Clamping jaw device

Abstract

The invention provides a clamping jaw device. The clamping jaw device comprises a movable frame part, a clamping part and an actuating part, the movable frame part is provided with a first through hole, and the position of the movable frame part is changed by means of first linear displacement motion. The clamping part is used for clamping an object, the clamping part is provided with a clamping structure which is contained in the first through hole, and the clamping structure is provided with a containing space used for containing the object. The actuating part is used for pushing the moving frame part to perform first linear displacement movement when the object is located in the accommodating space, so that the moving frame part pushes the clamping structure to clamp the object.

Description

Technical Field

[0001] This invention relates to a technique for grasping objects, specifically a gripper device that requires no external power.

[0002] This application requests the right to apply for Taiwan Patent Application No. 113143886, filed on November 14, 2024, the entire contents of which are incorporated herein by reference. Background Technology

[0003] With the advancement of technology, automated equipment is increasingly being widely used in modern industrial production and manufacturing. Generally speaking, automation refers to the process by which machines and equipment execute programs or instructions through their internal processing units without manual operation, and then take corresponding actions based on the results of these actions, thereby achieving the goal of automated production and manufacturing.

[0004] In the field of mechanical automation, mechanized automatic gripping is a major application. Generally, gripping devices mainly consist of mechanical grippers and robotic arms to accurately grasp items, replacing manual labor. However, in actual use, due to the different characteristics of different items, the applicability of mechanical grippers is somewhat limited. Mechanical grippers mainly apply clamping force to the items through two or more sets of gripper joints to grasp them. However, some items have smooth surfaces and are prone to slipping after being gripped. If the clamping force applied by the gripper joints is increased, it can easily damage the surface of the item.

[0005] Furthermore, conventional mechanical gripper mechanisms require additional power components, such as drive motors and pneumatic cylinders, which not only take up space but also limit their application range due to space constraints in the application environment. In addition, adding extra power components also increases manufacturing costs.

[0006] In summary, a gripper device is needed to address the problems of conventional technology. The information disclosed in the above background section is merely to enhance understanding of the background technology of this invention; therefore, the above content includes prior art that does not hinder this invention and should be well known to those skilled in the art. Summary of the Invention

[0007] The present invention provides a gripper device that, through the design of the mechanism and elastic components, enables the gripper device of the present invention to grip and release objects without the need for an additional power source.

[0008] The present invention provides a gripper device that grips the surface of the object to be tested from the outside in, avoiding the drawback of rubbing against the surface of the object and thus preventing scratches on the object surface.

[0009] In one embodiment, the present invention provides a gripper device, including a fixed plate, a movable frame, a gripping part, and an actuating part. The fixed plate has a through hole. The movable frame performs a first linear displacement movement relative to the fixed plate within the through hole, and the movable frame has a first through hole. The gripping part is used to grip an object, and the gripping part has a clamping structure disposed within the first through hole. The clamping structure has a clamping frame, and the gripping part performs a second linear displacement movement relative to the fixed plate, causing the clamping frame to pass through the first through hole and placing the object within the receiving space. When the object is located within the receiving space, the actuating part pushes the movable frame to perform the first linear displacement movement, causing the movable frame to push the clamping frame to grip the object.

[0010] To make the above objectives, technical features, and benefits after actual implementation more apparent and understandable, the following text will provide a more detailed explanation using better implementation examples and corresponding diagrams. Attached Figure Description

[0011] The invention will be more fully understood from the accompanying drawings and detailed description; therefore, the following drawings are for illustrative purposes only and do not limit the scope of the claims.

[0012] Figure 1A This is a three-dimensional assembly schematic diagram of one embodiment of the gripper device of the present invention;

[0013] Figure 1B This is a schematic diagram of the gripper device assembly of the present invention;

[0014] Figure 1C and Figure 1D They are respectively Figure 1B Schematic diagram of the gripper device AA and BB in cross sections;

[0015] Figure 2 This is a three-dimensional schematic diagram of the fixing plate in this case;

[0016] Figure 3 This is a schematic diagram of the movable frame of the present invention;

[0017] Figure 4A and Figure 4B These are perspective schematic diagrams of different sides of the movable plate embodiment of the present invention;

[0018] Figure 5 This is a three-dimensional schematic diagram of an embodiment of the clamping structure of the present invention;

[0019] Figure 6A and Figure 6B This is a perspective and cross-sectional schematic diagram of the movable frame portion of the present invention;

[0020] Figure 7 This is a three-dimensional schematic diagram of one embodiment of the push plate of the present invention;

[0021] Figures 8A to 8F This is a schematic diagram illustrating the action of the clamping device of the present invention in clamping an object;

[0022] Figures 9A to 9C This is a schematic diagram of the object release action of the gripping device of the present invention;

[0023] Figure 10A This is an exploded perspective view of another embodiment of the gripper device of the present invention;

[0024] Figures 10B to 10C for Figure 10A Combination of stereoscopic images from different perspectives;

[0025] Figure 11A This is a three-dimensional schematic diagram of an embodiment of the gripping part;

[0026] Figure 11B This is a perspective view of another embodiment of the clamping structure of the present invention;

[0027] Figure 11C This is a perspective view of another embodiment of the movable frame portion of the present invention;

[0028] Figures 12A to 12C for Figure 10A The diagram shows the operation of the gripper device.

[0029] Figures 12D to 12E for Figure 10A The diagram shows the relationship between the moving frame and the clamping structure.

[0030] Explanation of reference numerals in the attached figures:

[0031] 2-Gripper device; 20-Fixing plate; 20A-First surface; 20B-Second surface; 20C, 20D-First side groove; 20E-First guide rail hole; 20F-Guide through hole; 20G-Second abutment hole; 20H-First abutment hole; 200-Through hole; 21-Moving frame; 210-First through hole; 212, 213-Side blocks; 214-First receiving groove; 215-Snap-on structure; 216-Abutment surface; 22-Gripper; 220-Moving plate; 220a-Third through hole; 220b-Fourth through hole; 220c-Second guide rail hole; 220d-Third abutment hole; 220e-Fourth abutment hole; 220f-First locking hole; 220g-Second locking hole; 220h-Second side groove; 22 0A - First surface; 220B - Second surface; 221 - Clamping structure; 221a - Hollow channel; 221b - Clamping frame; 221c - Clamping component 221c; 221d - Gap; 221e - Second protrusion structure; 23 - Actuating part; 230 - Push plate; 230a - Fifth through hole; 230b - Sixth through hole; 230c - Guide through hole; 230d - Third guide rail hole; 230e - Fifth abutment hole; 230A - First surface; 230B - Second surface; 231 - Push rod; 231a - Abutment part; 231b - Push post; 24a - First elastic recovery assembly; 24b - Second elastic recovery assembly; 24c - Third elastic recovery assembly; 25a, 25b - Fixing assembly; 28 - Guide post;

[0032] 3, 4 - Support plate; 30 - Object; 31 - Guide post hole; 40 - Unlocking part; 41 - Unlocking surface; 42 - Guide post hole;

[0033] 5-Gripper device; 50, 50a-Fixing plate; 50A-First surface; 500-Through hole; 501-First abutting hole; 502-First guide hole; 503-First locking hole; 50B-Second surface; 51, 51a-Moving frame; 51A-First surface; 51B-Second surface; 510-First through hole; 511-Second abutting hole; 512-Second guide hole; 513-Third guide hole; 52-Clamping device 520, 520a - clamping structure; 521 - clamping rod; 521a - first clamping protrusion; 521b - second clamping protrusion; 521c, 521d - inclined surface; 522 - positioning rod; 523 - accommodating space; 53, 53a - actuating part; 54 - fixing assembly; 55 - guide rod; 57 - support member; 570 - support surface; -60 - bearing platform; 61 - top column; OB - object. Detailed Implementation

[0034] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0035] The advantages and features of the present invention, as well as the methods of achieving them, will be more readily understood by referring to exemplary embodiments and accompanying drawings. However, the invention may be implemented in various forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments provided will, to those skilled in the art, make the scope of the invention more thorough, complete, and fully conveyed by this disclosure, and the invention will be defined only as defined in the appended claims. In the figures, the dimensions and relative dimensions of components are shown in an exaggerated manner for clarity. Throughout the specification, certain different component symbols may refer to the same component. As used herein, the terms "and / or" include any and all combinations of one or more of the associated listed objects.

[0036] Unless otherwise defined, all terms used herein (including technical and scientific terms) shall have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. It will be further understood that terms defined, for example, in commonly used dictionaries, shall be understood to have the same meaning as those in the relevant field, and unless explicitly defined herein, shall be understood in the general sense as commonly understood by one of ordinary skill in the art to which this invention pertains.

[0037] The following detailed description of illustrative embodiments, accompanied by accompanying drawings, is provided. However, these embodiments may be included in different forms and should not be construed as limiting the scope of the claims of this invention. These embodiments are provided to make the disclosure of this invention complete and clear, and those skilled in the art will be able to understand the scope of this invention through these embodiments.

[0038] The specific technical solution of this utility model will be further explained clearly and completely below with reference to specific embodiments.

[0039] Please see Figures 1A to 1D as well as Figure 2 and Figure 3 As shown, where Figure 1A This is an exploded perspective view of the gripper device of the present invention; Figure 1B This is a schematic diagram of the gripper device assembly of the present invention; Figure 1C and Figure 1D They are respectively Figure 1B Schematic diagram of the gripper device AA and BB in cross sections; Figure 2 This is a three-dimensional schematic diagram of the fixing plate in this case; and Figure 3This is a schematic diagram of the movable frame portion of the present invention. In this embodiment, the gripper device includes a fixed plate 20, a movable frame portion 21, a gripping portion 22, and an actuating portion 23. The fixed plate 20 has a first surface 20A and a second surface 20B. The fixed plate 20 has a through hole 200 penetrating the first surface 20A and the second surface 20B, a plurality of first guide rail holes 20E penetrating the first surface 20A and the second surface 20B, and a plurality of guide through holes 20F penetrating the first surface 20A and the second surface 20B. A plurality of first abutment holes 20H are formed on the side of the second surface 20B, and first side grooves 20C and 20D are formed on both sides of the through hole 200. Figure 2 As shown, a second abutment hole 20G is formed on the bottom surface of the first side groove 20C and 20D.

[0040] The movable frame portion 21 performs a first linear displacement movement relative to the fixed plate 20 within the through hole 200. The movable frame portion 21 has a first through hole 210, and side blocks 212 and 213 corresponding to the first side grooves 20C and 20D on its two sides, respectively. Each side block 212 and 213 has a corresponding first receiving groove 214 at the position corresponding to the second abutment hole 20G. A first elastic recovery component 24a, which is a spring in this embodiment, is provided between the first receiving groove 214 and the corresponding second abutment hole 20G. One end of the first elastic recovery component 24a is received in the first receiving groove 214, and the other end is received in the second abutment hole 20G, so that the movable frame portion 21 can compress the first elastic recovery component 24a when subjected to force and performing the first linear displacement movement, and then return to the initial position by the restoring force of the first elastic recovery component 24a after the force disappears. The first through hole 210 of the movable frame portion 21 has a first protrusion structure 211 on the inner wall corresponding to the second surface 20B. The outer side of the movable frame 21 has a snap-fit ​​structure 212, which is a cantilever structure that can bend under force and return to its original position after the force is removed.

[0041] The gripping part 22 is used to grip objects, and the gripping part 22 further includes a movable plate 220, a clamping structure 221, and a second elastic recovery component 24b. Please refer to Figures 1 and 4. Figure 4B As shown, where, Figure 4A and Figure 4BThis is a perspective view of different sides of the movable plate embodiment of the present invention. In this embodiment, the movable plate 220 has a first side 220A and a second side 220B. On the first side 220A, there are a third through hole 220a corresponding to the first through hole 210 and penetrating the first side 220A and the second side 220B, a plurality of fourth through holes 220b penetrating the first side 220A and the second side 220B and corresponding to the movable frame portion 21, a plurality of second guide rail holes 220c penetrating the first side 220A and the second side 220B, a plurality of third abutment holes 220d formed on the first side 220A, a plurality of fourth abutment holes 220e formed on the second side 220B, a plurality of first locking holes 220f formed on the first side 220A, and a plurality of second locking holes 220g formed on the second side 220B. The first keyhole 220f and the second keyhole 220g can be through holes or blind holes with threads.

[0042] Please see Figure 1A , Figure 2 , Figure 4A and Figure 4B As shown, the second elastic recovery component 24b is disposed between the fixed plate 20 and the movable plate 220. In this embodiment, one end of the second elastic recovery component 24b is housed in the first abutment hole 20H of the fixed plate 20, and the other end is housed in the fourth abutment hole 220e, so that after the movable plate 220 moves towards the fixed plate 20, it can return to its initial position by means of the second elastic recovery component 24b. In one embodiment, the second elastic recovery component 24b is not a necessary structure. For example, it can be replaced by a cylinder and a guide rail, so that the movable plate 220 can move forward and return to its initial position. In this embodiment, the fixed plate 20 is maintained at a specific distance from the movable plate 220 by means of the fixed component 25a. In this embodiment, the fixed component 25a is designed as a bolt with threads at its end. It is locked into the corresponding second locking hole 220g through the guide hole 20F. The distance can be adjusted by means of the fixed component 25a. In this embodiment, there are two fixed components 25a, but this is not a limitation. The third through hole 220a has a second side groove 220h corresponding to the first side grooves 20C and 20D, and the fourth through hole 220b extends from the first surface 20A to the second side groove 220h.

[0043] like Figure 5 The diagram shown is a perspective view of an embodiment of the clamping structure of the present invention. In this embodiment, the clamping structure 220 has a hollow channel 221a, a clamping frame 221b around its periphery, and further includes a plurality of clamping members 221c. Each clamping member 221c has gaps 221d on both sides, making the clamping member 221c flexible. Each clamping member 221c has a second protrusion structure 221e on one side corresponding to the movable frame portion 21. Figure 6A and 6BAs shown, the clamping frame 220b uses a second linear displacement movement to move the object through the first through hole 210 and place it within the clamping frame 220b.

[0044] Please see Figures 1C to 1D And 6A~ Figure 6B As shown, where Figure 6A A perspective view of one embodiment of the movable frame; Figure 6B for Figure 6A A cross-sectional view of the movable frame portion. In this embodiment, the area of ​​the movable frame portion 21 corresponding to the second protrusion structure 221e further has a first protrusion structure 211. This first protrusion structure 211 interferes with the second protrusion structure 221e during the first linear displacement movement of the movable frame portion 21. During the movement, the movable frame portion 21 pushes against the second protrusion structure 221e, causing the clamping member 221c to bend towards the object and thus clamp the object. The side of the movable frame portion 21 corresponding to the through hole 200 further has a latching structure 215, which latches against the side wall 201 of the through hole 200 when the movable frame portion 21 pushes against the clamping frame 221b to clamp the object.

[0045] Back to Figures 1A to 1D as well as Figure 7 As shown, the actuating part 23 further includes a push plate 230 and a push rod 231. The push plate 230 includes a fifth through hole 230a, a sixth through hole 230b, a guide through hole 230c, a third guide rail hole 230d, and a fifth abutment hole 230e. The fifth through hole 230a penetrates the first surface 230A and the second surface 230B of the push plate 230 to provide passage for the push rod 231. It should be noted that the sixth through hole 230b is an optional opening structure. If the abutment structure is required to provide a stopping effect when clamping the component, the sixth through hole 230b can be made, and then the abutment structure, such as a rod-shaped structure, can pass through the sixth through hole 230b and then into the hollow channel 221a. In this embodiment, the push rod 231 has an abutment portion 231a and a push post 231b, wherein the push post 231b passes through the fifth through hole 230a, and the abutment portion 231a abuts against the abutment ring 2300 on the side of the fifth through hole 230a located on the first surface 230A. A guide hole 230c provides passage for the fixing component 25b. In this embodiment, the moving plate 220 maintains a specific distance from the push plate 230 by means of the fixing component 25b. In one embodiment, the push post 231b and the fifth through hole 230a have threads that can lock together, but this is not a limitation; those skilled in the art can choose appropriate means as needed. For example, in another embodiment, a baffle can be placed over the abutment portion 231a, and then the baffle is locked onto the first surface 230A.

[0046] In this embodiment, the fixing component 25b is designed as a bolt with threads at its end. It passes through the guide hole 230c and is then locked into the corresponding second locking hole 220g. The spacing can be adjusted by the fixing component 25b. In this embodiment, there are two fixing components 25b, but this is not a limitation. The third guide hole 230d is used to provide passage for the guide post 28. The guide post 28 passing through the third guide hole 230d then passes through the second guide hole 230d of the moving plate 220 and enters the first guide hole 20E from the second surface 20B of the fixing plate 20, and then protrudes from the first surface 20A of the fixing plate 20. Between the push plate 230 and the moving plate 220, there are a plurality of third elastic recovery components 24c, one end of which is disposed in the fifth abutment hole 240e, and the other end is accommodated in the third abutment hole 220d of the moving plate 220 on the first surface 220A. This allows the third elastic recovery components 24c to compress when the push plate 230 is subjected to force and moves towards the moving plate 220, and to push the push plate 230 back to its original position when the force is removed. In one embodiment, the third elastic recovery component is not a necessary structure; for example, it can be replaced by a cylinder and guide rail, allowing the push plate 230 to advance and return to its initial position.

[0047] The operation of the gripper device of the present invention will be described below. Please refer to [link / reference]. Figures 8A to 8E As shown, the gripper device can be mounted on the front end of a robotic arm (not shown in the figure). The cross-section in the figure corresponds to... Figure 1B A cross-section along the X-axis. For example... Figure 8A As shown, an object 30 is mounted on the support platform 3, which has guide post holes 31. When the gripper device 2 moves above the object 30 and the guide post 28 of the gripper device 2 corresponds to the guide post hole 31, the gripper device 2 moves downward, or the support platform 3 moves upward, so that the guide post 28 passes into the guide post hole 31, allowing the gripper device 2 to achieve an alignment effect, so that the hollow channel 221a of the clamping structure 221 corresponds to the object 30. When the fixing plate 20 abuts against the support plate 3, the object 30 is accommodated in the through hole 200, forming as shown in the figure. Figure 8B The state. Afterwards, as... Figure 8C As shown, through the relative movement between the gripper device 2 and the support plate 3, the moving plate 220 is further pressed against the fixed plate 20, while simultaneously compressing it. Figure 8A The second elastic recovery component 24b shown accumulates the power to push the movable plate 220 to its initial position in the future. When the movable plate 220 abuts against the fixed plate 20, since the clamping structure 221 is provided on the movable plate, the clamping structure 221 also moves relative to the fixed plate 20 and abuts against the surface of the fixed plate 20, thereby surrounding the object 30 with the clamping frame 221b of the clamping structure 221.

[0048] It should be noted that, as Figure 8D As shown, although the second protrusion 221e on the periphery of the clamping frame 221b will interfere with the first protrusion 211 on the inner wall of the first through hole 210 when the clamping structure 221 moves downward through the first through hole 210, the clamping member 221c constituting the clamping frame 221b has gaps 221d on both sides, so the clamping member 221c can bend. That is, when there is interference, the clamping member 221c bends in the counterclockwise direction without hindering the clamping structure 221 from moving downward. Since there is a recess 221f above the second protrusion 221e, when the clamping structure 221 moves downward and abuts against the fixing plate 20, the first protrusion 211 no longer interferes with the second protrusion 221e, causing the clamping member 221c to spring back in the clockwise direction, allowing the first protrusion 211 to protrude into the recess 221f.

[0049] like Figure 8E As shown, after the moving plate 220 touches the fixed plate 20, the push plate 230 continues to move downward, causing the end of the push rod 231 to abut against the abutment surface 216 above the moving frame portion 21. Then as... Figure 8F As shown, as the push plate 230 continues to move towards the moving plate 220, the push rod 231 pushes against the abutment surface 216 of the moving frame 21, moving towards the object 30. When the push plate 230 abuts against the moving plate 220, the moving frame 21 is also pushed onto the surface of the support plate 3. Simultaneously, it compresses... Figure 8A The third elastic recovery component 24c shown accumulates the power to push the push plate 220 back to its initial position, and the moving frame 21 compresses the first elastic recovery component 24a, so that when the push rod 231 disengages from the abutment surface 216, the first elastic recovery component 24a can push the moving frame 21 back to its initial position. Because the first protrusion structure 211 on the inner wall of the moving frame 21 pushes against the second protrusion structure 221e on the clamping member 221c, the clamping member 221c moves towards the outer edge of the object 30, and then abuts against the outer edge of the object 30, thus clamping the object.

[0050] It should be noted that after the object is gripped, the gripper device 2 must disengage from the support plate 3 to move the object 30 to a specific position. This embodiment is primarily to prevent the fixed plate 20 from being spring back to its initial position by the second elastic recovery component 24b after the gripper device 2 leaves the support plate 3, thus preventing the object 30 from falling. In this embodiment, as... Figures 9A to 9C The diagram shown is a partial cross-sectional view of the gripper device of the present invention located in the area for gripping the object. In this embodiment, the cross-section is along... Figure 1B The cross-section along the Y-axis shown in the diagram reveals that the movable frame 21 has snap-fit ​​structures 215 on both sides, which are attached to... Figure 8FIn the state of gripping the object 30 shown, it is also simultaneously engaged with the side wall 201 inside the through hole 200, thus creating a connection between the moving frame 21 and the fixed plate 20. Afterwards, it can be moved as shown... Figure 9A As shown, the entire clamping device 2 can be separated from the support plate 3 while maintaining the state of clamping the object 30.

[0051] After that, as Figure 9B As shown, the robotic arm moves the gripper device 2 to the placement area. In this embodiment, the placement area also has a support plate 4. Unlike the aforementioned support plate 3, the support plate 4 in this embodiment has an unlocking part 40, which has an unlocking surface 41, used to release the latching relationship between the latching structure 215 and the side wall 201. In this embodiment, the gripper device 2 moves above the support plate 4, so that the guide post 28 aligns with the guide post hole 42 on the support plate 4. The guide post 28 and the guide post hole 42 can produce an alignment effect, allowing the gripping device to place the object in the accurate position. Then, as... Figure 9C As shown, the clamping device moves downward, causing the guide post 28 to pass through the guide post hole 42. Simultaneously, the release surface 41 on the release part 40 abuts against the latching structure 215. After the fixing plate 20 contacts the bearing plate 4, the release part 40 pushes the latching structure 215 away from the side wall 201. Once the latching structure 215 disengages from the side wall 201, the elastic restoring force of the second and third elastic recovery components 24b and 24c, which previously stored elastic force, is released, pushing the moving plate 220 and the push plate 230 to the position shown. Figure 8B The position of the object 30 is adjusted, causing the movable frame 21 to move upwards, disengaging the first protrusion 211 from the second protrusion 221e, thereby releasing the object 30. Afterwards, the gripper device can repeat the aforementioned process. Figures 8A-8F and Figures 9A-9C The action involves repeatedly clamping an object to a specific position and releasing the object from that specific position.

[0052] Please see Figures 10A to 10C as well as Figure 11A As shown, where Figure 10A This is an exploded perspective view of another embodiment of the gripper device of the present invention; Figures 10B to 10C for Figure 10A Combination of stereoscopic images from different perspectives; among them Figure 11AThis is a perspective view of an embodiment of the gripping part. The gripper device 5 of this embodiment includes a fixed plate 50, a movable frame portion 51, a gripping part 52, and an actuating part 53. The fixed plate 50 has a through hole 500 passing through a first surface 50A and a second surface 50B, a first abutment hole 501 formed on the second surface 50B, a first guide hole 502 passing through the first surface 50A and the second surface 50B, and a first locking hole 503 that can pass through the first surface 50A and the second surface 50B or is only formed on the second surface 50B. The movable frame portion 51 is disposed on one side of the fixed plate 50; in this embodiment, it is disposed on the side with the second surface 50B. The movable frame 51 has a first through hole 510 that passes through the first surface 51A and the second surface 51B, a second abutment hole 511 that is opened on the second surface 51B, a second guide hole 512 that passes through the first surface 51A and the second surface 51B, and a third guide hole 513 that can pass through the first surface 51A and the second surface 51B or is only opened on the second surface 51B.

[0053] The gripping part 52 has a gripping structure 520, which includes at least one gripping rod 521 and a positioning rod 522. The gripping rod 521 and the positioning rod 522 are arranged around the periphery of the receiving space 523 for receiving an object. In this embodiment, in order to provide support for the object, the gripper device 5 further includes a support member 57 passing through the through hole 500. The support surface 570 of the support member 57 is located within the receiving space 523 to stop the object being gripped. In this embodiment, the clamping structure 520 has three clamping rods 521, one end of each clamping rod 521 is connected to the second surface 50B of the fixing plate 50, and the other end is located on the periphery of the accommodating space 523. Each clamping rod 521 has a first clamping protrusion 521a corresponding to the accommodating space 523 at its end in the accommodating space 523, and a second clamping portion 521b opposite to the first clamping protrusion 521a on its outer surface. A first through hole 510 is used to provide a accommodating gripping portion 52. The movable frame portion 51 changes position by a first linear displacement movement. In this embodiment, the clamping structure 520 changes its position relative to the first through hole 510 by the linear displacement movement of the movable frame portion 51, for example, protruding from the first through hole 510 or being wholly or partially accommodated within the first through hole 510.

[0054] like Figure 11B The diagram shown illustrates another embodiment of the clamping structure of the present invention. In this embodiment, it is essentially the same as the one described above. Figure 11AThe structure is similar, except that the support member 57a in this embodiment integrates the support member 57 and the positioning rod 522 from the previous embodiment. The actuating part 53 is used to push the moving frame part 51 to perform a first linear displacement movement when the object is located within the receiving space 523, causing the moving frame part 51 to push the clamping structure 520 to clamp the object. In this embodiment, the actuating part 53 is an elastic recovery component, such as a spring. One end of the actuating part 53 is received in the first abutment hole 501 and the other end is received in the second abutment hole 511. The number of actuating parts 53 is not limited to the two shown in the figure. Furthermore, it should be noted that the actuating part is not limited to an elastic recovery component; a pneumatic or hydraulic cylinder can also be used. In another embodiment, such as... Figure 11C The diagram shown illustrates another embodiment of the movable frame portion of the present invention. In addition to the aforementioned features of the movable frame portion, the movable frame portion 51a of this embodiment further integrates the structure of an actuator. Four actuators 53a are respectively disposed on the four sides of the movable frame portion 51a located on the second surface 51B. Each actuator 53a further includes a cantilever rod 530 and a protrusion 531, wherein the protrusion 531 is used to abut against the second surface 50B of the fixed plate 50 when the movable frame portion 51a moves towards the fixed plate 50, causing the cantilever rod 530 to deform and thereby accumulating elastic restoring force.

[0055] In this embodiment, the gripper device 5 further includes a plurality of fixing components 54 and guide rods 55. The fixing components 54 are locked at one end to the first locking hole 503 of the fixing plate 50 via the second guide hole 512, for adjusting the distance d between the moving frame portion 51 and the fixing plate 50, which represents the stroke of the first linear movement. The plurality of guide rods 55 pass through the first guide hole 502 and are inserted into the corresponding third guide hole 513. The guide rods 55 are used to adjust the alignment of the fixing plate 50 and the moving frame portion 51.

[0056] Please see Figures 12A to 12C As shown, it is Figure 10A The diagram shows the operation of the gripper device. The support platform 60 holds the object OB. The gripper device 5 can move to grasp the object, or the support platform 60 can move to allow the object OB to be grasped by the gripper device 5. This embodiment uses the movement of the support platform 60 as an example. Figure 12A As shown, the support platform 60 has a top post 61 to provide force on the movable frame portion 51, causing the movable frame portion 51 to move downward by a stroke d, so that the clamping end of the clamping structure 520 protrudes from the movable frame portion 51, forming as shown. Figure 12B The state shown. As the moving frame 51 moves, it compresses the actuator 53, causing the actuator 53 to accumulate elastic restoring force. This force is used to push the moving frame 51 back to its initial position when the top post 61 disengages from the moving frame 51, for example, when the support platform 60 moves away or the gripper device 5 moves. Figure 12B As shown, when the moving frame 51 moves so that the clamping end of the clamping structure 520 protrudes from the moving frame 51, the clamping end of the clamping structure 520 is no longer constrained by the moving frame 51, so the object OB can be easily accommodated in the accommodating space 523 at the end of the clamping structure 520.

[0057] When the object OB is placed into the receiving space 523, the gripper device 5 disengages from the top post 61 of the support platform 60, or the support platform 60 disengages from the moving frame 51 of the gripper device 5, causing the external force previously applied to the moving frame 51 to disappear. After the external force disappears, the elastic restoring force stored in the actuator 53 pushes the moving frame 53, causing it to return to its initial position. Figure 12C As shown. It should be noted that, although in the aforementioned embodiment the first surface 51A of the movable frame 51 faces upwards, in another embodiment, the first surface 51A of the movable frame 51 may face downwards, with the support platform 60 and the object OB positioned below the first surface 51A. The operation of its gripper device is the same as described above. Figures 12A to 12C The same applies, so I won't go into details here.

[0058] It should be noted that, as Figure 12D and 12E As shown, this is a schematic diagram of the movement of the movable frame 51 returning to its initial position. Figure 12D The first through hole 510 of the moving frame 51 moves downwards to below the first and second clamping protrusions 521a and 521b on the clamping end of the clamping rod 521. After the external force disappears, the moving frame 51 moves upwards by the actuation part. Since the upper and lower sides of the first and second clamping protrusions 521a and 521b have inclined surfaces 521c and 521d, when the moving frame 51 moves upwards to return to the initial position, the hole wall of the first through hole 510 of the moving frame 51 can move upwards along the inclined surface 521d without obstruction. During the movement, the hole wall of the first through hole 510 pushes against the clamping rod 521, causing the clamping rod 521 to move towards the side of the object OB, and finally causing the first clamping protrusion 521a to abut against the side of the object OB, producing a clamping effect.

[0059] The above description is merely a preferred embodiment or example of the technical means employed by the present invention to solve the problem, and is not intended to limit the scope of the present invention. All equivalent changes and modifications made in accordance with the wording of the claims of the present invention, or within the scope of the present invention, are covered by the scope of the claims of the present invention.

Claims

1. A gripper device, characterized in that, include: A movable frame has a first through hole, and the movable frame changes position by a first linear displacement movement; A gripping part for gripping an object, the gripping part having a clamping structure housed within the first through hole, the clamping structure having a receiving space for receiving an object; as well as A movable part is provided to push the movable frame part to perform the first linear displacement movement when the object is located in the accommodating space, so that the movable frame part pushes the clamping structure to clamp the object.

2. The gripper device according to claim 1, characterized in that, The clamping frame further includes a plurality of clamping members, each of which has gaps on both sides.

3. The gripper device according to claim 2, characterized in that, The movable frame portion further has a first protrusion structure, and the clamping member has a second protrusion structure on one side corresponding to the movable frame portion. When the movable frame portion performs the first linear displacement movement, the first protrusion structure pushes the second protrusion structure, causing the clamping member to flex towards the object and thus clamp the object.

4. The gripper device according to claim 1, characterized in that, It further includes a fixing plate with a through hole, the clamping structure having a clamping frame having the accommodating space, the clamping part performing a second linear displacement movement relative to the fixing plate, so that the clamping frame passes through the first through hole and places the object in the accommodating space.

5. The gripper device according to claim 4, characterized in that, The actuating part pushes the moving frame part to perform the first linear displacement movement, causing the moving frame part to push the clamping frame to clamp the object.

6. The gripper device according to claim 1, characterized in that, The movable frame portion has a latching structure on the side corresponding to the through hole, which is engaged with the side wall of the through hole when the movable frame portion pushes the clamping frame to clamp the object.

7. The gripper device according to claim 6, characterized in that, Including: One load-bearing plate; as well as A release structure is provided on the support plate and corresponds to the latching structure. The release structure pushes against the latching structure by an upward movement, causing the latching structure to disengage from the side wall, thereby causing the moving frame to perform a first linear displacement movement in the opposite direction, so that the clamping frame releases the object from the support plate.

8. The gripper device according to claim 1, characterized in that, The movable frame and the fixed plate are further provided with an elastic recovery component.

9. The gripper device according to claim 1, characterized in that, The clamping part further includes a movable plate having a third through hole corresponding to the first through hole and a fourth through hole corresponding to the movable frame part. The third through hole provides passage for the clamping structure, and the clamping structure has a first abutting structure that abuts against a second abutting structure on the third through hole.

10. The gripper device according to claim 9, characterized in that, The actuator further includes: A push plate having a fifth through hole; and A push rod, one end of which is coupled to the fifth through hole and the other end of which corresponds to the fourth through hole; The pusher plate pushes the push rod through the fourth through hole, causing one end of the push rod to abut against the moving frame, thereby driving the moving frame to perform the first linear displacement movement.

11. The gripper device according to claim 4, characterized in that, It further includes multiple guide rail components that slide in contact with the fixing plate, the clamping part, and the actuating part.

12. The gripper device according to claim 1, characterized in that, It further includes a fixing plate with a through hole, and the clamping structure has at least one clamping rod, wherein one end of each clamping rod is connected to the fixing plate and the other end is located at the periphery of the accommodating space.

13. The gripper device according to claim 12, characterized in that, The actuating part is an elastic component disposed between the fixed plate and the movable frame.

14. The gripper device according to claim 12, characterized in that, Furthermore, a support member passes through the through hole, and a support surface of the support member is located within the accommodating space to stop the clamped object.

15. The gripper device according to claim 4, characterized in that, The actuating part has a plurality of actuating parts, which are respectively disposed on the side of the fixed plate. Each actuating part further includes a cantilever rod and a protrusion, wherein one end of the cantilever rod is connected to the fixed plate and the other end is connected to the protrusion.

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