A gripper with both clamping and enveloping modes of operation

Abstract

The application discloses a gripper with a clamping and enveloping dual working mode. The gripper comprises a dual-state gripper and a driving group. When the gripper is used for grabbing objects, the clamping and enveloping dual working modes can be switched by the driving group according to the characteristics of the grabbing target. When the grabbing target is small or needs to be finely operated, the clamping grabbing mode is selected; when the grabbing target is large or needs to be stably grabbed, the enveloping grabbing mode is selected. The application realizes the two kinds of grabbing working modes through one set of structure, and the scheme has simple structure and low manufacturing cost, and can realize the grabbing of objects with different sizes and shapes.

Description

Technical Field

[0001] This invention relates to the field of mechanical gripper technology, specifically to a gripper with a dual working mode of clamping and enveloping. Background Technology

[0002] With the rapid development of robotics technology, robotic grippers have been widely used in production and daily life. To handle objects of different sizes and shapes, robotic grippers need diverse gripping methods to adapt to various grasping tasks. Currently, there are two main gripping methods: clamping gripping and enveloping gripping. Clamping gripping is commonly found in devices such as tweezers and grippers, and is mainly used for precisely grasping small objects; while enveloping gripping involves enveloping the object inside the gripper for grasping. This method typically has a larger grasping force and is suitable for stably grasping larger objects. Summary of the Invention

[0003] The purpose of this invention is to address the shortcomings of existing technologies by proposing a gripper with both clamping and enveloping working modes.

[0004] The objective of this invention is achieved through the following technical solution: a gripper with dual working modes of clamping and enveloping, comprising a dual-state gripper and a drive assembly, wherein the dual-state gripper comprises a central gripper frame, a central gripper bar, two side connecting frames, two side connecting rods, two coupling frames, and two side gripping rods, and the drive assembly comprises a double-headed screw, a left-handed nut block, a right-handed nut block, and two fixing blocks;

[0005] The middle clamp frame contains two hollow, symmetrical rectangular frames, each with a pointed protrusion at one end; the middle clamp rod is symmetrical, with a hollow frame at the top and a rod-shaped bottom, each rod having a through hole and a pointed protrusion at the end; the side connecting frame and coupling frame contain hollow, symmetrical rectangular frames.

[0006] The middle clamp frame has a protruding end that is hinged to the second side gripper, and the other end that is hinged to the first side connecting rod. The hollow parts of the two square frames are respectively hinged to one end of the first side connecting frame and the through hole in the rod part of the middle clamp rod. The first side connecting rod passes through the hollow part of the first side connecting frame and is hinged to the hollow part of the coupling frame. One end of the coupling frame is connected to one end of the side connecting frame, and the other end of the coupling frame is hinged to the first side gripper. The other end of the first side gripper is hinged to the end of the rod part of the middle clamp rod.

[0007] The frame-shaped end of the middle clamp rod is hinged to the upper end of the second side connecting rod, and the hollow part is hinged to one end of the second side connecting frame; the second side connecting rod and the second side connecting frame are respectively hinged to the hollow part and one end of the second coupling frame, and the second side connecting rod passes through the hollow part of the second side connecting frame; the other end of the second coupling frame is hinged to the second side gripping rod.

[0008] In the drive assembly, two nut blocks are connected to both ends of a double-ended screw via threads. Each nut block is equipped with a fixing block. The first fixing block is hinged together with the middle clamp frame and the first side connecting rod, and the second fixing block is hinged together with the middle clamp rod and the second side connecting rod.

[0009] Furthermore, the upper end of the middle clamp frame is not connected, and there is a through hole running through it from left to right, which is used to hinge together with the first side connecting rod and the first fixing block.

[0010] The lower end of the middle clamp frame has a boss with the same width as the hollow frame, and the boss has a through hole that runs through the left and right sides for hinged connection with the second side gripping rod.

[0011] The middle clamp frame has a through hole running from left to right at the hollow position from top to bottom, which is used to hinge with the first side frame and with the rod part of the middle clamp rod, respectively.

[0012] Furthermore, the upper end of the edge frame is not connected and has a through hole running through it from left to right. The lower end has a boss with the same width as the hollow part of the frame, and there is another through hole running through it from left to right.

[0013] The left and right through holes on the first side connecting frame boss are used to hinge with the through hole at the hollow position above the middle clamp frame, and the left and right through holes on the second side connecting frame boss are used to hinge with the through hole at the hollow position of the middle clamp rod frame.

[0014] Furthermore, the coupling frame has a boss at each of its upper and lower ends, which is the same width as the hollow part of the frame. Each boss has a through hole extending from left to right. The through hole of the upper boss of the coupling frame is used to hinge with the side connecting frame. There is another through hole extending from left to right at the hollow part of the coupling frame, which is used to hinge with the side connecting rod.

[0015] Furthermore, the side gripper is H-shaped, with a through hole at each of the upper and lower ends, and a crossbeam connecting the left and right sides in the middle. The through hole at the upper end of the side gripper is used to hinge with the through hole of the lower end boss of the coupling frame, and the through hole at the lower end of the side gripper is used to hinge with the middle clamp rod or the lower end of the middle clamp frame.

[0016] Furthermore, the double-ended screw has a left-hand thread on the left side and a right-hand thread on the right side.

[0017] The left-handed nut block is square in shape with a through left-handed threaded hole in the middle for threaded connection with the left side of the double-ended screw. The left-handed nut block has two through holes symmetrically distributed on the left and right sides.

[0018] The right-hand nut block is square in shape with a through right-hand threaded hole in the middle for connecting with the right-hand thread of the double-ended screw. The right-hand nut block has two through holes symmetrically distributed on the left and right sides.

[0019] The upper surface of the fixing block has two symmetrically distributed through holes for connecting with the upper surfaces of the left-handed nut block and the right-handed nut block. The front surface of the fixing block has a through hole that runs from front to back for connecting with the middle clamp rod and the upper through hole of the middle clamp frame.

[0020] Furthermore, the front of the side gripper has a number of striped patterns to increase the friction when the side gripper contacts the object being gripped, thereby improving the gripping stability.

[0021] Furthermore, the double-headed screw is driven by a motor, and controlling the motor's rotation achieves a gripping effect at a specified speed and acceleration.

[0022] On the other hand, this application also provides an operation method based on the gripper, including:

[0023] S1. In the initial state of the grasping task, select the grasping mode according to the grasping target. When the grasping target is small or requires fine operation, select the clamp grasping mode. When the grasping target is large or requires stable grasping, select the envelope grasping mode.

[0024] S2. When the clamping and gripping mode is selected, rotate the double-ended screw to reduce the distance between the left-handed nut block and the right-handed nut block. When the envelope gripping mode is selected, rotate the double-ended screw in the opposite direction to increase the distance between the left-handed nut block and the right-handed nut block.

[0025] S3. When selecting the clamping and gripping mode, after the pointed protrusion at the lower end of the dual-state gripper contacts the target, stop rotating the double-headed screw to achieve clamping and gripping of the target. When selecting the envelope gripping mode, after the side gripping bar of the dual-state gripper gradually closes, stop rotating the double-headed screw to achieve envelope gripping of the target.

[0026] S4. After the gripping is completed, rotate the double-headed screw in the opposite direction, and the dual-state gripper will release the gripped target.

[0027] The beneficial effects of this invention are as follows: The dual-state gripper of this invention has two working modes: clamping and enveloping. It can switch the gripping mode according to the characteristics of the gripping target, thus adapting to various gripping needs. This invention achieves two gripping working modes with only one structure, and the solution has a simple structure and low manufacturing cost. It can achieve both precise clamping and gripping of smaller objects and stable enveloping gripping of larger objects. Attached Figure Description

[0028] Figure 1 This is a diagram of a gripper with both clamping and enveloping working modes.

[0029] Figure 2 This is a diagram illustrating the gripping mode of a gripper that operates with both clamping and enveloping modes.

[0030] Figure 3 An illustration of the envelope mode of a gripper with both clamping and envelope working modes;

[0031] Figure 4 This is a diagram of a two-state gripper;

[0032] Figure 5 To drive the group of images. Detailed Implementation

[0033] To better understand the technical solution of this application, the embodiments of this application will be described in detail below with reference to the accompanying drawings.

[0034] It should be understood that the described embodiments are merely some, not all, of the embodiments in this application. All other embodiments obtained by those skilled in the art based on the embodiments in this application without inventive effort are within the scope of protection of this application.

[0035] The terminology used in the embodiments of this application is for the purpose of describing particular embodiments only and is not intended to be limiting of this application. The singular forms “a,” “the,” and “the” used in the embodiments of this application and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise.

[0036] Example 1

[0037] This embodiment provides a gripper with both clamping and enveloping working modes, such as... Figure 1 As shown, it includes a dual-state gripper 1 and a drive group 2; by controlling the drive group 2 to change the distance at the upper end of the dual-state gripper 1, the working mode of the gripper can be switched and the gripping task can be executed.

[0038] Specifically, such as Figure 4 As shown, the dual-state gripper 1 is composed of a middle gripper frame 11, a middle gripper bar 12, a first side connecting frame 13, a second side connecting frame 14, a first side connecting rod 15, a second side connecting rod 16, a first coupling frame 17, a second coupling frame 18, a first side gripper bar 19, and a second side gripper bar 1a.

[0039] The middle clamp frame 11 is hollow and symmetrical from left to right. It is a square frame formed by two crossbeams in the middle. The upper through hole of the middle clamp frame 11 is hinged to the upper through hole of the first side connecting rod 15. The through hole on the lower boss is hinged to the upper through hole of the second side gripping rod 1a. From top to bottom, the two through holes in the hollow position of the middle clamp frame 11 are respectively hinged to the lower boss through hole of the first side connecting frame 13 and the middle through hole of the rod-shaped part of the middle clamp rod 12. The upper part of the middle clamp rod 12 is hollow frame-shaped, and the lower part is rod-shaped. The frame-shaped part of the middle clamp rod 12 is connected from left to right by a crossbeam in the middle. The upper through hole is hinged to the upper through hole of the second side connecting rod 16. The through hole in the hollow position of the frame-shaped part of the middle clamp rod 12 is hinged to the lower boss through hole of the second side connecting frame 14. The through hole at the end of the rod-shaped part of the middle clamp rod 12 is hinged to the upper through hole of the first side gripping rod 19. The first side connecting frame 13 is hollow and symmetrical from left to right, and is connected by a crossbeam in the middle to form a square frame. The upper through hole of the first side connecting frame 13 is hinged to the upper boss through hole of the first coupling frame 17. The hollow part of the first side connecting rod 15 passes through it. The lower boss through hole of the first coupling frame 17 is hinged to the lower through hole of the first side grab rod 19. The through hole at the hollow part of the first side connecting frame 17 is hinged to the lower through hole of the first side connecting rod 15. The second side connecting rod 16 and the second side connecting frame 14 are respectively hinged to the hollow part and one end of the second coupling frame 18, and the second side connecting rod 16 passes through the hollow part of the second side connecting frame 14. The other end of the second coupling frame 18 is hinged to the second side grab rod 1a.

[0040] The upper end of the middle clamp frame 11 is not connected, and there is a through hole running through it from left to right, which is used to hinge together with the first side connecting rod 15 and the first fixing block 24.

[0041] The lower end of the middle clamp frame 11 has a boss with the same width as the hollow frame, and the boss has a through hole that runs through the left and right sides for hinged connection with the second side gripping rod 1a.

[0042] The middle clamp frame 11 has a through hole running from left to right at the hollow position from top to bottom, which is used to hinge with the first side frame 13 and the rod part of the middle clamp rod 12, respectively.

[0043] The upper part of the frame is not connected and has a through hole running through it from left to right. The lower part has a boss with the same width as the hollow part of the frame, and there is another through hole running through it from left to right.

[0044] The left and right through holes on the boss of the first side connecting frame 13 are used to hinge with the through hole at the hollow position above the middle clamp frame, and the left and right through holes on the boss of the second side connecting frame 14 are used to hinge with the through hole at the hollow position of the middle clamp rod frame.

[0045] The coupling frame has a boss at both the top and bottom ends, with the same width as the hollow part of the frame. Each boss has a through hole running through it from left to right. The through hole of the upper boss of the coupling frame is used to hinge with the side connecting frame. There is another through hole running through it from left to right at the hollow part of the coupling frame, which is used to hinge with the side connecting rod.

[0046] The lower end of the middle clamp rod 12 and the middle clamp frame each have a pointed protrusion, which allows the middle clamp rod 12 and the middle clamp frame 11 to close when they intersect.

[0047] The side gripper is H-shaped, with a through hole at each of the upper and lower ends, and a crossbeam connecting the left and right sides in the middle. The through hole at the upper end of the side gripper is used to hinge with the through hole of the lower end boss of the coupling frame, and the through hole at the lower end of the side gripper is used to hinge with the lower end of the middle clamp rod 12 or the middle clamp frame 11.

[0048] The side gripper has a number of striped patterns on its front side to increase the friction when it contacts the object being gripped, thereby improving the gripping stability.

[0049] exist Figure 5 In the example of the drive group shown, drive group 2 consists of a double-ended screw 21, a left-handed nut block 22, a right-handed nut block 23, a first fixing block 24, and a second fixing block 25. The left-handed nut block 22 is connected to the left side of the double-ended screw 21, and the right-handed nut block 23 is connected to the right side of the double-ended screw 21. The first fixing block 24 is connected to the left-handed nut block 22, and the second fixing block 25 is connected to the right-handed nut block 23. Rotating the double-ended screw 21 will cause the left-handed nut block 22 and the right-handed nut block 23 to move simultaneously towards or away from each other, thus changing the distance between the first fixing block 24 and the second fixing block 25.

[0050] The left-handed nut block 22 is square in shape with a through left-handed threaded hole in the middle for threaded connection with the left side of the double-ended screw 21. The left-handed nut block 22 has two through holes symmetrically distributed on the left and right sides.

[0051] The right-hand nut block 23 is square in shape with a through right-hand threaded hole in the middle for connecting with the right-hand threaded connection of the double-ended screw. The right-hand nut block 23 has two through holes symmetrically distributed on the left and right sides.

[0052] The operation method of this gripper with both clamping and envelope working modes is as follows:

[0053] S1. In the initial state of the grasping task, select the grasping mode according to the grasping target. When the grasping target is small or requires fine operation, select the clamp grasping mode. When the grasping target is large or requires stable grasping, select the envelope grasping mode.

[0054] S2. When the clamping and gripping mode is selected, rotate the double-ended screw to reduce the distance between the left-handed nut block and the right-handed nut block. When the envelope gripping mode is selected, rotate the double-ended screw in the opposite direction to increase the distance between the left-handed nut block and the right-handed nut block.

[0055] S3. When selecting the clamping and gripping mode, after the pointed protrusion at the lower end of the dual-state gripper contacts the target, stop rotating the double-headed screw to achieve clamping and gripping of the target. When selecting the envelope gripping mode, after the side gripping bar of the dual-state gripper gradually closes, stop rotating the double-headed screw to achieve envelope gripping of the target.

[0056] S4. After the gripping is completed, rotate the double-headed screw in the opposite direction, and the dual-state gripper will release the gripped target, thus completing one workflow.

[0057] Example 2

[0058] like Figure 2 , Figure 3 As shown, taking the gripping of a cylindrical object as an example, this gripper with both clamping and enveloping working modes can switch gripping modes according to the size of the target. When the target is small and requires precise operation, the clamping gripping mode is used, reducing the distance between the left-hand and right-hand nut blocks, and the dual-state gripper clamps the target. When the target is large and requires stable gripping, the enveloping gripping mode is used, increasing the distance between the left-hand and right-hand nut blocks, and the dual-state gripper envelops the target.

[0059] In addition, depending on actual needs, the double-headed screw can be driven by a motor to rotate, thereby controlling the motor rotation to achieve a gripping effect at a specified speed and acceleration.

[0060] Other embodiments of this application will readily occur to those skilled in the art upon consideration of the specification and practice of the disclosure herein. This application is intended to cover any variations, uses, or adaptations of this application that follow the general principles of this application and include common knowledge or customary techniques in the art not disclosed herein. The specification and embodiments are to be considered exemplary only, and the true scope and spirit of this application are indicated by the claims.

[0061] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only, and are not intended to limit this application. This application is not limited to the precise structures described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this application is limited only by the appended claims.

Claims

1. A gripper with dual working modes of clamping and enveloping, characterized in that, The device includes a dual-state gripper and a drive assembly. The dual-state gripper includes a central gripper frame, a central gripper bar, two side connecting frames, two side connecting rods, two coupling frames, and two side gripping rods. The drive assembly includes a double-headed screw, a left-handed nut block, a right-handed nut block, and two fixing blocks. The middle clamp frame contains two hollow, symmetrical rectangular frames, each with a pointed protrusion at one end; the middle clamp rod is symmetrical, with a hollow frame at the top and a rod-shaped bottom, each rod having a through hole and a pointed protrusion at the end; the side connecting frame and coupling frame contain hollow, symmetrical rectangular frames. The middle clamp frame has a protruding end that is hinged to the second side gripper, and the other end that is hinged to the first side connecting rod. The hollow parts of the two square frames are respectively hinged to one end of the first side connecting frame and the through hole in the rod part of the middle clamp rod. The first side connecting rod passes through the hollow part of the first side connecting frame and is hinged to the hollow part of the coupling frame. One end of the coupling frame is connected to one end of the side connecting frame, and the other end of the coupling frame is hinged to the first side gripper. The other end of the first side gripper is hinged to the end of the rod part of the middle clamp rod. The frame-shaped end of the middle clamp rod is hinged to the upper end of the second side connecting rod, and the hollow part is hinged to one end of the second side connecting frame; the second side connecting rod and the second side connecting frame are respectively hinged to the hollow part and one end of the second coupling frame, and the second side connecting rod passes through the hollow part of the second side connecting frame; the other end of the second coupling frame is hinged to the second side gripping rod. In the drive assembly, two nut blocks are connected to both ends of a double-ended screw via threads. Each nut block is equipped with a fixing block. The first fixing block is hinged together with the middle clamp frame and the first side connecting rod, and the second fixing block is hinged together with the middle clamp rod and the second side connecting rod.

2. The gripper with dual clamping and enveloping working modes according to claim 1, characterized in that, The upper end of the middle clamp frame is not connected, and there is a through hole running through it from left to right, which is used to hinge with the first side connecting rod and the first fixing block. The lower end of the middle clamp frame has a boss with the same width as the hollow frame, and the boss has a through hole that runs through the left and right sides for hinged connection with the second side gripping rod. The middle clamp frame has a through hole running from left to right at the hollow position from top to bottom, which is used to hinge with the first side frame and with the rod part of the middle clamp rod, respectively.

3. The gripper with dual clamping and enveloping working modes according to claim 1, characterized in that, The upper part of the frame is not connected and has a through hole running through it from left to right. The lower part has a boss with the same width as the hollow part of the frame, and there is another through hole running through it from left to right. The left and right through holes on the first side connecting frame boss are used to hinge with the through hole at the hollow position above the middle clamp frame, and the left and right through holes on the second side connecting frame boss are used to hinge with the through hole at the hollow position of the middle clamp rod frame.

4. A gripper with dual clamping and enveloping working modes according to claim 1, characterized in that, The coupling frame has a boss at both the top and bottom ends, with the same width as the hollow part of the frame. Each boss has a through hole running through it from left to right. The through hole of the upper boss of the coupling frame is used to hinge with the side connecting frame. There is another through hole running through it from left to right at the hollow part of the coupling frame, which is used to hinge with the side connecting rod.

5. A gripper with both clamping and enveloping working modes according to claim 4, characterized in that, The side gripper is H-shaped, with a through hole at each of the upper and lower ends, and a crossbeam connecting the left and right sides in the middle. The through hole at the upper end of the side gripper is used to hinge with the through hole at the lower end of the coupling frame, and the through hole at the lower end of the side gripper is used to hinge with the middle clamp rod or the lower end of the middle clamp frame.

6. A gripper with dual clamping and enveloping working modes according to claim 1, characterized in that, The drive assembly includes a double-ended screw, a left-handed nut block, a right-handed nut block, and two fixing blocks; The double-ended screw has a left-hand thread on the left and a right-hand thread on the right. The left-handed nut block is square in shape with a through left-handed threaded hole in the middle for threaded connection with the left side of the double-ended screw. The left-handed nut block has two through holes symmetrically distributed on the left and right sides. The right-hand nut block is square in shape with a through right-hand threaded hole in the middle for connecting with the right-hand thread of the double-ended screw. The right-hand nut block has two through holes symmetrically distributed on the left and right sides. The upper surface of the fixing block has two symmetrically distributed through holes for connecting with the upper surfaces of the left-handed nut block and the right-handed nut block. The front surface of the fixing block has a through hole that runs from front to back for connecting with the middle clamp rod and the upper through hole of the middle clamp frame.

7. A gripper with dual clamping and enveloping working modes according to claim 1, characterized in that, The front of the side gripper has a number of striped patterns to increase the friction when the side gripper contacts the object being gripped.

8. A gripper with dual clamping and enveloping working modes according to claim 1, characterized in that, The double-headed screw is driven by a motor, and the motor rotation is controlled to achieve gripping at a specified speed and acceleration.

9. A method for operating the gripper according to any one of claims 1-8, characterized in that, include: S1. In the initial state of the grasping task, select the grasping mode according to the grasping target. When the grasping target is small or requires fine operation, select the clamp grasping mode. When the grasping target is large or requires stable grasping, select the envelope grasping mode. S2. When the clamping and gripping mode is selected, rotate the double-ended screw to reduce the distance between the left-handed nut block and the right-handed nut block. When the envelope gripping mode is selected, rotate the double-ended screw in the opposite direction to increase the distance between the left-handed nut block and the right-handed nut block. S3. When selecting the clamping and gripping mode, after the pointed protrusion at the lower end of the dual-state gripper contacts the target, stop rotating the double-headed screw to achieve clamping and gripping of the target. When selecting the envelope gripping mode, after the side gripping bar of the dual-state gripper gradually closes, stop rotating the double-headed screw to achieve envelope gripping of the target. S4. After the gripping is completed, rotate the double-headed screw in the opposite direction, and the dual-state gripper will release the gripped target.

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