Equal-pressure combined clamping jaw self-adaptive to appearance of clamped object

Abstract

The invention discloses an equal-pressure combined clamping jaw self-adaptive to the appearance of a clamped object, and relates to the technical field of grabbing equipment. The clamping jaw comprises a clamping jaw general assembly base and a clamping jaw side row combination base connected with the clamping jaw general assembly base in a sliding mode. At least one clamping jaw single module is installed on the clamping jaw side row combination base side by side through a detachable connecting structure. Each clamping jaw single module comprises a clamping jaw single module combined base, a clamping jaw single module clamping cabin, a clamping jaw single module loosening cabin and a pneumatic rod; the pneumatic rod is slidably arranged on the clamping jaw single-module combination base, the clamping jaw single-module clamping cabin and the clamping jaw single-module loosening cabin in a penetrating mode in the linear direction. One end of the pneumatic rod extends out of the clamping jaw single-module loosening cabin and is fixedly provided with a pneumatic rod chuck base, and an elastic buffer part is arranged between the pneumatic rod chuck base and the clamping jaw single-module loosening cabin; the side, away from the pneumatic rod, of the pneumatic rod chuck base is connected with a multidirectional chuck through a spherical hinge. The flexible self-adaptive clamping device aims at achieving flexible self-adaptive clamping of objects with irregular shapes, the surface of a workpiece is prevented from being damaged, and clamping stability is guaranteed.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of grabbing equipment, in particular to an equal-pressure combined gripper capable of self-adapting to the shape of the grabbed object. BACKGROUND

[0002] As the core executive component in robots and automated equipment, grippers undertake key functions such as grabbing, carrying, positioning and assembling, and their performance directly affects the efficiency and safety of production lines. Currently, mechanical grippers, pneumatic grippers and electric grippers have been widely used in the fields of industrial automation, precision manufacturing and medical devices. However, the existing traditional grippers often have difficulty in balancing high precision and flexibility in actual application. In particular, when grabbing objects with irregular shapes and materials that are easily damaged such as glass or semiconductor wafers, the traditional rigid contact method is likely to cause damage to the surface of the object, or lead to gripping failure due to insufficient adhesion.

[0003] Therefore, how to achieve flexible and self-adaptive gripping of objects with irregular shapes, avoid damaging the surface of the workpiece and ensure gripping stability has become a technical problem to be solved. SUMMARY

[0004] The main purpose of the present application is to provide an equal-pressure combined gripper capable of self-adapting to the shape of the grabbed object, aiming to achieve flexible and self-adaptive gripping of objects with irregular shapes, avoid damaging the surface of the workpiece and ensure gripping stability.

[0005] In order to achieve the above-mentioned purpose, the present application provides an equal-pressure combined gripper capable of self-adapting to the shape of the grabbed object, comprising: a gripper assembly base and a gripper side row combined base in sliding connection with the gripper assembly base; At least one gripper single module is installed side by side on the gripper side row combined base through detachable connecting structure; The gripper single module comprises: a gripper single module combined base, a gripper single module clamping cabin, a gripper single module relaxation cabin and a pneumatic rod; The pneumatic rod is slidably arranged in the gripper single module combined base, the gripper single module clamping cabin and the gripper single module relaxation cabin along the linear direction. One end of the pneumatic rod extends out of the gripper single module relaxation cabin and is fixed with a pneumatic rod chuck base. An elastic buffer is arranged between the pneumatic rod chuck base and the gripper single module relaxation cabin. A multi-directional chuck is connected to the side of the pneumatic rod chuck base away from the pneumatic rod through a ball hinge.

[0006] Preferably, the detachable connecting structure comprises a slot opening arranged on the gripper side row combined base and a gripper single module combined locking column arranged on the gripper single module combined base. The gripper single module combined base and the gripper side row combined base are fixedly connected through the slot opening and the gripper single module combined locking column.

[0007] Preferably, the jaw single module combination base is further provided with a groove, and the jaw single module combination base is fixedly connected with other jaw single module combination bases of the same type through the groove and the jaw single module combination locking column.

[0008] Preferably, the jaw single module further comprises a jaw single module air cabin cover plate, which is fixedly connected with the jaw single module clamping cabin.

[0009] Preferably, the jaw single module further comprises a jaw single module relaxation cabin air inlet and a jaw single module clamping cabin air inlet, both of which are fixedly connected with the jaw single module air cabin cover plate.

[0010] Preferably, the jaw single module clamping cabin is fixedly connected with the jaw single module combination base.

[0011] Preferably, the jaw single module relaxation cabin is fixedly connected with the jaw single module combination base.

[0012] Preferably, the elastic buffer is a buffer spring, and both ends of the buffer spring are fixedly connected with the jaw single module relaxation cabin and the pneumatic rod chuck base, respectively.

[0013] Preferably, the jaw single module further comprises a clamping cabin air guide pipe and a relaxation cabin air guide pipe, and the clamping cabin air guide pipe is fixedly connected with the jaw single module clamping cabin.

[0014] Preferably, one side of the relaxation cabin air guide pipe is fixedly connected with the jaw single module clamping cabin, and the other side of the relaxation cabin air guide pipe is slidingly connected with the end of the pneumatic rod.

[0015] The above technical solution has the following advantages: By arranging the detachable and side-by-side installed jaw single modules, the array scale can be flexibly adjusted according to the size of the grabbed object. By using the linear sliding of the pneumatic rod in the double-cabin structure and the ball hinge multi-directional chuck at the end, the self-adaptive fitting to the surface of irregular objects is realized. In particular, the design of pneumatic control combined with an elastic buffer enables each clamping point to output equal pressure when contacting the workpiece, effectively solving the problem that the traditional rigid jaw is easy to damage fragile parts or unstable clamping of special-shaped parts. BRIEF DESCRIPTION OF DRAWINGS

[0016] The present application will be described in detail below with reference to specific embodiments and drawings, in which: Fig. 1 The overall structure of the combined jaw provided in the embodiments of the present application is shown in the figure; Fig. 2This is a schematic diagram of a single-module gripper structure provided in an embodiment of the present invention; Fig. 3 This is a schematic diagram of the internal air chamber and air passage connection structure of the gripper single module provided in an embodiment of the present invention. Detailed Implementation

[0017] 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. Furthermore, the technical features involved in the various embodiments of this invention described below can be combined with each other as long as they do not conflict with each other.

[0018] This invention provides an equal-pressure combination gripper that adapts to the shape of the object being gripped, aiming to solve the problem in the prior art that traditional grippers cannot simultaneously achieve high precision and flexible gripping of irregular, fragile or lightweight objects.

[0019] like Figs. 1 to 3 As shown, the main structure of the device includes a gripper assembly base 1 and a gripper side row assembly base 2 slidably connected to the gripper assembly base 1. To clearly define the spatial motion relationship of the device, a rectangular coordinate system is defined here: x, y, and z form a rectangular coordinate system, where x and y form a right angle in the horizontal plane, and z is the vertical direction. The gripper assembly base 1, as the main load-bearing component, is connected to the end of the robotic arm or the moving module to achieve overall spatial displacement. The gripper side row assembly base 2 cooperates with the gripper assembly base 1 along a set guide direction, enabling adjustment of their relative positions. This sliding connection design provides a basic degree of freedom for adjusting the gripping range. On the gripper side row assembly base 2, at least one gripper single module 3 is installed side by side through a detachable connection structure. This modular array design is the core architecture of the invention, allowing operators to flexibly increase or decrease the number of gripper single modules 3 according to the width and size of the workpiece being gripped, thereby constructing a gripping array suitable for workpieces of different specifications.

[0020] For the specific structure of the clamp jaw single module 3, it includes a clamp jaw single module combined base 4, a clamp jaw single module clamping cabin 5, a clamp jaw single module relaxation cabin 10 and a pneumatic rod 11. The clamp jaw single module combined base 4 constitutes the framework of a single module, which is used to support other pneumatic components. In order to realize the modular quick disassembly and combination, the device adopts a specific detachable connection structure. Specifically, the clamp jaw side row combined base 2 is provided with a notch, and the clamp jaw single module combined base 4 is provided with a clamp jaw single module combined locking column 9 matched with the notch. The clamp jaw single module combined base 4 and the clamp jaw side row combined base 2 are fixedly connected through the notch and the clamp jaw single module combined locking column 9. This matching mode not only ensures the stability of the connection, but also enables the module to be quickly positioned during installation. Further, in order to realize the infinite cascade expansion of multiple modules, a recess is also provided on the clamp jaw single module combined base 4, which is matched in shape and size with the clamp jaw single module combined locking column 9. When multiple modules need to be installed side by side, the adjacent clamp jaw single module combined bases 4 can be interlocked and fixedly connected through the recess and the clamp jaw single module combined locking column 9. This design enables multiple clamp jaw single modules 3 to be arranged like building blocks, forming a high-density array of clamping points and significantly improving the coverage rate of the workpiece edge.

[0021] In terms of pneumatic drive and actuator, the clamp jaw single module clamping cabin 5 and the clamp jaw single module relaxation cabin 10 are fixedly connected to the clamp jaw single module combined base 4. This double-cabin layout reasonably distributes the clamping action and the reset relaxation action in space. The pneumatic rod 11, as a linear actuator, is slidably arranged in the clamp jaw single module combined base 4, the clamp jaw single module clamping cabin 5 and the clamp jaw single module relaxation cabin 10 in a linear direction. It should be noted that a corresponding sealing structure is provided between the pneumatic rod 11 and each cabin to ensure air tightness. One end of the pneumatic rod 11 extends out of the clamp jaw single module relaxation cabin 10 and is fixed with a pneumatic rod chuck base 13 at the end. In order to give the clamp jaw the ability of flexible contact and buffering, an elastic buffer is provided between the pneumatic rod chuck base 13 and the clamp jaw single module relaxation cabin 10, which is preferably a buffer spring 12 in this embodiment. The two ends of the buffer spring 12 are fixed to the outer wall of the clamp jaw single module relaxation cabin 10 and the inner side of the pneumatic rod chuck base 13, respectively. The presence of the buffer spring 12 not only provides a mechanical reset force when the air circuit is broken, but more importantly, it can absorb the impact energy in the contact instant during clamping, protecting the fragile workpiece surface from being damaged by hard impact.

[0022] In order to solve the adaptive fitting problem of irregular curved surface, the bionic joint design is adopted at the end of the execution. The multi-directional chuck 14 is connected to the side away from the pneumatic rod 11 of the pneumatic rod chuck base 13 through a spherical hinge structure. The spherical hinge connection gives the multi-directional chuck 14 the ability to rotate with multiple degrees of freedom, enabling it to automatically deflect according to the normal direction of the contact surface. The multi-directional chuck 14 also has an anti-skid pad 15 fixed thereon, usually made of rubber or silicone material, to increase the coefficient of friction and further provide flexible protection. When the pneumatic rod 11 pushes the multi-directional chuck 14 to contact a complex-shaped workpiece (such as a curved glass or a special-shaped casting), the multi-directional chuck 14 will rotate around the center of the spherical hinge under the action of contact pressure until the anti-skid pad 15 is in maximum area fitting state with the workpiece surface, thereby avoiding the stress concentration caused by point contact of traditional rigid clamping jaws.

[0023] In the specific construction of the gas path control system, the chuck single module 3 also includes a chuck single module gas cabin cover plate 6 fixedly connected to the chuck single module clamping cabin 5 for closing the air chamber and integrating the gas path interface. Specifically, the chuck single module relaxation cabin air inlet 7 and the chuck single module clamping cabin air inlet 8 are both arranged and fixed on the chuck single module gas cabin cover plate 6. This integrated design simplifies the external pipeline layout. In order to accurately deliver compressed air to each working chamber, a fine gas guide pipeline is arranged inside the device. This includes the clamping cabin gas guide pipe 16 and the relaxation cabin gas guide pipe 17. The clamping cabin gas guide pipe 16 is fixedly connected to the chuck single module clamping cabin 5 for connecting the air inlet and the clamping working chamber. The arrangement of the relaxation cabin gas guide pipe 17 is more ingenious, with one side fixedly connected to the chuck single module clamping cabin 5 and the other side slidingly connected to the end of the pneumatic rod 11. This sliding connection design adapts to the displacement changes of the pneumatic rod 11 during movement, ensuring that the gas can smoothly enter or exit the relaxation cabin or the related airway throughout the extension and retraction of the pneumatic rod 11, thereby cooperating with the buffer spring 12 to achieve precise push-pull control.

[0024] Based on the above structure, the combined chuck single module combined base of the present application adopts electric control, and the chuck single module adopts pneumatic control, which can not only ensure controllable clamping force, but also adapt to the shape of the object to be grabbed. In specific use, the working process of the above chuck is as follows: Step one, move the chuck total assembly base 1 to the designated position, and move the chuck side row combined base 2 along with one or more pairs of chuck single modules 3 to the appropriate position along the X axis. Step two, move the chuck total assembly base 1 again to the appropriate position for grabbing the object, and move the chuck side row combined base 2 to the appropriate position along the X axis. Step three, the gripper single module clamps the cabin inlet 8, and the air inlet 7 pushes the pneumatic rod 11, pneumatic rod chuck base 13 and multi-directional chuck 14 close to the clamped object. According to the different shapes of the clamped object, the final state of each gripper single module 3 is different, but under the same air pressure, the output pressure of the multi-directional chuck 14 can be kept the same; Step four, the multi-directional chuck 14 adjusts the angle according to the surface shape of the clamped object to achieve the best fit state; Step five, after completing the clamping and carrying process, the gripper single module relaxes the cabin inlet 7, and the air inlet 7 pushes the pneumatic rod 11, pneumatic rod chuck base 13 and multi-directional chuck 14 away from the clamped object; Step six, the gripper side row combination base 2 with one or more pairs of gripper single modules 3 moves along the X axis to the appropriate position to complete the loosening action.

[0025] It should be noted that in this paper, the relationship terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between the entities or operations. Moreover, the terms "include", "contain" or any other variants thereof are intended to cover non-exclusive inclusion, so that the process, method, article or equipment including a series of elements not only includes those elements, but also includes other elements not explicitly listed or inherent to such process, method, article or equipment.

[0026] The above embodiments are only used to illustrate the technical solutions of the present application, but not to limit it; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that the technical solutions recorded in the foregoing embodiments can be modified, or some technical features can be replaced by equivalents; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. An isostatic force combination gripper that self-adapts to the shape of the gripped object, characterized in that, The utility model relates to a kind of clamping jaw assembly base and the clamping jaw side row combined base slidingly connected with the clamping jaw assembly base. At least one clamping jaw single module is installed on the clamping jaw side row combined base through detachable connecting structure. The clamping jaw single module includes clamping jaw single module combined base, clamping jaw single module clamping cabin, clamping jaw single module relaxation cabin and pneumatic rod. The pneumatic rod is slidably arranged in the clamping jaw single module combined base, the clamping jaw single module clamping cabin and the clamping jaw single module relaxation cabin along linear direction. One end of the pneumatic rod extends out of the clamping jaw single module relaxation cabin and is fixed with pneumatic rod chuck base.

2. The self-adapting profile gripping isostatic force assembly jaw as claimed in claim 1, wherein, The pneumatic rod chuck base is connected with multi-direction chuck through ball hinge away from one side of the pneumatic rod.

3. The self-adapting profile gripping isostatic force assembly jaw as claimed in claim 2, wherein, The detachable connecting structure includes slot arranged on the clamping jaw side row combined base and clamping jaw single module combined locking column arranged on the clamping jaw single module combined base.

4. The self-adapting profile gripping isostatic force assembly jaw of claim 1, wherein, The clamping jaw single module combined base is fixedly connected with other clamping jaw single module combined bases of the same type through the slot and the clamping jaw single module combined locking column.

5. The self-adapting, isobaric, force-combining gripper jaw that adapts to the shape of the gripped object of claim 4, wherein, The clamping jaw single module combined base is further provided with groove.

6. The self-adapting profile gripping isostatic force assembly jaw of claim 1, wherein, The clamping jaw single module is further provided with clamping jaw single module air cabin cover plate.

7. The self- adaptive isobaric force assembly jaw that adapts to the profile of the gripped object of claim 1, wherein, The clamping jaw single module is further provided with clamping jaw single module relaxation cabin air inlet and clamping jaw single module clamping cabin air inlet.

8. The self- adaptive isobaric force assembly jaw that adapts to the profile of the gripped object of claim 1, wherein, The clamping jaw single module clamping cabin is fixedly connected with the clamping jaw single module combined base.

9. The self- adaptive isobaric force assembly jaw that adapts to the profile of the gripped object of claim 1, wherein, The clamping jaw single module relaxation cabin is fixedly connected with the clamping jaw single module combined base.

10. The self- adaptive isostatic force assembly jaw that adapts to the profile of the gripped object of claim 9, wherein, The elastic buffer is buffer spring, and two ends of the buffer spring are respectively fixed to the clamping jaw single module relaxation cabin and the pneumatic rod chuck base. The clamping jaw single module is further provided with clamping cabin air guide pipe and relaxation cabin air guide pipe. One side of the relaxation cabin air guide pipe is fixedly connected with the clamping jaw single module clamping cabin, and the other side of the relaxation cabin air guide pipe is slidingly connected with the end of the pneumatic rod.

Images