Gripper structure and system

Abstract

The invention provides a gripper structure and system, and relates to the technical field of induction heating devices, and the gripper structure comprises a movable side gripper mechanism and a fixed side gripper mechanism; the movable side gripper mechanism and the fixed side gripper mechanism are composed of gripper seats, reset assemblies, swing discs, heat insulation discs and gripper bodies, the reset assemblies are connected to the gripper seats, the swing discs are connected with ball heads at one ends of the gripper seats, and the gripper bodies and the heat insulation discs are connected to the swing discs. The movable side gripper mechanism is matched with the fixed side gripper mechanism, so that a clamped object can be clamped and fixed, the reset assembly can reset the gripper body on the gripper seat after the gripper structure completes clamping and fixing, heat transfer of a clamped aluminum bar can be avoided through an arranged heat insulation disc, and the heat insulation disc can be used for clamping the clamped aluminum bar. According to the gripper structure, the heating aluminum bar can be fixed, the structure is simple, the use reliability of the gripper structure is improved, and it is guaranteed that the induction heating device has high heating efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of induction heating devices, and in particular to a gripper structure and system. Background Art

[0002] A robotic gripper is an automated device used for sorting, transporting, grasping, and placing objects. It typically consists of a mechanical structure, sensors, a control system, and an actuator. The gripper's principle is to use sensors to sense the position, shape, and size of the target object, and then control the actuator through the control system to perform precise grasping and placement operations.

[0003] Existing induction heating device grippers utilize electric induction suction cups. While these cups offer strong suction, they must operate in high-temperature environments to grasp and move objects. This characteristic renders them inoperable within heating equipment, potentially leading to gripper failure or performance degradation, making it difficult to maintain gripping force and secure the grip. Because induction heating device grippers operate in high-temperature environments, the materials used must not only possess excellent high-temperature resistance but also sufficient strength and rigidity. Therefore, a gripper structure and system are urgently needed to address these challenges. Summary of the Invention

[0004] The present invention provides a gripper structure and system to solve at least one of the problems raised in the above background technology.

[0005] In order to solve the above technical problems, the present invention discloses a gripper structure, comprising a movable side gripper mechanism and a fixed side gripper mechanism; The mobile side gripper mechanism is provided with a first gripper seat and a first reset assembly, and the first reset assembly is connected to the first gripper seat; The fixed-side gripping mechanism is provided with a second gripping seat and a second reset assembly, and the second reset assembly is connected to the second gripping seat; Two swing plates, the two swing plates are respectively connected to the ball heads at one end of the first gripper seat and one end of the second gripper seat, and the two swing plates are respectively connected to the first reset assembly and the second reset assembly; Two gripper bodies are arranged opposite to each other and are connected to the two swing plates in a one-to-one correspondence.

[0006] Preferably, a heat insulating plate is provided between the gripper body and the swing plate, and the gripper body and the heat insulating plate are connected to the swing plate by bolts.

[0007] Preferably, the first reset assembly includes a first reset spring and a first reset sleeve, one side of the first reset spring is connected to one end of the first gripper seat, and the first reset sleeve is connected to the first gripper seat through the first reset spring; The second reset assembly includes a second reset spring and a second reset sleeve, one side of the second reset spring is connected to the spring support step provided on the second gripper seat, and the second reset sleeve is connected to the second gripper seat through the second reset spring.

[0008] Preferably, the two swinging plates are connected to the first reset sleeve and the second reset sleeve one by one through fixing rings, and the first reset sleeve and the second reset sleeve are connected to the first gripper seat and the second gripper seat one by one through keys, and the two swinging plates are respectively corresponding to the first reset sleeve and the second reset sleeve and are embedded with pins.

[0009] Preferably, the gripper body is made of titanium alloy, and the end of the gripper body adopts a bell-mouth design, and the end surface of the gripper body is provided with a plurality of bosses.

[0010] Preferably, a gripper system includes the above-mentioned gripper structure, and the gripper system also includes a support frame, a clamping mechanism supporting the fixed-side gripper mechanism is provided on one side of the top of the support frame, and guard plates are provided on the front and rear sides of the clamping mechanism, and the bottom of the guard plate is fixedly connected to the top of the support frame, and a fixing mechanism supporting the movable-side gripper mechanism is provided on the other side of the top of the support frame.

[0011] Preferably, the clamping mechanism includes a support plate and a servo motor fixedly mounted on the top of the support frame, a slide groove fixedly mounted on the top of the support plate, a turntable rotatably mounted on the support plate and connected to the servo motor through a rotating shaft, a hinge block slidably mounted in a groove embedded in the support plate, a transmission rod linked to the turntable and the hinge block crank, two clamping blocks slidably mounted in the slide groove, two connecting rods connected to the center of the hinge block and the two clamping blocks, a first spring fixedly mounted between the two clamping blocks, a fixed plate fixedly connected to the side wall of the support plate, and a support block fixedly mounted on one side wall of the fixed plate through a support column.

[0012] Preferably, the fixing mechanism includes a fixing plate 2 fixedly mounted on the top of the support frame, a mounting seat fixedly mounted on the top of the fixing plate 2, a slide rail and an electric telescopic rod fixedly mounted on the mounting seat, a mounting plate slidably mounted on the slide rail and connected to the electric telescopic rod, a fixing rod fixedly mounted on the mounting plate, and a limit block hinged to the top of the mounting plate.

[0013] Preferably, it also includes a gripper performance detection device for detecting the clamping force of the gripper body when the gripper structure clamps the object, and the gripper performance detection device includes: A force sensor for detecting the thrust applied by the drive device when the gripper body clamps an object; Angle sensor, used to detect the angle of rotation of the gripper body relative to the gripper base when clamping an object; A torque sensor is used to detect the torque of the gripper body when the gripper body is connected to the gripper base when clamping the object; A controller and an alarm are provided. The controller is electrically connected to the force sensor, the angle sensor, the torque sensor and the alarm. The controller controls the alarm to work based on the force sensor, the angle sensor and the torque sensor.

[0014] Preferably, the controller controls the alarm based on the force sensor, angle sensor and torque sensor to operate, including: Calculate the yield clamping force of the gripper body when the gripper structure clamps the object based on the formula and the detection values obtained by the force sensor, angle sensor and torque sensor The controller compares the yield clamping force of the gripper body when the current gripper structure is clamping the object. Compared with the preset yield clamping force range of the gripper body, if the yield clamping force of the gripper body is less than the yield clamping force of the gripper body when the current gripper structure is clamping the object, When the gripper body is out of the preset yield clamping force range, the controller controls the alarm to sound an alarm; ; in, The yield clamping force of the gripper body when the gripper structure clamps the object. is the diameter of the gripper body’s clamping surface, F is the detection value of the force sensor on the gripper body’s thrust applied by the driving device when clamping an object, is the cross-sectional area of the gripper seat to which the gripper body is connected, is the diameter of the gripper seat to which the gripper body is connected, The angle sensor detects the rotation angle of the gripper body relative to the gripper base when clamping an object. is the friction coefficient of the gripper seat to which the gripper body is connected, , The maximum torque of the gripper body connected to the gripper seat, The torque sensor detects the torque of the gripper body when it is clamping the object. is the torque coefficient, It is the length of the gripper base connected to the gripper body.

[0015] The gripper structure and system provided by the present invention have the following beneficial effects compared with the prior art: 1. The movable side gripper mechanism and the fixed side gripper mechanism provided by the gripper structure can realize the clamping and fixing of the clamped object, wherein the reset component can realize the reset of the gripper body on the gripper seat after the gripper structure completes the clamping and fixing, and the provided heat insulation plate can avoid the heat transfer of the clamped aluminum rod. The above-mentioned gripper structure can fix the heated aluminum rod, and has a simple structure, which improves the reliability of the use of the gripper structure. At the same time, the structure can be used in high temperature environments, and the manufacturing material has good high temperature resistance and sufficient strength and rigidity.

[0016] 2. The gripping mechanism and fixing mechanism provided by the gripping system cooperate with each other to realize the storage of the disassembled gripping structure, thus avoiding damage to the gripping structure. At the same time, the gripping structure can be inspected and maintained, thereby increasing the service life of the gripping structure. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the present invention or the prior art, a brief introduction is given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0018] Figure 1 A schematic structural diagram of a gripper structure provided by an embodiment of the present invention; Figure 2 A schematic structural diagram of a gripper body of a gripper structure provided by an embodiment of the present invention; Figure 3 A schematic structural diagram of a gripper system provided by an embodiment of the present invention; Figure 4 A left-side structural schematic diagram of the connection between a clamping mechanism and a support frame of a gripper system provided in an embodiment of the present invention.

[0019] Reference numerals: 1. Mobile side gripper mechanism; 2. Fixed side gripper mechanism; 3. First gripper seat; 4. First reset assembly; 401. First reset spring; 402. First reset sleeve; 5. Second gripper seat; 6. Second reset assembly; 601. Second reset spring; 602. Second reset sleeve; 7. Swing plate; 8. Gripper body; 9. Insulation plate; 10. Spring support step; 11. Key; 12. Fixing ring; 13. Pin; 14. Boss; 15. Support frame; 16. Clamping mechanism ; 17. Guard plate; 18. Fixing mechanism; 19. Support plate; 20. Slide groove; 21. Servo motor; 22. Rotating shaft; 23. Turntable; 24. Hinge block; 25. Groove; 26. Transmission rod; 27. Connecting rod; 28. Clamping block; 29. First spring; 30. Fixing plate one; 31. Support block; 32. Support column; 33. Fixing plate two; 34. Mounting seat; 35. Slide rail; 36. Electric telescopic rod; 37. Mounting plate; 38. Limit block; 39. Fixing rod. DETAILED DESCRIPTION

[0020] To make the objectives, technical solutions, and advantages of the present invention more clear, the technical solutions of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the embodiments described are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts shall fall within the scope of protection of the present invention.

[0021] The present invention provides the following embodiments Example 1 The embodiment of the present invention provides a gripping structure, such as Figure 1-Figure 2 As shown, it includes a mobile side gripper mechanism 1 and a fixed side gripper mechanism 2; The mobile side gripper mechanism 1 is provided with a first gripper seat 3 and a first reset component 4, and the first reset component 4 is connected to the first gripper seat 3; The fixed-side gripper mechanism 2 is provided with a second gripper seat 5 and a second reset assembly 6, and the second reset assembly 6 is connected to the second gripper seat 5; Two swing plates 7, the two swing plates 7 are respectively connected to the ball heads at one end of the first gripper seat 3 and one end of the second gripper seat 5, and the two swing plates 7 are respectively connected to the first reset assembly 4 and the second reset assembly 6; The two gripper bodies 8 are arranged opposite to each other and are connected to the two swing plates 7 in a one-to-one correspondence.

[0022] Preferably, a heat insulating plate 9 is provided between the gripper body 8 and the swing plate 7 , and the gripper body 8 and the heat insulating plate 9 are connected to the swing plate 7 by bolts.

[0023] Preferably, the first reset assembly 4 includes a first reset spring 401 and a first reset sleeve 402, one side of the first reset spring 401 is connected to one end of the first gripper seat 3, and the first reset sleeve 402 is connected to the first gripper seat 3 through the first reset spring 401; The second reset assembly 6 includes a second reset spring 601 and a second reset sleeve 602. One side of the second reset spring 601 is connected to the spring support step 10 provided on the second gripper seat 5, and the second reset sleeve 602 is connected to the second gripper seat 5 through the second reset spring 601.

[0024] Preferably, the two swing plates 7 are connected to the first reset sleeve 402 and the second reset sleeve 602 one by one through a fixing ring 12, and the first reset sleeve 402 and the second reset sleeve 602 are connected to the first gripper seat 3 and the second gripper seat 5 one by one through a key 11, and two pins 13 are circumferentially symmetrically embedded between the two swing plates 7 and the first reset sleeve 402 and the second reset sleeve 602.

[0025] Preferably, the gripper body 8 is made of titanium alloy, and the end of the gripper body 8 adopts a bell-mouth design, and the end surface of the gripper body 8 is provided with a plurality of bosses 14.

[0026] The working principle and beneficial effects of the above technical solution are: A gripping structure provided by an embodiment of the present invention includes a mobile side gripping mechanism 1 and a fixed side gripping mechanism 2. Both the mobile side gripping mechanism 1 and the fixed side gripping mechanism 2 are composed of a gripping seat, a reset assembly, a swing plate, a heat insulation plate and a gripping body. When the gripping mechanism clamps an object, one side of the first gripping seat 3 of the mobile side gripping mechanism 1 is installed on the driving device by bolts, while one side of the second gripping seat 5 of the fixed side gripping mechanism 2 is installed on the fixing device by bolts. When the gripping mechanism is required to clamp an object, the driving device drives the mobile side gripping mechanism 1 to gradually approach the fixed side gripping mechanism 2, thereby achieving the clamping and fixing of the object; when the gripping mechanism completes the clamping operation, the reset assembly connected to the mobile side gripping mechanism 1 includes a first reset spring 401 and a first reset sleeve 402, and one side of the first reset spring 401 is connected to the first One end of the gripper seat 3 is connected, and the first reset sleeve 402 is connected to the first gripper seat 3 through the first reset spring 401. The reset component connected to the fixed side gripper mechanism 2 includes a second reset spring 601 and a second reset sleeve 602. One side of the second reset spring 601 is connected to the spring support step 10 set in the second gripper seat 5, and the second reset sleeve 602 is connected to the second gripper seat 5 through the second reset spring 601. At this time, relying on the elastic force of the first reset spring 401 and the second reset spring 601, the gripper bodies 8 on both sides can be reset and the objects can be clamped and fixed.

[0027] The above-mentioned swing plate 7 is connected to the reset sleeve through a fixing ring 12, and the gripper seat and the swing plate 7 are connected through a ball head, which can facilitate the gripper body 8 to adapt to the uneven end surface of the object and the change of the angle of the gripper body 8 when clamping the object, and can more reliably achieve the fixation of the object. A heat insulation plate 9 is provided between the gripper body 8 and the swing plate 7, which can achieve heat insulation of the gripper body 8 for clamped objects such as aluminum bars, avoid large heat conduction and heat generation of the gripper body 8, thereby affecting the reliability of the gripper structure, and can overcome the large temperature difference range of various parts of the aluminum bar causing unstable clamping of the gripper structure; the gripper body 8 and the heat insulation plate 9 are connected to the swing plate 7 by bolts, and two pins are circumferentially symmetrically embedded between the swing plate 7 and the reset sleeve, which are connected with the gripper seat through a key 11, which can achieve a stable connection of the gripper body 8 while also enabling the gripper mechanism to use the key 11 to transmit torque, making the clamping more stable.

[0028] Secondly, the gripper body 8 is made of titanium alloy, and the end of the gripper body 8 adopts a trumpet-mouth design. At the same time, a number of bosses 14 are provided on the end face of the gripper body 8. The above design can not only reduce the heat transfer of the high-temperature object to protect the swing plate 7, the gripper seat and other subsequent connected components, but also adapt to the uneven end face of the object to ensure that the axis of the high-temperature object is consistent with the axis of the induction heating equipment and the uniform gradient heating of the object, and at the same time increase the torque transmission between the object and the gripper body.

[0029] The above-mentioned gripper structure can achieve the clamping and fixing of the clamped object through the setting of the movable side gripper mechanism 1 and the fixed side gripper mechanism 2, wherein the reset component can realize the reset of the gripper body 8 on the gripper seat after the gripper structure completes the clamping and fixing, and the set insulation plate 9 can avoid heat transfer of the clamped object. The above-mentioned gripper structure can achieve the fixation of the heated aluminum rod, and has a simple structure, which improves the reliability of the use of the gripper structure. At the same time, the structure can be used in high temperature environments, and the manufacturing material has good high temperature resistance and sufficient strength and rigidity.

[0030] Example 2 On the basis of Example 1, Figure 3-Figure 4 As shown, a gripper system includes the gripper structure described above, and the gripper system also includes a support frame 15, and a clamping mechanism 16 supporting the fixed-side gripper mechanism 2 is provided on one side of the top of the support frame 15, and guard plates 17 are provided on the front and rear sides of the clamping mechanism 16, and the bottom of the guard plate 17 is fixedly connected to the top of the support frame 15, and a fixing mechanism 18 supporting the movable-side gripper mechanism 1 is provided on the other side of the top of the support frame 15.

[0031] Preferably, the clamping mechanism 16 includes a support plate 19 and a servo motor 21 fixedly mounted on the top of the support frame 15, a slide groove 20 fixedly mounted on the top of the support plate 19, a turntable 23 rotatably mounted on the support plate 19 and connected to the servo motor 21 through a rotating shaft 22, a hinge block 24 slidably mounted in a groove 25 embedded in the support plate 19, a transmission rod 26 crank-linked with the turntable 23 and the hinge block 24, two clamping blocks 28 slidably mounted in the slide groove 20, two connecting rods 27 connected to the center of the hinge block 24 and the two clamping blocks 28, a first spring 29 fixedly mounted between the two clamping blocks 28, a fixed plate 30 fixedly connected to the side wall of the support plate 19, and a support block 31 fixedly mounted on the side wall of the fixed plate 30 through a support column 32.

[0032] Preferably, the fixing mechanism 18 includes a fixing plate 2 33 fixedly mounted on the top of the support frame 15, a mounting seat 34 fixedly mounted on the top of the fixing plate 2 33, a slide rail 35 and an electric telescopic rod 36 fixedly mounted on the mounting seat 34, a mounting plate 37 slidably mounted on the slide rail 35 and connected to the electric telescopic rod 36, a fixing rod 39 fixedly mounted on the mounting plate 37, and a limit block 38 hinged to the top of the mounting plate 37.

[0033] The working principle and beneficial effects of the above technical solution are: The above-mentioned gripping system facilitates the placement of the gripping structure after disassembly by means of the clamping mechanism 16 and the fixing mechanism 18 provided at the top of the support frame 15, thereby avoiding damage to the gripping structure caused by random discarding and safety hazards caused by improper storage. Secondly, the clamping mechanism 16 fixes the fixed-side gripping mechanism 2, while the fixing mechanism 18 fixes the movable-side gripping mechanism 1, so that after the gripping structure is fixed and placed, it is convenient for the staff to inspect and maintain it, thereby improving the service life and work efficiency of the gripping structure and greatly reducing the work intensity of the staff. When the clamping mechanism 16 needs to fix the fixed-side gripping mechanism 2, it is only necessary to place the middle part of the second gripping seat 5 of the fixed-side gripping mechanism 2 on the support block 31, and at the same time, the servo motor 21 is started, driving the rotating shaft 22 fixedly connected to the servo motor 21 to rotate, so that the turntable 23 fixedly mounted on the rotating shaft 22 rotates synchronously, driving one end of the transmission rod 26 hinged away from the center of the turntable 23 to move up and down. At this time, the transmission rod 26 drives the hinge block 24 to move up and down along the groove 25, and at the same time, the hinged block 24 is hinged at The two connecting rods 27 on the hinge block 24 drive the two clamping blocks 28 to move closer to each other along the slide groove 20 as the hinge block 24 moves up and down, thereby fixing the two clamping blocks 28 to the second gripper seat 5. When it needs to be removed, the servo motor 21 only needs to rotate in the opposite direction to make the two clamping blocks 28 gradually separate. At this time, the fixed side gripper mechanism 2 can be removed from the clamping mechanism 16, and the first spring 29 fixedly connected to the two clamping blocks 28 can provide a buffer for it by relying on the elastic force, and at the same time facilitate the two clamping blocks 28 to return to their initial positions. By extending and retracting the electric telescopic rod 36 installed on the mounting seat 34, the mounting plate 37 can be driven to move left and right along the slide rail 35. At the same time, the first gripper seat 3 of the mobile side gripper mechanism 1 can be slidably connected to the fixed rod 39, and the limit block 38 hinged on the top of the mounting plate 37 is moved to realize the installation of the mobile side gripper mechanism 1 on the fixed mechanism 18. The position of the mobile side gripper mechanism 1 can be adjusted in conjunction with the left and right movement of the mounting plate 37, thereby facilitating the operator to perform various inspections and maintenance on the entire gripper structure, thereby improving the maintenance efficiency and service life of the gripper.

[0034] The clamping mechanism 16 and the fixing mechanism 18 provided by the gripper system cooperate with each other to store the disassembled gripper structure, thereby avoiding damage to the gripper structure. At the same time, the gripper structure can be inspected and maintained, thereby increasing the service life of the gripper structure.

[0035] Example 3 On the basis of embodiment 1 or 2, it further includes a gripper performance detection device for detecting the clamping force of the gripper body 8 when the gripper structure clamps the object. The gripper performance detection device includes: A force sensor for detecting the thrust applied by the driving device when the gripper body 8 clamps an object; An angle sensor, used to detect the angle of rotation of the gripper body 8 relative to the gripper base when clamping an object; A torque sensor for detecting the torque of the gripper body 8 connected to the gripper seat when clamping an object; A controller and an alarm are provided. The controller is electrically connected to the force sensor, the angle sensor, the torque sensor and the alarm. The controller controls the alarm to work based on the force sensor, the angle sensor and the torque sensor.

[0036] Preferably, the controller controls the alarm based on the force sensor, angle sensor and torque sensor to operate, including: According to the formula and the detection values obtained by the force sensor, angle sensor and torque sensor, the yield clamping force of the gripper body 8 when the gripper structure clamps the object is calculated. The controller compares the yield clamping force of the gripper body 8 when the current gripper structure is clamping the object. With the preset yield clamping force range of the gripper body 8, if the yield clamping force of the gripper body 8 is less than the yield clamping force of the gripper body 8 when the current gripper structure is clamping the object, When the gripper body 8 is not within the preset yield clamping force range, the controller controls the alarm to sound an alarm; ; in, is the yield clamping force of the gripper body 8 when the gripper structure clamps the object, is the diameter of the clamping surface of the gripper body 8, F is the detection value of the thrust applied by the driving device to the gripper body 8 when clamping an object, is the cross-sectional area of the gripper seat to which the gripper body 8 is connected, is the diameter of the gripper seat to which the gripper body 8 is connected, is the cosine function, is the detection value of the angle sensor on the rotation angle of the gripper body 8 relative to the gripper base when clamping an object, , is the friction coefficient of the gripper seat to which the gripper body 8 is connected, is the maximum torque of the gripper seat connected to the gripper body 8 (which can be obtained by looking up the table based on the thrust value applied by the gripper body 8 when clamping the object), is the detection value of the torque sensor on the gripper body 8 when it is clamping the object. is the torque coefficient (generally 0.84), It is the length of the gripper seat to which the gripper body 8 is connected.

[0037] The beneficial effects of the above technical solution are as follows: first, based on the formula and the detection values of the force sensor, angle sensor and torque sensor, the yield clamping force of the gripper body 8 when the gripper structure clamps the object is calculated; by comprehensively considering the diameter of the clamping surface of the gripper body 8, the thrust applied by the driving device when the gripper body 8 clamps the object, the cross-sectional area of the gripper seat to which the gripper body 8 is connected, the diameter of the gripper seat to which the gripper body 8 is connected, the angle of rotation of the gripper body 8 relative to the gripper seat when clamping the object, the friction coefficient of the gripper seat to which the gripper body 8 is connected, the torque and torque coefficient of the gripper seat to which the gripper body 8 is connected when clamping the object, and the length of the gripper seat to which the gripper body 8 is connected, the calculation result is made more accurate and reliable; The controller controls the operation of the force sensor, angle sensor, torque sensor and alarm. When the yield clamping force of the gripper body 8 is not within the preset yield clamping force range of the gripper body 8 when the actual gripper structure clamps the object, the controller controls the alarm to sound an alarm, thereby reminding the staff to promptly inspect the gripper body 8 and the gripper seat on the gripper structure, and perform maintenance on the gripper mechanism according to the actual inspection results to maintain the use requirements of the gripper body 8, while ensuring the normal working state of the gripper structure and the reliability of the gripper mechanism's clamping, and effectively improving the gripper structure's use requirements for operational reliability and stability. By real-time monitoring of the working state of the gripper body 8 during operation, not only is the gripper structure's reliability in clamping objects increased, but it also ensures that the gripper body 8 can be quickly discovered and replaced in a timely manner after a fault occurs.

[0038] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A gripper structure, characterized in that: It comprises a movable side gripping mechanism (1) and a fixed side gripping mechanism (2); The mobile-side gripping mechanism (1) is provided with a first gripping seat (3) and a first reset assembly (4), wherein the first reset assembly (4) is connected to the first gripping seat (3); The fixed-side gripping mechanism (2) is provided with a second gripping seat (5) and a second reset assembly (6), and the second reset assembly (6) is connected to the second gripping seat (5); Two swinging plates (7), the two swinging plates (7) are respectively connected to the ball heads of one end of the first gripping seat (3) and one end of the second gripping seat (5), and the two swinging plates (7) are respectively connected to the first reset assembly (4) and the second reset assembly (6); Two gripper bodies (8) are arranged opposite to each other and are connected to the two swing plates (7) in a one-to-one correspondence.

2. A gripper structure according to claim 1, characterized in that: A heat insulation disc (9) is provided between the gripper body (8) and the swing disc (7), and the gripper body (8) and the heat insulation disc (9) are connected to the swing disc (7) via bolts.

3. A gripper structure according to claim 1, characterized in that: The first reset assembly (4) comprises a first reset spring (401) and a first reset sleeve (402), one side of the first reset spring (401) is connected to one end of the first gripper seat (3), and the first reset sleeve (402) is connected to the first gripper seat (3) via the first reset spring (401); The second reset assembly (6) comprises a second reset spring (601) and a second reset sleeve (602), one side of the second reset spring (601) is connected to a spring support step (10) provided on the second gripper seat (5), and the second reset sleeve (602) is connected to the second gripper seat (5) via the second reset spring (601).

4. A gripper structure according to claim 3, characterized in that: The two swinging plates (7) are connected to the first reset sleeve (402) and the second reset sleeve (602) in a one-to-one correspondence through a fixing ring (12), and the first reset sleeve (402) and the second reset sleeve (602) are connected to the first gripper seat (3) and the second gripper seat (5) in a one-to-one correspondence through a key (11), and the two swinging plates (7) are respectively embedded with a pin (13) in a one-to-one correspondence with the first reset sleeve (402) and the second reset sleeve (602).

5. The gripping structure according to claim 1, characterized in that: The gripper body (8) is made of titanium alloy, and the end of the gripper body (8) adopts a bell-mouth design, and the end surface of the gripper body (8) is provided with a plurality of bosses (14).

6. A gripper system, comprising a gripper structure according to any one of claims 1 to 5, characterized in that: The gripping system further comprises a support frame (15), a clamping mechanism (16) for supporting the fixed-side gripping mechanism (2) being provided on one side of the top of the support frame (15), guard plates (17) being provided on the front and rear sides of the gripping mechanism (16), and the bottom of the guard plate (17) being fixedly connected to the top of the support frame (15), and a fixing mechanism (18) for supporting the movable-side gripping mechanism (1) being provided on the other side of the top of the support frame (15).

7. A gripper system according to claim 6, characterized in that: The clamping mechanism (16) comprises a support plate (19) and a servo motor (21) fixedly mounted on the top of the support frame (15), a slide groove (20) fixedly mounted on the top of the support plate (19), a turntable (23) rotatably mounted on the support plate (19) and connected to the servo motor (21) via a rotating shaft (22), a hinge block (24) slidably mounted in a groove (25) embedded in the support plate (19), a transmission rod (26) linked to the crank of the turntable (23) and the hinge block (24), two clamping blocks (28) slidably mounted in the slide groove (20), two connecting rods (27) connected to the center of the hinge block (24) and the two clamping blocks (28), a first spring (29) fixedly mounted between the two clamping blocks (28), a fixed plate (30) fixedly connected to the side wall of the support plate (19), and a support block (31) fixedly mounted on the side wall of the fixed plate (30) via a support column (32).

8. The gripper system according to claim 6, characterized in that: The fixing mechanism (18) comprises a second fixing plate (33) fixedly mounted on the top of the support frame (15), a mounting seat (34) fixedly mounted on the top of the second fixing plate (33), a slide rail (35) and an electric telescopic rod (36) fixedly mounted on the mounting seat (34), a mounting plate (37) slidably mounted on the slide rail (35) and connected to the electric telescopic rod (36), a fixing rod (39) fixedly mounted on the mounting plate (37), and a limit block (38) hinged to the top of the mounting plate (37).

9. The gripper system according to claim 6, characterized in that: The invention also includes a gripper performance detection device for detecting the clamping force of the gripper body (8) when the gripper structure clamps an object. The gripper performance detection device includes: A force sensor for detecting the thrust applied by the driving device when the gripper body (8) clamps an object; An angle sensor for detecting the angle at which the gripper body (8) rotates relative to the gripper seat when clamping an object; A torque sensor for detecting the torque of the gripper body (8) connected to the gripper seat when the gripper body (8) is clamping an object; A controller and an alarm are provided. The controller is electrically connected to the force sensor, the angle sensor, the torque sensor and the alarm. The controller controls the alarm to work based on the force sensor, the angle sensor and the torque sensor.

10. The gripper system according to claim 9, characterized in that: The controller controls the alarm based on the force sensor, the angle sensor and the torque sensor to operate, including: According to the formula and the detection values obtained by the force sensor, the angle sensor and the torque sensor, the yield clamping force of the gripper body (8) when the gripper structure clamps the object is calculated. The controller compares the yield clamping force of the gripper body (8) when the gripper structure is clamping the object. With the preset yield clamping force range of the gripper body (8), if the yield clamping force of the gripper body (8) when the current gripper structure is clamping the object is When the gripper body (8) is not within the preset yield clamping force range, the controller controls the alarm to sound an alarm; ； in, is the yield clamping force of the gripper body (8) when the gripper structure clamps the object, is the diameter of the clamping surface of the gripper body (8), is the detection value of the thrust applied by the force sensor to the gripper body (8) when clamping an object, is the cross-sectional area of the gripper seat to which the gripper body (8) is connected, is the diameter of the gripper seat to which the gripper body (8) is connected, is the detection value of the angle sensor on the rotation angle of the gripper body (8) when the gripper body clamps the object, is the friction coefficient of the gripper seat to which the gripper body (8) is connected, , is the maximum torque of the gripper seat to which the gripper body (8) is connected, is the detection value of the torque of the gripper body (8) connected to the gripper seat when the gripper body (8) is clamping the object, is the torque coefficient, It is the length of the gripper seat to which the gripper body (8) is connected.

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