0041] Please refer to Figure 7 and Figure 8 , in some embodiments, the mechanical gripper 300 may include a gripper driving member 310 and a gripper 320. The gripper driving member 310 can drive the gripper 320 to move, which helps the gripper 320 to grip or release the workpiece 20, and further helps the mechanical gripper 300 to be in the workpiece gripping state or the workpiece releasing state. Among them, when the mechanical gripper 300 is in the workpiece gripping state, the gripper driving member 310 drives the gripper 320 to grip the workpiece 20; when the mechanical gripper 300 is in the workpiece releasing state, the gripper 320 releases the workpiece 20.

[0042] The gripper driving member 310 can be installed on the bracket 100. For example, the gripper driving member 310 can be installed on the bracket 100 by means of screw connection; for another example, the gripper driving member 310 can be installed on the bracket 100 by means of welding; for still another example, the gripper driving member 310 can be installed on the bracket 100 by means of fasteners, which helps to fixedly install the gripper driving member 310 on the bracket 100.

[0043] The gripper 320 is movably mounted on the bracket 100. For example, the gripper 320 can be slidably connected to the bracket 100. Herein, the gripper 320 can be a structure such as a fixed pin, and the bracket 100 can be provided with a sliding groove. The gripper 320 is slidably inserted into the sliding groove, which helps the gripper 320 to be slidably connected to the bracket 100. Also, for example, the gripper 320 can be rotatably connected to the bracket 100. The gripper 320 can be hinged to the bracket 100, or the gripper 320 can be connected to the bracket 100 through a deep groove ball bearing, which helps the gripper 320 to be rotatably connected to the bracket 100, and further helps to realize that the gripper 320 is movably connected to the bracket 100.

[0044] The gripper driving member 310 can have a driving end. Herein, the gripper driving member 310 can be a motor, a cylinder, an electric push rod, etc. The driving end of the gripper driving member 310 can be the output shaft of the motor, the output shaft of the cylinder, the output shaft of the electric push rod, etc., which helps the driving end of the gripper driving member 310 to drive the gripper 320 to move relative to the bracket 100.

[0045] The driving end of the gripper driving member 310 can be connected to the gripper 320, and there are various ways to connect the driving end of the gripper driving member 310 to the gripper 320. For example, the driving end of the gripper driving member 310 can be hinged to the gripper 320. Also, for example, the driving end of the gripper driving member 310 can be connected to the gripper 320 by welding or threaded connection. Again, for example, the driving end of the gripper driving member 310 can be meshed and connected to the gripper 320 through a worm gear (the gripper 320 can be a worm), which helps the driving end of the gripper driving member 310 to be connected to the gripper 320.

[0046] The driving end of the gripper driving member 310 is adapted to drive the gripper 320 to move relative to the bracket 100 so that the mechanical gripper 300 can be selectively in the workpiece grasping state or the workpiece releasing state.

[0047] For example, the driving end of the gripper driving member 310 can push the gripper 320 to move along the length direction of the driving end of the gripper driving member 310, so that the gripper 320 moves relative to the bracket 100, which helps the gripper 320 to be inserted into or disengaged from the bracket 100, and further helps the driving end of the gripper driving member 310 to drive the gripper 320 to move relative to the bracket 100 so that the mechanical gripper 300 can be selectively in the workpiece grasping state or the workpiece releasing state.

[0048] Among them, the gripper 320 can be a fixed pin. The gripper 320 is slidably disposed through the bracket 100. The driving end of the gripper driving member 310 can be the output shaft of a cylinder and the output shaft of an electric push rod. The driving end of the gripper driving member 310 has a telescopic function, which helps the driving end of the gripper driving member 310 to directly drive the gripper 320 to move along the length direction of the driving end of the gripper driving member 310. Or, the gripper 320 can be a worm. The gripper 320 is slidably disposed through the bracket 100. The driving end of the gripper driving member 310 can be the output shaft of a motor. The driving end of the gripper driving member 310 can be engaged with the gripper 320 through a driving turbine, which helps the driving end of the gripper driving member 310 to drive the gripper 320 to move along the length direction of the driving end of the gripper driving member 310 through the turbine. In this way, the driving end of the gripper driving member 310 can drive the gripper 320 to pass through the through hole of the workpiece 20, so that the gripper 320 can grasp the workpiece 20, thereby helping the mechanical gripper 300 to be in the workpiece grasping state. The driving end of the gripper driving member 310 can drive the gripper 320 to disengage from the workpiece 20, so that the gripper 320 can release the workpiece 20, thereby helping the mechanical gripper 300 to be in the workpiece releasing state.

[0049] For another example, the driving end of the gripper driving member 310 can push the gripper 320, so that the gripper 320 rotates relative to the bracket 100, which helps the gripper 320 to grasp or release the workpiece 20, and further helps the driving end of the gripper driving member 310 to drive the gripper 320 to move relative to the bracket 100 so that the mechanical gripper 300 can be selectively in the workpiece grasping state or the workpiece releasing state.

[0050] Among them, the driving end of the gripper driving member 310 can be the output shaft of a cylinder or the output shaft of an electric push rod. The gripper 320 can be a gripper fixture. The gripper 320 can be hinged to the end of the driving end of the gripper driving member 310 and the bracket 100. The driving end of the gripper driving member 310 has a telescopic function, which helps the driving end of the gripper driving member 310 to drive and rotate relative to the bracket 100, thereby helping the driving end of the gripper driving member 310 to drive the bracket 100 to grasp or release the workpiece 20. In this way, the driving end of the gripper driving member 310 can drive the gripper 320 to grasp the workpiece 20, thereby helping the mechanical gripper 300 to be in the workpiece grasping state; the driving end of the gripper driving member 310 can drive the gripper 320 to release the workpiece 20, thereby helping the mechanical gripper 300 to be in the workpiece releasing state.

[0051] The locking mechanism 400 in the locked state can be locked to the gripper 320, and the locking mechanism 400 in the unlocked state can be disengaged from the gripper 320. Specifically, when the robotic gripper 300 needs to be in the workpiece gripping state, the locking mechanism 400 is correspondingly in the locked state, enabling the gripper 320 to maintain the posture of gripping the workpiece 20, thereby helping to reduce the risk that the posture of the gripper 320 changes due to an external force collision and the workpiece 20 drops; when the robotic gripper 300 needs to be in the workpiece releasing state, the locking mechanism 400 is correspondingly in the unlocked state, enabling the gripper 320 to release the workpiece 20.

[0052] In this embodiment, the gripper 320 can be hinged to the bracket 100, and the rotation of the gripper 320 relative to the bracket 100 enables the robotic gripper 300 to selectively be in the workpiece gripping state or the workpiece releasing state. Specifically, the drive shaft of the gripper drive 310 can be hinged to the gripper 320, and the drive end of the gripper drive 310 has the function of telescopic movement, which helps the drive end of the gripper drive 310 to drive the gripper 320 to rotate relative to the bracket 100, thereby helping the gripper 320 to grip the workpiece 20 or release the workpiece 20, and further helping the robotic gripper 300 to selectively be in the workpiece gripping state or the workpiece releasing state.

[0053] Please refer to Figure 6 , the locking mechanism 400 can include a locking drive 410 and a locking member 411. The locking drive 410 can drive the locking member 411 to move, which helps the locking member 411 to lock or disengage from the gripper 320.

[0054] The locking drive 410 can be installed on the bracket 100. For example, the locking drive 410 can be installed on the bracket 100 by means of screw connection; for another example, the locking drive 410 can be installed on the bracket 100 by welding; for still another example, the locking drive 410 can be installed on the bracket 100 by fasteners, which helps the locking drive 410 to be fixedly installed on the bracket 100.

[0055] The drive end of the locking drive 410 can be connected to the locking member 411. For example, the drive end of the locking drive 410 can be threadedly connected to the locking member 411; for another example, the drive end of the locking drive 410 can be welded to the locking member 411; for still another example, the locking drive 410 can be meshed with the locking member 411 through a worm gear, which helps the drive end of the locking drive 410 to be connected to the locking member 411.

[0056] The drive end of the locking drive 410 can drive the locking member 411 to move relative to the bracket 100 so that the locking mechanism 400 can selectively be in the locked state or the unlocked state.

[0057] For example, the locking driving member 410 can be a motor, the driving end of the locking driving member 410 can be the output shaft of the motor, the locking member 411 can be a worm, the locking member 411 can pass through the bracket 100, and the driving end of the locking driving member 410 can be meshed and connected with the locking member 411 through a worm gear, so as to help the driving end of the locking driving member 410 drive the locking member 411 to move relative to the bracket 100.

[0058] Also for example, the locking driving member 410 can be a cylinder or an electric push rod, the driving end of the locking driving member 410 can be the output shaft of the cylinder or the output shaft of the electric push rod, the locking member 411 can be a locking pin, the end of the driving end of the locking driving member 410 is fixedly connected to the locking member 411, and the driving end of the locking driving member 410 has the function of telescopic movement, so as to help the driving end of the locking driving member 410 drive the locking member 411 to move relative to the bracket 100.

[0059] In this way, when the driving end of the locking driving member 410 drives the locking member 411 to be locked to the gripper 320, the locking mechanism 400 is in a locked state; when the driving end of the locking driving member 410 drives the locking member 411 to disengage from the gripper 320, the locking mechanism 400 is in an unlocked state.

[0060] When the locking mechanism 400 is in the locked state, the locking driving member 410 drives the locking member 411 to move to the rotation path of the gripper 320 and restricts the gripper 320 from rotating relative to the bracket 100. Specifically, when the mechanical gripper 300 is in the workpiece grasping state, the locking mechanism 400 is in the locked state, and the driving end of the locking driving member 410 can drive the locking member 411 to move to the grasping path of the gripper 320 and restrict the gripper 320 from rotating relative to the bracket 100, so that the locking member 411 can block the rotation of the gripper 320, which helps the locking member 411 to keep the gripper 320 in the grasping posture.

[0061] When the locking mechanism 400 is in the unlocked state, the locking driving member 410 drives the locking member 411 to move outside the rotation path of the gripper 320. Specifically, when it is necessary for the mechanical gripper 300 to be in the workpiece releasing state, the locking mechanism 400 is in the unlocked state, and the driving end of the locking driving member 410 can drive the locking member 411 to move outside the rotation path of the gripper 320, so as to avoid the locking member 411 interfering with the grasping of the gripper 320, and further help the gripper 320 to release the workpiece 20.

[0062] In some embodiments, when the locking mechanism 400 is in the locked state, the locking member 411 can pass through the gripper 320. Specifically, the gripper 320 can be provided with a first locking hole 101. When it is necessary for the locking mechanism 400 to be in the locked state, the driving end of the locking driving member 410 can drive the locking member 411 to pass through the first locking hole 101 of the gripper 320, thereby facilitating the locking member 411 to pass through the gripper 320, and the structure is simple and the operation is relatively convenient.

[0063] When the locking mechanism 400 is in the unlocked state, the locking member 411 can be disengaged from the gripper 320. Specifically, when it is necessary for the locking mechanism 400 to be in the unlocked state, the driving end of the locking driving member 410 can drive the locking member 411 to leave the first locking hole 101, thereby facilitating the locking member 411 to be disengaged from the gripper 320, and the structure is simple and the operation is relatively convenient.

[0064] In some embodiments, when the locking mechanism 400 is in the locked state, the locking member 411 can also pass through the bracket 100. Specifically, the bracket 100 can be provided with a second locking hole 102. When it is necessary for the locking mechanism 400 to be in the locked state, the driving end of the locking driving member 410 can drive the locking member 411 to pass through the first locking hole 101 and the second locking hole 102, thereby facilitating the locking member 411 to pass through the gripper 320 and the bracket 100. In addition, when the robotic gripper 300 is subjected to an external collision, the locking driving member 410 and the bracket 100 can be connected to the gripper 320 through the locking member 411 to jointly overcome the external collision suffered by the robotic gripper 300, which helps to reduce the risk of damage to the locking driving member 410 due to excessive acting force, thereby helping to extend the service life of the locking mechanism 400.

[0065] Please refer to Figures 5 to 8 , in some embodiments, the bracket 100 can include a bracket body 110 and a robotic gripper connecting frame 120 connected to each other, wherein the robotic gripper connecting frame 120 can be welded to the bracket body 110; or, the robotic gripper connecting frame 120 can be connected to the bracket body 110 by screws, thereby facilitating the robotic gripper connecting frame 120 to be fixedly connected to the bracket body 110.

[0066] The gripper driving member 310 can be installed on the robotic gripper connecting frame 120. For example, the gripper driving member 310 can be installed on the robotic gripper connecting frame 120 by means of screw connection or welding.

[0067] The gripper 320 can include a gripper portion 321 and a locking portion 322 connected to each other. The gripper portion 321 can be used to grasp or release the workpiece 20, and the locking portion 322 can cooperate with the locking mechanism 400. For example, the locking portion 322 can be provided with a first locking hole 101, thereby facilitating the locking portion 322 to pass through the locking portion 322.

[0068] The gripper portion 321 may be hinged to the driving end of the gripper driver 310 and the mechanical gripper connecting frame 120. When the driving end of the gripper driver 310 drives the gripper portion 321 to rotate relative to the mechanical gripper connecting frame 120, the locking portion 322 may rotate with the gripper portion 321.

[0069] When the mechanical gripper 300 is in the workpiece grasping state, the locking portion 322 is stacked with the mechanical gripper connecting frame 120. Specifically, when the mechanical gripper 300 is required to be in the workpiece grasping state, the gripper driving member 310 can drive the gripper portion 321 to rotate relative to the mechanical gripper connecting frame 120, so that the locking portion 322 can rotate with the gripper portion 321, thereby facilitating the stacking of the locking portion 322 and the mechanical gripper connecting frame 120, and further facilitating the locking member 411 to be quickly and conveniently inserted into the gripper portion 321 and the bracket 100. In addition, the stacking of the locking portion 322 and the mechanical gripper connecting frame 120 helps the mechanical gripper connecting frame 120 and the locking portion 322 to fit more compactly, thereby helping the structure of the mechanical gripper 300 to be more compact.

[0070] There is a gap between the locking portion 322 and the mechanical gripper connecting frame 120, which helps to reduce the risk of interference between the locking portion 322 and the mechanical gripper connecting frame 120 when the locking portion 322 rotates following the gripper portion 321, and also helps to reduce the risk of wear between the locking portion 322 and the mechanical gripper connecting frame 120, thereby helping to extend the service life of the locking portion 322 and the mechanical gripper connecting frame 120.

[0071] In some embodiments, the gripper portion 321 includes a hinged sub-portion 321a and an abutting sub-portion 321b connected to each other, the hinged sub-portion 321a is hinged to the driving end of the gripper driving member 310 and the mechanical gripper connecting frame 120, and the locking portion 322 is connected to the hinged sub-portion 321a and avoids the abutting sub-portion 321b. When the driving end of the gripper driving member 310 drives the hinged sub-portion 321a to rotate, the abutting sub-portion 321b and the locking portion 322 can rotate with the hinged sub-portion 321a.

[0072] When the mechanical gripper 300 is in the workpiece grasping state, the abutting sub-portion 321b extends in the horizontal direction. Specifically, when the mechanical gripper 300 is required to be in the workpiece grasping state, the driving end of the gripper driving member 310 can drive the hinged sub-portion 321a to rotate, so that the abutting sub-portion 321b can rotate with the hinged sub-portion 321a. When the mechanical gripper 300 is in the workpiece grasping state, the length direction of the abutting sub-portion 321b is roughly parallel to the horizontal direction, which helps the abutting sub-portion 321b to abut against the workpiece 20, thereby helping the gripper 320 to grasp the workpiece 20.

[0073] In some embodiments, the gripper portion 321 may further include a hook sub-portion 321c. The abutting sub-portion 321b may be connected between the hinged sub-portion 321a and the abutting sub-portion 321b, and the hook sub-portion 321c and the hinged sub-portion 321a may be relatively and spaced apart. Specifically, the workpiece 20 has a through-hole. When the mechanical gripper 300 is in the workpiece gripping state, the abutting sub-portion 321b may pass through the through-hole of the workpiece 20 and abut against the workpiece 20, such that a part of the structure of the workpiece 20 may be located between the hook sub-portion 321c and the hinged sub-portion 321a, thereby helping the hook sub-portion 321c and the hinged sub-portion 321a to limit the workpiece 20, and further helping to reduce the risk of the workpiece 20 sliding significantly.

[0074] Please refer to Figure 5 , Figure 9 and Figure 10 , in some embodiments, the electromagnetic gripper 200 can grip the workpiece 20 by using electromagnetic force. For example, the electromagnetic gripper 200 may include an electromagnetic chuck 210. The electromagnetic chuck 210 can generate a large electromagnetic force by using the electromagnetic principle, thereby helping the electromagnetic gripper 200 to adsorb the workpiece 20, and further helping the electromagnetic gripper 200 to grip the workpiece 20. In other embodiments, the number of the electromagnetic grippers 200 can be designed according to the weight and size of the workpiece.

[0075] The electromagnetic gripper 200 may further include a detection switch 211. The detection switch 211 may be a photoelectric switch or an ultrasonic switch, etc. The detection switch 211 can be used to detect the presence or absence of the workpiece 20, so as to control the on-off of the energization circuit of the electromagnetic chuck 210, such that the gripper device 10 can control the energization of the electromagnetic chuck 210 according to the detection situation of the detection switch 211, thereby helping the electromagnetic gripper 200 to grip or release the workpiece 20.

[0076] The electromagnetic gripper 200 may further include a plurality of elastic floating members 220. The plurality of elastic floating members 220 may be spaced apart, and each elastic floating member 220 may be connected to the bracket 100 and the electromagnetic chuck 210. Specifically, during the process of the electromagnetic gripper 200 gripping the workpiece 20, the electromagnetic gripper 200 can float relative to the workpiece 20 under the action of the elastic floating members 220, such that the electromagnetic chuck 210 can better fit the surface of the workpiece 20, thereby helping the electromagnetic gripper 200 to quickly and conveniently grip the workpiece 20.

[0077] In addition, during the gripping process of the gripper device 10, if the workpiece 20 or the electromagnetic chuck 210 is subjected to external impact or vibration, the elastic floating members 220 can absorb part of the impact force, thereby playing a buffering role, and further helping to reduce the damage to the electromagnetic chuck 210 and the bracket 100, and improving the durability and stability of the entire gripper device 10.

[0078] Please refer to Figure 9 and Figure 10 In some embodiments, the elastic floating member 220 may include a connecting shaft 221. One end of the connecting shaft 221 may be connected to the electromagnetic chuck 210. For example, the connecting shaft 221 may be connected to the electromagnetic chuck 210 by welding; alternatively, the connecting shaft 221 may be connected to the electromagnetic chuck 210 by threaded connection, so that the connecting shaft 221 and the electromagnetic chuck 210 are relatively fixed.

[0079] The other end of the connecting shaft 221 is movably inserted through the bracket 100 along the height direction X of the bracket 100 (as shown in Figure 3 and Figure 9 , the height direction of the bracket 100 may be the X-axis direction of a three-dimensional coordinate system). Specifically, the bracket 100 may be provided with a connecting through hole, and the other end of the connecting shaft 221 is movably inserted through the connecting through hole of the bracket 100, so that the electromagnetic chuck 210 can move along the height direction of the bracket 100.

[0080] The elastic floating member 220 may further include a limiting member 222. The limiting member 222 may be connected to the connecting shaft 221 and is located on the side of the bracket 100 away from the electromagnetic chuck 210. In this way, the limiting member 222 can limit the movement range of the connecting shaft 221, thereby helping to reduce the risk of excessive movement of the electromagnetic chuck 210 during operation.

[0081] The elastic floating member 220 may further include a first elastic member 223. The first elastic member 223 may be a spring, a rubber sleeve or a silicone sleeve, etc. The first elastic member 223 can undergo elastic deformation.

[0082] The first elastic member 223 may be sleeved on the outer periphery of the connecting shaft 221 and abuts between the bracket 100 and the electromagnetic chuck 210. Specifically, when the electromagnetic chuck 210 is subjected to a force along the height direction of the bracket 100, the first elastic member 223 can undergo elastic deformation, thereby helping the electromagnetic chuck 210 to float along the height direction of the bracket 100, and further helping to finely adjust the position of the electromagnetic chuck 210 relative to the position of the bracket 100.

[0083] In addition, the first elastic member 223 can play a role in buffering and absorbing external forces, and reduce the impact on the electromagnetic chuck 210 through its own elastic deformation. Moreover, the first elastic member 223 can also effectively reduce the risk of excessive movement of the electromagnetic chuck 210 when subjected to excessive external forces, thereby helping to maintain the stability of the electromagnetic chuck 210.

[0084] Please continue to refer to Figure 9 and Figure 10, in some embodiments, the elastic floating member 220 further includes a second elastic member 224. The second elastic member 224 can undergo elastic deformation, and the second elastic member 224 can be a spring, a silicone sleeve, a rubber sleeve, etc.

[0085] The second elastic member 224 can be sleeved on the outer periphery of the connecting shaft 221 and abutted between the limiting member 222 and the bracket 100. Specifically, the second elastic member 224 can undergo elastic deformation, which helps the second elastic member 224 to form a buffer structure, thereby helping the second elastic member 224 to effectively absorb the impact force between the limiting member 222 and the bracket 100, and further helping to reduce the risk of violent collision between the limiting member 222 and the bracket 100. In addition, since the second elastic member 224 abuts between the limiting member 222 and the bracket 100, the second elastic member 224 effectively absorbs the impact force between the limiting member 222 and the bracket 100, which helps to keep the limiting member 222 stable during movement, and further helps to reduce the risk of loosening or falling off of the limiting member 222 due to vibration or impact.

[0086] In some embodiments, the elastic floating member 220 may further include a lock prevention member 225. The connecting shaft 221 can be threadedly connected to the electromagnetic chuck 210, and the lock prevention member 225 can be threadedly connected to the connecting shaft 221 and abutted between the first elastic member 223 and the electromagnetic chuck 210. Specifically, the connecting shaft 221 can be provided with an external thread, and both the lock prevention member 225 and the electromagnetic chuck 210 can be provided with internal threads. The external thread of the connecting shaft 221 can be screwed with the internal threads of the lock prevention member 225 and the electromagnetic chuck 210. The lock prevention member 225 abuts against the electromagnetic chuck 210, so that the lock prevention member 225 can limit the connecting shaft 221 in the axial direction of the connecting shaft 221, thereby helping the lock prevention member 225 to lock the connecting shaft 221, making the connecting shaft 221 not easily unscrew relative to the electromagnetic chuck 210 and the lock prevention member 225 under the action of external force, and further helping to reduce the risk of loosening of the connecting shaft 221.

[0087] In addition, since the lock prevention member 225 abuts between the first elastic member 223 and the electromagnetic chuck 210, and the first elastic member 223 abuts between the bracket 100 and the lock prevention member 225, the first elastic member 223 can apply a force to the lock prevention member 225 along the axial direction of the connecting shaft 221, which helps the first elastic member 223 to limit the lock prevention member 225 in the axial direction of the connecting shaft 221, thereby helping to reduce the risk of loosening of the lock prevention member 225, and further helping the lock prevention member 225 to lock the connecting shaft 221 more effectively.

[0088] In some embodiments, the robotic arm can be connected to the bracket 100 to drive the gripper device 10 to move. Among them, the shape of the bracket 100 can be designed according to the shape of the workpiece 20, the shape of the electromagnetic gripper 200, the shape of the mechanical gripper 300 and the shape of the locking mechanism 400.

[0089] In this application, unless otherwise clearly stipulated or defined, terms such as "installation" and "connection" shall be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection; it can be a direct connection, or indirectly connected through an intermediate medium, or the communication inside two components, or just surface contact, or surface contact connection through an intermediate medium. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0090] In addition, terms such as "first" and "second" are only used for distinguishing descriptions and cannot be understood as specific or special structures. The description of "some embodiments" means that the specific features, structures, materials or characteristics described in connection with this embodiment or example are included in at least one embodiment or example of this application. In this application, the schematic expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in a suitable manner in any one or more embodiments or examples. In addition, without contradiction, those skilled in the art can combine and combine different embodiments or examples described in this application and the features of different embodiments or examples.

[0091] The above embodiments are only used to illustrate the technical solutions of this application and are not intended to limit them; although this application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements on some of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of each embodiment of this application, and should all be included in the protection scope of this application.

Claims

1. A gripper device, characterized in that, include: Bracket; An electromagnetic gripper, a mechanical gripper and a locking mechanism, wherein the electromagnetic gripper, the mechanical gripper and the locking mechanism are all installed on the bracket, and the electromagnetic gripper and the mechanical gripper can be selectively in a workpiece grasping state or a workpiece releasing state, and the locking mechanism can be selectively in a locked state or an unlocked state. The locking mechanism in the locked state is locked and connected to the mechanical gripper to keep the mechanical gripper in the workpiece grasping state; the locking mechanism in the unlocked state is detached from the mechanical gripper.

2. The gripper device according to claim 1, characterized in that, The mechanical gripper includes a gripper drive and a gripper, wherein the gripper drive is mounted on the bracket, and the gripper is movably mounted on the bracket. The driving end of the gripper drive is connected to the gripper and is suitable for driving the gripper to move relative to the bracket so that the mechanical gripper can be selectively in the workpiece grasping state or the workpiece releasing state. The locking mechanism in the locked state is locked and connected to the gripper, and the locking mechanism in the unlocked state is detached from the gripper.

3. The gripper device according to claim 2, characterized in that, The gripper is hinged to the bracket, and the rotation of the gripper relative to the bracket enables the mechanical gripper to be selectively in a workpiece grasping state or a workpiece releasing state; The locking mechanism includes a locking drive and a locking member, wherein the locking drive is mounted on the bracket, and a driving end of the locking drive is connected to the locking member and is suitable for driving the locking member to move relative to the bracket so that the locking mechanism can be selectively in the locked state or the unlocked state. When the locking mechanism is in the locked state, the locking drive drives the locking member to move to the rotation path of the gripper and restricts the gripper from rotating relative to the bracket; when the locking mechanism is in the unlocked state, the locking drive drives the locking member to move outside the rotation path of the gripper.

4. The gripper device according to claim 3, characterized in that, When the locking mechanism is in the locking state, the locking piece is inserted into the gripper, and when the locking mechanism is in the unlocking state, the locking piece is separated from the gripper.

5. The gripper device according to claim 4, characterized in that, When the locking mechanism is in the locking state, the locking member is further inserted into the bracket.

6. The gripper device according to claim 5, wherein The bracket includes a bracket body and a mechanical gripper connecting frame connected to each other, the gripper driving member is installed on the mechanical gripper connecting frame, the gripper includes a gripper portion and a locking portion connected to each other, the gripper portion is hinged to the driving end of the gripper driving member and the mechanical gripper connecting frame, when the mechanical gripper is in the workpiece grasping state, the locking portion and the mechanical gripper connecting frame are stacked, and there is a gap between the locking portion and the mechanical gripper connecting frame.

7. The gripper device according to claim 6, wherein, The gripper portion includes a hinged sub-portion and an abutment sub-portion that are connected to each other. The hinged sub-portion is hinged to the driving end of the gripper driving member and the mechanical gripper connecting frame. The locking portion is connected to the hinged sub-portion and avoids the abutment sub-portion. When the mechanical gripper is in the workpiece grasping state, the abutment sub-portion extends in the horizontal direction.

8. The gripper device according to claim 7, characterized in that, The gripper portion further includes a hook sub-portion, the abutting sub-portion is connected between the hinge sub-portion and the abutting sub-portion, and the hook sub-portion is opposite to and spaced from the hinge sub-portion.

9. The gripper device according to any one of claims 1 to 8, characterized in that, The electromagnetic gripper includes an electromagnetic chuck and a plurality of elastic floating members, the plurality of elastic floating members are spaced apart, and each elastic floating member is connected to the bracket and the electromagnetic chuck.

10. The gripper device according to claim 9, characterized in that, The elastic floating member includes a connecting shaft, a limiting member and a first elastic member. One end of the connecting shaft is connected to the electromagnetic chuck, the other end of the connecting shaft is movably inserted through the bracket along the height direction of the bracket, the limiting member is connected to the connecting shaft and is located on the side of the bracket away from the electromagnetic chuck, and the first elastic member is sleeved on the outer periphery of the connecting shaft and abuts between the bracket and the electromagnetic chuck.

11. The gripper device according to claim 10, wherein The elastic floating member further includes a second elastic member, the second elastic member is sleeved on the outer periphery of the connecting shaft and abuts between the limiting member and the bracket.

12. The gripper device according to claim 10, characterized in that, The elastic floating member further includes a loosening prevention member, the connecting shaft is threadedly connected to the electromagnetic chuck, and the loosening prevention member is threadedly connected to the connecting shaft and abuts between the first elastic member and the electromagnetic chuck.

13. A gripper device, characterized in that, Comprising: The gripper device according to any one of claims 1 to 12; And A robotic arm, the robotic arm being connected to the gripper device.

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