Clamping jaw material taking device

Abstract

The invention relates to the technical field of clamping jaw structures, in particular to a clamping jaw material taking device which comprises a supporting frame and is characterized in that the supporting frame is in a C shape, the opening end of the supporting frame is rotationally connected with a supporting rotating shaft, the supporting rotating shaft and the supporting frame are connected with a driving assembly for driving the supporting rotating shaft to rotate, and the supporting rotating shaft is connected with a fixing frame; a pair of connecting seats is connected to the fixing frame, an adjusting assembly is arranged in each connecting seat, each adjusting assembly is connected with a pair of connecting blocks and used for driving the two connecting blocks to synchronously and relatively move, clamping jaw assemblies are connected to the connecting blocks, the clamping jaw assemblies and the adjusting assemblies are both communicated to a two-way diaphragm air pump, and posture maintaining assemblies are connected to the clamping jaw assemblies and used for maintaining the posture of the two-way diaphragm air pump. According to the clamping jaw structure, materials are clamped through the two clamping jaws, the clamping jaws can rotate to alternately clamp, take and place objects, in addition, it can be guaranteed that the objects are kept in one posture during clamping, the objects of different sizes can be clamped within a certain range, and the clamping jaw structure has wide application prospects in the technical field of clamping jaw structures.

Description

Technical Field

[0001] This invention relates to the field of gripper structure technology, and in particular to a gripper material handling device. Background Technology

[0002] In automated production, material handling, and industrial loading / unloading, gripper devices serve as core actuators, primarily used for tasks such as gripping, transferring, and positioning items. However, existing grippers suffer from the following problems: 1. Robots typically use a single gripper, which is inefficient in moving items from one location to another.

[0003] 2. Furthermore, most existing gripper picking devices adopt a fixed installation structure and lack an overall design that can be rotated and adjusted. This makes it impossible to achieve multi-angle flipping and multi-station switching of the gripper assembly, and it is difficult to meet the picking and placing requirements of different positions and angles.

[0004] 3. In terms of clamping adjustment, traditional grippers mostly use a single drive method with a fixed clamping stroke, which cannot flexibly adjust the clamping distance according to the workpiece specifications and has poor adaptability to workpieces of different sizes.

[0005] 4. After the workpiece is clamped, some items must be ensured that they cannot be flipped or tilted, and no adjustments can be made.

[0006] 5. Existing gripper material handling devices lack clamping pressure detection and adaptive locking functions, making it impossible to perceive the clamping status in real time. This can easily lead to problems such as excessive clamping force damaging the workpiece or insufficient clamping force causing the workpiece to fall off. In addition, if the clamping force power source is suddenly disconnected after the gripper has clamped the item, the clamped item may easily fall off.

[0007] 6. The air circuit of the device is mostly external. During the rotation or adjustment of the gripper, the air tube is prone to tangling, pulling, or even leakage. This not only affects the stability of the air circuit control, but may also damage the air tube components and reduce the operational reliability of the device.

[0008] Therefore, a gripper-type material handling device is needed to solve the above problems. Summary of the Invention

[0009] (a) Technical problems to be solved In view of the above situation and to overcome the defects of the prior art, the present invention provides a gripper picking device, which aims to solve the problems in the background art.

[0010] (II) Technical Solution To achieve the above objectives, the present invention provides the following technical solution: a gripper material handling device, comprising a support frame, wherein the support frame is C-shaped, a support shaft is rotatably connected to the open end of the support frame, a drive assembly for driving the support shaft to rotate is connected to the support frame, a fixed frame is connected to the support shaft, a pair of connecting seats are connected to the fixed frame, each connecting seat is provided with an adjustment assembly, each adjustment assembly is connected to a pair of connecting blocks for driving the two connecting blocks to move synchronously relative to each other, a gripper assembly is connected to the connecting blocks, the gripper assembly and the adjustment assembly are both connected to a bidirectional diaphragm air pump, and an attitude holding assembly is connected to the gripper assembly.

[0011] Preferably, the support frame includes a horizontal plate and a first vertical plate and a second vertical plate that are perpendicularly connected to it, which together form a C-shaped structure. The ends of the first vertical plate and the second vertical plate away from the horizontal plate are both connected to support bearings, and the two ends of the support shaft are respectively interference-fitted into the two support bearings.

[0012] Preferably, the drive assembly includes a drive motor, a drive gear, a transmission gear, and a transmission belt. The drive motor is mounted on a support frame, and its output shaft is connected to the drive gear. The transmission gear is connected to the support shaft, and the drive gear and the transmission gear are connected by a transmission belt.

[0013] Preferably, the adjusting assembly includes several adjusting rods and adjusting pistons. Several adjusting cylinders are provided in the connecting seat. The adjusting piston is disposed in the adjusting cylinder. One end of the adjusting rod is connected to the adjusting piston, and the other end extends to the outside of the adjusting cylinder and is connected to the connecting block. The connecting seat has an adjusting air inlet and several adjusting air outlets. The adjusting air outlets are connected to the adjusting cylinders through several adjusting connecting holes. The adjusting air inlet is connected to a bidirectional diaphragm air pump.

[0014] Preferably, the gripper assembly includes a base plate, a clamping plate, a connecting rod, an upper piston, and a lower piston. The base plate is connected to a connecting block. A plurality of lower cylinders and an upper cylinder are respectively opened in the base plate and the clamping plate. The upper piston and the lower piston are respectively disposed in the upper cylinder and the lower cylinder. The two ends of the connecting rod are respectively connected to the upper piston and the lower piston. A clamping air supply hole communicating with the plurality of lower cylinders is opened in the base plate. A clamping air inlet hole communicating with the clamping air supply hole is opened in the base plate. An air inlet interface is connected to the base plate at the clamping air inlet hole. The air inlet interface is connected to a bidirectional diaphragm air pump. A synchronous air hole communicating with the upper piston, the lower piston, and the connecting rod is opened in the upper piston, the lower piston, and the connecting rod. The synchronous air hole is connected to the upper cylinder and the lower cylinder.

[0015] Preferably, the attitude holding assembly includes an inner connecting shaft, an outer connecting shaft, an inner clamping plate, and an outer clamping plate. The inner and outer end faces of the clamping plate are respectively connected to an inner connecting bearing and an outer connecting bearing. One end of the inner connecting shaft and the outer connecting shaft are respectively interference-fitted into the inner connecting bearing and the outer connecting bearing, and the other end is respectively eccentrically connected to the inner clamping plate and the outer clamping plate. The inner end face of the end of the inner clamping plate away from the inner connecting shaft and the outer connecting shaft is respectively connected to an inner counterweight and an outer counterweight.

[0016] Preferably, the clamping plate is connected to a locking assembly for locking and limiting the inner clamping plate and the outer clamping plate. The locking assembly includes an inner fixing block, an outer fixing block, an inner electric telescopic rod, and an outer electric telescopic rod. The inner electric telescopic rod and the outer electric telescopic rod are respectively connected inside the inner fixing block and the outer fixing block. The inner counterweight block and the outer counterweight block are respectively provided with an inner locking hole and an outer locking hole. When the telescopic ends of the inner electric telescopic rod and the outer electric telescopic rod are respectively inserted into the inner locking hole and the outer locking hole, the inner clamping plate and the outer clamping plate are locked respectively, so that the attitude holding assembly stops working.

[0017] Preferably, the posture holding assembly and the connecting seat are connected to a limiting assembly that limits the adjustment assembly. The limiting assembly includes an internal pressure sensor, an external pressure sensor, and a limiting electric telescopic rod. The internal pressure sensor and the external pressure sensor are respectively connected to the internal clamping plate and the external clamping plate. The limiting electric telescopic rod is connected to the connecting seat and extends partially into the connecting seat to abut against the adjustment assembly. The internal pressure sensor and the external pressure sensor are electrically connected to the limiting electric telescopic rod, so that when the internal clamping plate or the external clamping plate clamps an object, the internal pressure sensor or the external pressure sensor generates a pressure signal, thereby controlling the extension of the limiting electric telescopic rod to limit and lock the adjustment assembly.

[0018] Preferably, four vent pipes are connected inside the support shaft. The two sets of adjusting components and gripper assemblies are respectively connected to the four vent pipes inside the support shaft. The end of the support shaft is connected to a vent connector assembly that is connected to the four vent pipes, so that the support shaft can rotate through the vent connector assembly, while ensuring the ventilation of the adjusting components and gripper assembly. The vent connector assembly includes a vent sleeve, a limiting screw, and four vent connecting pipes. The outer end face of the support shaft is provided with a connecting ring groove and several external sealing ring grooves. The limiting screw is threaded onto the vent sleeve, and one end... The vent sleeve extends through to the connecting ring groove. The inner wall of the vent sleeve has several inner sealing ring grooves. The outer sealing ring groove and the inner sealing ring groove are provided with sealing rings. The outer surface of the support shaft between adjacent outer sealing ring grooves has a venting ring groove. Each venting ring groove has an inner venting hole that connects to one of the internal venting pipes. The vent sleeve has an outer venting hole that corresponds to and is connected to the venting ring groove. Four venting connecting pipes are respectively connected to the vent sleeve at the four outer venting connecting holes. The four venting connecting pipes are connected to the bidirectional diaphragm air pump.

[0019] Preferably, a pair of trigger plates are connected to the support shaft, and an infrared beam sensor is connected to the support frame, so that the two trigger plates generate signals when they pass the infrared beam sensor as the support shaft rotates. The infrared beam sensor is electrically connected to a microcontroller control module assembly, and the bidirectional diaphragm air pump is electrically connected to the microcontroller control module assembly.

[0020] (III) Beneficial Effects Compared with the prior art, the present invention provides a gripper material handling device, which has the following advantages: 1. This gripper material handling device, through a drive component, can drive the support shaft to rotate, thereby driving the two pairs of grippers on the support shaft to rotate, facilitating the alternating gripping and transfer of items and improving work efficiency.

[0021] 2. This gripper picking device allows for easy adjustment of the distance between each pair of grippers and the distance between the grippers and the connecting seat by adjusting the components and gripper assembly, thereby enabling the gripping of items of different sizes and models within a certain range.

[0022] 3. This gripper material handling device, through an attitude holding component, ensures that the items held by the gripper component do not flip over, thereby enabling the gripping and handling of some special items.

[0023] 4. This gripper picking device uses a locking component to lock the attitude holding component, thereby determining whether the attitude holding component is working.

[0024] 5. This gripper material handling device, through a limiting component, can detect the force of the gripper assembly when gripping the item, and lock the adjusting component when a certain force is reached, so as to prevent the force source of the adjusting component from failing and affecting the gripper assembly's gripping of the item.

[0025] 6. This gripper material handling device, through the air venting connector assembly, enables the adjustment assembly and gripper assembly to supply air during rotation, ensuring a continuous power source supply for the adjustment assembly and gripper assembly during movement.

[0026] 7. This gripper material handling device, through a trigger plate, an infrared photoelectric sensor and a single-chip microcomputer control module assembly, enables the trigger plate to generate a trigger signal when the support shaft rotates to a certain angle, which is transmitted to the single-chip microcomputer control module assembly. The single-chip microcomputer control module assembly then controls the operation of the adjustment component, gripper component, locking component and limit component. Attached Figure Description

[0027] Figure 1 This is a perspective view of the present invention.

[0028] Figure 2 This is a cross-sectional view of the adjustment component of the present invention.

[0029] Figure 3 for Figure 2 Enlarged view of a portion of region A in the middle.

[0030] Figure 4 This is a cross-sectional view of the gripper assembly of the present invention.

[0031] Figure 5 for Figure 4 Enlarged view of a portion of region B in the middle.

[0032] Figure 6 This is a cross-sectional view of the vent connector assembly of the present invention.

[0033] In the diagram: 1. Horizontal plate, 2. First vertical plate, 3. Second vertical plate, 4. Support bearing, 5. Support shaft, 6. Drive motor, 7. Drive gear, 8. Transmission gear, 9. Transmission belt, 10. Fixing frame, 11. Connecting seat, 12. Adjusting cylinder, 13. Adjusting piston, 14. Adjusting rod, 15. First sealing ring groove, 16. First sealing washer, 17. First protective pad, 18. Adjusting air inlet, 19. Adjusting air outlet, 20. Adjusting connecting hole, 21. Limiting groove, 22. Limiting electric telescopic rod, 23. Limiting hole, 24. Connecting block, 25. Base plate, 26. Air inlet, 27. Clamping air inlet, 28. Clamping air outlet, 29. Lower cylinder, 30. Clamping plate, 31. Upper cylinder, 32. Lower piston, 33. Upper piston, 34. Connecting rod, 35. Second sealing ring groove, 36. Second sealing washer 37. Second protective pad; 38. Synchronous air vent; 39. Inner connecting bearing; 40. Inner connecting shaft; 41. Inner clamping plate; 42. Inner counterweight; 43. Inner locking hole; 44. Inner fixing block; 45. Inner electric telescopic rod; 46. Outer connecting bearing; 47. Outer connecting shaft; 48. Outer clamping plate; 49. Outer counterweight; 50. Outer locking hole; 51. Outer fixing block; 52. Outer electric telescopic rod; 53. 54. Vent pipe, 55. Vent sleeve, 56. Connecting ring groove, 57. Limit screw, 58. Inner sealing ring groove, 59. Outer sealing ring groove, 60. Sealing ring, 61. Vent ring groove, 62. Inner vent hole, 63. Outer vent hole, 64. Vent connecting pipe, 65. Inner gasket, 66. Inner pressure sensor, 67. Outer gasket, 68. Outer pressure sensor, 69. Trigger plate, 60. Infrared beam sensor. Detailed Implementation

[0034] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0035] It should be noted that, unless otherwise specified, all technical and scientific terms used in this application have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains.

[0036] Reference Figure 1A gripper-type material handling device includes a C-shaped support frame for supporting and connecting the entire gripper, thus facilitating the connection between the gripper and the robotic arm of a robot. Specifically, the support frame includes a horizontal plate 1 and a first vertical plate 2 and a second vertical plate 3, which are detachably and perpendicularly fixed to it via bolts, forming a C-shaped structure that provides stability and supports the gripper. A support shaft 5 is rotatably connected to the open end of the support frame. Specifically, the ends of the first vertical plate 2 and the second vertical plate 3 furthest from the horizontal plate 1 are both interference-fitted with support bearings 4. Both ends of the support shaft 5 are interference-fitted within the two support bearings 4, allowing the support shaft 5 to rotate relative to the first vertical plate 2 and the second vertical plate 3.

[0037] Reference Figure 1 A drive assembly is connected to the support frame to drive the support shaft 5 to rotate relative to the support frame. The drive assembly includes a drive motor 6, a drive gear 7, a transmission gear 8, and a transmission belt 9. The drive motor 6 is detachably fixed to the support frame with bolts, connecting the drive motor 6 to the support frame, thereby supporting and limiting the drive motor 6. The output shaft of the drive motor 6 is detachably fixed to the drive gear 7 with bolts, connecting the drive gear 7 to the output shaft of the drive motor 6, so that when the drive motor 6 is energized, its output shaft drives the drive gear 7 to rotate synchronously. The transmission gear 8 is detachably fixed to the support shaft 5 with bolts, connecting the transmission gear 8 to the support shaft 5, so that they rotate simultaneously. The drive gear 7 and the transmission gear 8 are connected by the transmission belt 9, so that the rotation of the drive gear drives the transmission gear 8 to rotate, thereby driving the support shaft 5 to rotate synchronously.

[0038] Reference Figure 1 , Figure 2 , Figure 3A fixed frame 10 is detachably and fixedly connected to the supporting shaft 5 by bolts, so that the fixed frame 10 is connected to the supporting shaft 5 to achieve synchronous rotation. A pair of connecting seats 11 are detachably and fixedly connected to the fixed frame 10 by bolts, so that the two connecting seats 11 are symmetrically arranged about the supporting shaft 5 and connected to the supporting shaft 5 to achieve synchronous rotation. Each connecting seat 11 is provided with an adjustment component, so that the adjustment component is connected to the fixed frame 10 through the connecting seat 11, and then connected to the supporting shaft 5 to achieve synchronous rotation. Each adjustment component is detachably and fixedly connected to a pair of connecting blocks 24 by bolts, which is used to drive the two connecting blocks 24 to move synchronously relative to each other. The adjustment component includes several adjustment rods 14 and adjustment pistons 13. Several adjustment cylinders 12 are opened in the connecting seat 11. The adjustment pistons 13 are arranged in the adjustment cylinders 12, so that the adjustment pistons 13 can move in the adjustment cylinders 12 by filling or deflating the adjustment cylinders 12. Multiple adjusting cylinders 12 are symmetrically arranged about the center of the connecting seat 11, allowing multiple adjusting pistons 13 to be evenly divided into two batches and move synchronously towards or away from each other. Several first sealing ring grooves 15 are formed on the outer surface of the adjusting piston 13. Each first sealing ring groove 15 contains a first sealing washer 16, which secures the first sealing washer 16, preventing it from detaching from the adjusting piston 13. Simultaneously, the first sealing washer 16 seals the gap between the adjusting piston 13 and the adjusting cylinder 12, forming a sealed cavity. By filling or evacuating this sealed cavity, the adjusting piston 13 moves within the adjusting cylinder 12. One end of the adjusting rod 14 is welded to the adjusting piston 13 or detachably fixed by bolts, and the other end extends to the outside of the adjusting cylinder 12 and is detachably fixed to the connecting block 24 by bolts. This allows the adjusting piston 13 to be connected to the connecting block 24 through the adjusting rod 14, so that they can move synchronously relative to the connecting seat 11, thereby adjusting the distance between the two connecting blocks 24. This allows for appropriate adjustments based on items of different sizes within a small range, making it easier to clamp items of different sizes within that range. The connecting seat 11 is provided with an adjusting air inlet 18 and several adjusting air outlets 19. The adjusting air outlets 19 are connected to the adjusting cylinder 12 through several adjusting connecting holes 20. The adjusting air inlet 18 is connected to a bidirectional diaphragm air pump. The bidirectional diaphragm air pump provides air to the adjusting component. The airflow passes through the adjusting air inlet 18, the adjusting air outlet 19 and the adjusting connecting holes 20 in sequence and is connected to the adjusting cylinder 12. This enables the adjusting pistons 13 in the multiple adjusting cylinders 12 to move synchronously. Finally, the two connecting blocks 24 connected by the adjusting rods 14 on both sides move synchronously toward each other or away from each other.The axial end face of the adjusting piston 13 is detachably fixed with a first protective pad 17 by bolts, so that the axial end face of the adjusting piston 13 is protected by the first protective pad 17, and the axial end face of the adjusting piston 13 is prevented from directly colliding with the adjusting cylinder 12 and causing damage.

[0039] Reference Figure 1 , Figure 2 , Figure 4 , Figure 5A gripper assembly is connected to the connecting block 24, allowing the gripper assembly to move simultaneously with the connecting block 24. The distance between the two gripper assemblies on the same connecting seat 11 can be adjusted by adjusting the component, thus enabling the gripper assembly to hold and place items. The gripper assembly includes a base plate 25, a clamping plate 30, a connecting rod 34, an upper piston 33, and a lower piston 32. The base plate 25 is detachably fixed to the connecting block 24 by bolts, connecting the base plate 25 and the connecting block 24 together. This allows the entire gripper assembly to be connected to the connecting block 24, enabling synchronous movement relative to the connecting seat 11. The substrate 25 and the clamping plate 30 are respectively provided with a plurality of lower cylinders 29 and upper cylinders 31. The upper piston 33 and the lower piston 32 are respectively disposed in the upper cylinder 31 and the lower cylinder 29. The two ends of the connecting rod 34 are respectively connected to the upper piston 33 and the lower piston 32, so that the upper piston 33 and the lower piston 32 are connected together through the connecting rod 34, thereby connecting the substrate 25 and the clamping plate 30 together. At the same time, the distance between the substrate 25 and the clamping plate 30 is adjusted by the movement of the upper piston 33 and the lower piston 32 in the upper cylinder 31 and the lower cylinder 29 respectively. The outer surface of the lower piston 32 is provided with several second sealing ring grooves 35. Each second sealing ring groove 35 is fitted with a second sealing washer 36, so that the second sealing ring groove 35 fits and limits the second sealing washer 36, preventing the second sealing washer 36 from detaching from the lower piston 32. At the same time, the second sealing washer 36 seals the gap between the lower piston 32 and the lower cylinder 29, so that a sealed cavity is formed between the lower piston 32 and the lower cylinder 29. Thus, by filling or deflating the sealed cavity, the lower piston 32 can move within the lower cylinder 29. The outer surface of the upper piston 33 is provided with several third sealing ring grooves, and a third sealing gasket is engaged in each third sealing ring groove. The third sealing gasket is engaged and limited by the third sealing ring groove to prevent it from falling off the upper piston 33. At the same time, the third sealing gasket is used to seal the gap between the upper piston 33 and the upper cylinder 31, so that a sealed cavity is formed between the upper piston 33 and the upper cylinder 31. By filling or depressing air into the sealed cavity, the upper piston 33 can move in the upper cylinder 31. The upper piston 33, lower piston 32, and connecting rod 34 are provided with interconnected synchronous air holes 38, which are connected to the upper cylinder 31 and lower cylinder 29. This allows the upper cylinder 31 and lower cylinder 29 to be connected, thereby enabling the lower piston 32 and upper piston 33 to move synchronously within the lower cylinder 29 and upper cylinder 31, respectively. This synchronously adjusts the distance between the base plate 25 and the clamping plate 30, increasing the adjustment rate of the distance between the base plate 25 and the clamping plate 30. Compared to having pistons separately installed in the base plate 25 or clamping plate 30, this structure can increase the adjustment distance between the base plate 25 and the clamping plate 30, thereby enabling adjustments within a small range according to the size of different items to clamp items of different sizes.The substrate 25 has clamping air supply holes 28 that connect to several lower cylinders 29, allowing the lower cylinders 29 to be connected through the clamping air supply holes 28, ensuring that the pressure inside the lower cylinders 29 is the same, thereby achieving synchronous movement of the lower pistons 32 inside the lower cylinders 29. The substrate 25 also has clamping air inlets that connect to the clamping air supply holes 28, allowing air to be supplied or depressurized through the clamping air inlets. An air inlet interface 26 is threadedly sealed to the substrate 25 at the clamping air inlet, and the air inlet interface 26 is connected to a bidirectional diaphragm air pump, allowing the bidirectional diaphragm air pump to provide an air source to the gripper assembly, thereby connecting the air inlet interface 26 to the clamping air inlet, enabling air to be supplied to or depressurized through the clamping air inlet, thus controlling the movement of the lower pistons 32 within the lower cylinders 29. The axial end faces of the lower piston 32 and the upper piston 33 are respectively detachably fixed with a second protective pad 37 and a third protective pad by bolts, so that the lower piston 32 and the upper piston 33 are protected by the second protective pad 37 and the third protective pad respectively, avoiding damage caused by the lower piston 32 and the upper piston 33 colliding with the end of the lower cylinder 29 or the upper cylinder 31.

[0040] Reference Figure 1 , Figure 2 , Figure 4A posture-maintaining component is connected to the gripper assembly. This component ensures that the top surface of the gripped item always faces upwards, preventing the item from flipping over when the gripper assembly rotates with the support shaft 5. The posture-maintaining component also prevents interference with the gripping and handling of specific items. The posture-maintaining component includes an inner connecting shaft 40, an outer connecting shaft 47, an inner clamping plate 41, and an outer clamping plate 48. The inner and outer end faces of the clamping plate 30 are respectively press-fitted with an inner connecting bearing 39 and an outer connecting bearing 46, connecting the inner and outer end faces of the clamping plate 30 together. One end of the inner connecting shaft 40 and the outer connecting shaft 47 are respectively interference-fitted into the inner connecting bearing 39 and the outer connecting bearing 46, and the other end is respectively detachably eccentrically connected to the inner clamping plate 41 and the outer clamping plate 48 by bolts, so that the inner clamping plate 41 and the outer clamping plate 48 are connected to the inner and outer end faces of the clamping plate 30 by the inner connecting shaft 40 and the outer connecting shaft 47, respectively; through the inner connecting bearing 39 and the outer connecting bearing 46, the inner clamping plate 41 and the outer clamping plate 48 can rotate relative to the clamping plate 30; in addition, through the eccentric connection, the end of the inner clamping plate 41 and the outer clamping plate 48 away from the inner connecting bearing 39 and the outer connecting bearing 46 can always be close to the ground, so that the object clamped by the inner clamping plate 41 or the outer clamping plate 48 always keeps its face upward. The inner end faces of the inner clamping plate 41 and the outer clamping plate 48, which are away from the inner connecting shaft 40 and the outer connecting shaft 47, are respectively detachably fixed with an inner counterweight 42 and an outer counterweight 49 by bolts. This allows the center of gravity of the inner clamping plate 41 and the outer clamping plate 48 to be further adjusted by the inner counterweight 42 and the outer counterweight 49, so that the inner clamping plate 41 and the outer clamping plate 48 can always keep the end away from the inner connecting bearing 39 and the outer connecting bearing 46 close to the ground.

[0041] Reference Figure 1 , Figure 2 , Figure 4A locking assembly is connected to the clamping plate 30 to lock and limit the inner clamping plate 41 and the outer clamping plate 48. This locking assembly locks the inner clamping plate 41 and the outer clamping plate 48, thereby disabling the posture holding assembly and allowing the clamped item to rotate and flip as the support shaft 5 rotates. The locking assembly includes an inner fixing block 44, an outer fixing block 51, an inner electric telescopic rod 45, and an outer electric telescopic rod 52. The inner fixing block 44 and the outer fixing block 51 are detachably fixed to the inner and outer end faces of the clamping plate 30 by bolts, connecting them together. The inner electric telescopic rod 45 and the outer electric telescopic rod 52 are detachably fixed to the inner fixing block 44 and the outer fixing block 51 by bolts, connecting them to the inner fixing block 44 and the outer fixing block 51, and thus to the clamping plate 30. The inner counterweight 42 and the outer counterweight 49 are respectively provided with an inner locking hole 43 and an outer locking hole 50. When the telescopic ends of the inner electric telescopic rod 45 and the outer electric telescopic rod 52 are inserted into the inner locking hole 43 and the outer locking hole 50 respectively, the inner clamping plate 41 and the outer clamping plate 48 are locked respectively, so that the attitude holding component stops working.

[0042] Reference Figure 1 , Figure 2 , Figure 4The attitude holding component and the connecting seat 11 are connected to a limiting component to limit the adjustment component. The limiting component can lock the adjustment component after the attitude holding component clamps and fixes the item, so as to prevent the clamped item from falling off after the gripper component fails. At the same time, it can prevent the clamping component from clamping the item with too little force, resulting in unstable clamping, or clamping the item with too much force, resulting in damage to the item. The limiting assembly includes an internal pressure sensor 65, an external pressure sensor 67, and a limiting electric telescopic rod 22. The internal pressure sensor 65 and the external pressure sensor 67 are respectively connected to the inner clamping plate 41 and the outer clamping plate 48. Specifically, the outer end faces of the inner clamping plate 41 and the outer clamping plate 48 are respectively detachably fixed with an inner gasket 64 and an outer gasket 66 by bolts, so that the inner gasket 64 and the outer gasket 66 are respectively connected to the inner clamping plate 41 and the outer clamping plate 48. Thus, the outer gasket 66 and the inner gasket 64 protect the clamped items and prevent damage to the items. The outer surfaces of the inner gasket 64 and the outer gasket 66 are provided with protrusions or grooves. The friction between the inner gasket 64 and the outer gasket 66 and the object is increased by protrusions or grooves, which facilitates better clamping and fixing of the object. The inner end faces of the inner gasket 64 and the outer gasket 66 are provided with mounting grooves. The inner pressure sensor 65 and the outer pressure sensor 67 are respectively installed in the mounting grooves of the inner gasket 64 and the outer gasket 66. The inner pressure sensor 65 and the outer pressure sensor 67 detect the force applied by the inner clamping plate 41 and the outer clamping plate 48 when clamping the object. Based on the different objects being clamped, the clamping force of the inner clamping plate 41 or the outer clamping plate 48 is adjusted to avoid insufficient clamping force leading to instability, or excessive force causing damage to the object. The limiting electric telescopic rod 22 is detachably fixed to the connecting seat 11 by bolts, and partially extends into the connecting seat 11 to abut against the adjusting component, thus connecting the limiting electric telescopic rod 22 to the connecting seat 11. The connecting seat 11 has a limiting hole 23 that connects to the adjusting cylinder 12. One end of the limiting electric telescopic rod 22 extends into the limiting hole 23, allowing the extended electric telescopic rod 22 to extend into the adjusting cylinder 12 through the limiting hole 23. The adjusting rod 14 has a limiting groove 21. The extended end of the limiting electric telescopic rod 22 abuts against the adjusting rod 14 within the limiting groove 21, thereby locking and limiting the adjusting rod 14 and preventing it from moving automatically relative to the connecting seat 11. The internal pressure sensor 65 and the external pressure sensor 67 are electrically connected to the limiting electric telescopic rod 22. When the clamping force of the internal clamping plate 41 or the external clamping plate 48 reaches a preset value, the internal pressure sensor 65 or the external pressure sensor 67 transmits the detected pressure signal to form a trigger signal, thereby controlling the extension of the limiting electric telescopic rod 22 and locking the adjusting component.

[0043] Reference Figure 1 , Figure 6The support shaft 5 has four vent pipes 53 connected inside. Two sets of adjustment components and gripper components are respectively connected to the four vent pipes 53 inside the support shaft 5. Air is supplied to the two sets of adjustment components and gripper components through the four vent pipes 53, allowing the two sets of adjustment components and gripper components to work independently, thus enabling clamping and fixing of items of different sizes within a certain range. The end of the support shaft 5 is connected to a vent connector assembly that communicates with the four vent pipes 53, allowing the support shaft 5 to rotate while ensuring airflow to the adjustment components and gripper components. The venting connector assembly includes a venting sleeve 54, a limiting screw 56, and four venting connecting pipes 63. The outer end face of the supporting shaft 5 is provided with a connecting ring groove 55 and several external sealing ring grooves 58. The limiting screw 56 is threaded onto the venting sleeve 54, and one end extends through the venting sleeve 54 into the connecting ring groove 55. This allows the venting sleeve 54 to be connected to the end of the supporting shaft 5 by the limiting screw 56, and to be movably connected in the connecting ring groove 55 by the limiting screw 56, without affecting the rotation of the supporting shaft 5 relative to the venting sleeve 54. The inner wall of the vent sleeve 54 is provided with several inner sealing ring grooves 57. Sealing rings 59 are provided in the outer sealing ring grooves 58 and the inner sealing ring grooves 57, allowing the sealing rings 59 to be engaged and secured by the inner and outer sealing ring grooves 57 and 58, preventing the sealing rings 59 from detaching from the supporting shaft 5 and the vent sleeve 54. Simultaneously, the sealing rings 59 seal the gap between the vent sleeve 54 and the supporting shaft 5, preventing air leakage. Ventilation ring grooves 60 are provided on the outer surface of the supporting shaft 5 between adjacent outer sealing ring grooves 58. Each ventilation ring groove 60 has an inner ventilation port 61 that connects to one of the internal ventilation pipes 53, ensuring that each ventilation pipe 53 is connected to one of the ventilation ring grooves 60 through the inner ventilation port 61. The vent sleeve 54 has an external vent hole 62 that corresponds to and communicates with the vent ring groove 60. This external vent hole 62 connects to the vent ring groove 60 and the internal vent hole 61, and further connects to the vent pipe 53. The connection between the external vent hole 62 and the vent pipe 53 is not affected when the supporting shaft 5 rotates relative to the vent connector. Four vent connecting pipes 63 are respectively connected to the vent sleeve 54 at the four external vent holes 62, so that each vent connecting pipe 63 is connected to one of the external vent holes 62. The four vent connecting pipes 63 are connected to a bidirectional diaphragm air pump, allowing the bidirectional diaphragm air pump to provide air to the four vent connecting pipes 63. The bidirectional diaphragm air pump is connected to a main reversing valve, which is connected to a positive pressure main pipe and a negative pressure main pipe. All four vent pipes 53 are connected to the positive pressure main pipe and the negative pressure main pipe, and all four vent pipes 53 are connected to a solenoid valve. The solenoid valve controls the opening and closing of the vent pipes 53, and the main reversing valve controls the bidirectional diaphragm air pump to switch between the pumping and inflation states.

[0044] Reference Figure 1A pair of trigger plates 68 are detachably and fixedly connected to the support shaft 5 by bolts, so that the two trigger plates 68 are connected to the support shaft 5 and achieve synchronous rotation. An infrared beam sensor 69 is detachably and fixedly connected to the support frame by bolts, so that the infrared beam sensor 69 is connected to the support frame. When the two trigger plates 68 rotate with the support shaft 5, they generate different signals when passing through the infrared beam sensor 69. The infrared beam sensor 69 is electrically connected to the microcontroller control module assembly, which can transmit the generated signals to the microcontroller control module assembly. The microcontroller control module assembly receives and processes the two signals, and then controls the operation of the bidirectional diaphragm air pump, adjustment component, gripper assembly, attitude holding component, locking component, and limit component, thereby controlling the two sets of grippers to grip or release items respectively. The bidirectional diaphragm air pump, drive motor 6, main reversing valve, solenoid valves on the four air pipes 53, limit electric telescopic rod 22, outer electric telescopic rod 52 and inner electric telescopic rod 45 are all electrically connected to the microcontroller control module assembly, which facilitates the control of the above electronic components through the microcontroller control module assembly.

[0045] When in use, if the item to be clamped does not flip over during the loading and unloading process, the bidirectional diaphragm air pump is first started and switched to inflation mode. The solenoid valve on each air pipe 53 is opened by the microcontroller control module assembly, and air is simultaneously injected into the regulating cylinder 12, the upper cylinder 31 and the lower cylinder 29. During inflation, the regulating piston 13 in the regulating cylinder 12, the upper piston 33 in the upper cylinder 31 and the lower piston 32 in the lower cylinder 29 move outward synchronously, causing the two connecting blocks 24 to move away from each other. At the same time, the distance between the base plate 25 and the clamping plate 30 gradually increases until it is adjusted to the maximum stroke, leaving enough space for the item to be placed and avoiding collision with the clamping claw when it is placed. Then, based on the actual dimensions (length, width, and thickness) of the item to be clamped, the solenoid valves on each vent pipe 53 are closed via the microcontroller control module assembly. The bidirectional diaphragm air pump is switched to suction mode, and air is drawn by opening the solenoid valves on the corresponding vent pipe 53. The air pressure in each cylinder is adjusted, and the position of the adjusting piston 13 in the adjusting cylinder 12 is precisely adjusted to achieve the matching adjustment of the distance between the two connecting blocks 24. At the same time, the extension and retraction of the upper piston 33 in the upper cylinder 31 and the lower piston 32 in the lower cylinder 29 are adjusted so that the outer clamping plate 48 or the inner clamping plate 41 is aligned with the clamping point of the item. The plate is slowly retracted until it fits against the surface of the item, thus completing the clamping and fixing of the item. During the clamping process, the suction speed must be controlled to avoid a sudden increase in clamping force that could damage the item. Next, when the outer clamping plate 48 or the inner clamping plate 41 is in close contact with the object, the outer pressure sensor 67 or the inner pressure sensor 65 on its surface detects the clamping pressure value in real time and quickly transmits the detection signal to the microcontroller control module assembly. The microcontroller analyzes the pressure value in real time. When the detected value reaches the preset safe clamping threshold, it needs to preset a reasonable clamping pressure threshold based on the material, hardness, brittleness and other parameters of the object to be clamped. This avoids damage to the object due to excessive pressure or loss of object due to insufficient pressure. The threshold parameter can be adjusted at any time through the control panel according to actual operation needs. At this time, a control command is immediately issued to drive the limit electric telescopic rod 22 to extend until its end is in close contact with the bottom of the upper limit groove 21 of the adjusting rod 14, thereby locking and fixing the adjusting rod 14 and preventing the adjusting rod 14 from loosening and causing the object to shift during clamping. At this time, the outer electric telescopic rod 52 and the inner electric telescopic rod 45 in the locking assembly are in the retracted state and do not participate in the locking operation, thus avoiding interference with the adjusting rod 14 or the clamping plate. Next, after locking is complete, the microcontroller control module sends a command to start the drive motor 6, causing the gripper assembly and the gripped item to rotate smoothly and accurately transfer to the preset placement position. While one set of gripper assemblies is transferring the item, another set of gripper assemblies simultaneously initiates the above steps to clamp and secure the next item. This allows for alternating clamping and placement operations by the two sets of gripper assemblies, significantly shortening the work interval and improving overall work efficiency. After the item is placed, the bidirectional diaphragm air pump switches back to inflation mode, releases the grip, returns to the initial state, and awaits the next round of work.

[0046] When the item to be clamped needs to be flipped during placement or removal, the bidirectional diaphragm air pump is first started and switched to inflation mode. The solenoid valves on each air pipe 53 are opened by the microcontroller control module assembly, and air is simultaneously injected into the adjusting cylinder 12, upper cylinder 31, and lower cylinder 29. This ensures that the distance between the two connecting blocks 24, the base plate 25, and the clamping plate 30 is adjusted to the maximum, ensuring that the item can be placed smoothly without being bumped or damaged due to insufficient space. Then, according to the size of the item to be clamped, the solenoid valves on each air pipe 53 are closed by the microcontroller control module assembly, and the bidirectional diaphragm air pump is switched to suction mode. Air is suctioned by opening the solenoid valves on the corresponding air pipe 53, adjusting the air pressure in each cylinder, and adjusting the positions of the adjusting piston 13, upper piston 33, and lower piston 32. This ensures that the outer clamping plate 48 or inner clamping plate 41 precisely fits the surface of the item, completing the clamping and fixing. This ensures that the clamping force is uniform, preventing the item from falling off while avoiding damage caused by excessive clamping. Next, the external pressure sensor 67 or the internal pressure sensor 65 detects the clamping pressure in real time and transmits the signal to the microcontroller control module assembly. When the detected value reaches a preset threshold, the microcontroller simultaneously issues two sets of control commands: first, it drives the limit electric telescopic rod 22 to extend and tightly contact the adjusting rod 14, locking the adjusting rod 14 to prevent the adjusting mechanism from loosening; second, depending on whether the clamped item is on the external clamping plate 48 or the internal clamping plate 41, it drives the corresponding external electric telescopic rod 52 or the internal electric telescopic rod 45 to extend, so that its end is precisely inserted into the corresponding external locking hole 50 or the internal locking hole 43, achieving secondary locking of the external clamping plate 48 or the internal clamping plate 41. The double locking ensures that the item will not loosen or fall off during the flipping process, ensuring the stability of the flipping operation. After the double locking is completed, the microcontroller control module assembly controls the drive motor 6 to start, driving the gripper assembly and the clamped item to rotate smoothly at a preset angle, completing the item flipping operation, and then accurately transferring the flipped item to the preset placement position. During this process, another set of gripper components simultaneously initiates steps 1-3 above to clamp and fix the new item, enabling the two sets of grippers to work alternately and continuously improve work efficiency. After the item is placed and flipped, the bidirectional diaphragm air pump switches to inflation mode, and the limit electric telescopic rod 22, the outer electric telescopic rod 52, or the inner electric telescopic rod 45 retracts simultaneously, releasing the grip, restoring the initial state, and entering the next work cycle.

[0047] Precautions: 1. The inflation / extraction switching of the bidirectional diaphragm air pump, the extension and retraction of each cylinder, the detection by the pressure sensor, the locking / retraction of the electric telescopic rod, and the start / stop of the drive motor 6 are all controlled by a unified microcontroller module assembly to ensure smooth operation and avoid operational disconnect. 2. During operation, if the pressure sensor detects abnormal pressure exceeding the preset threshold range, the microcontroller will immediately issue an alarm signal and control the relevant components to stop working to prevent equipment damage or damage to items; at the same time, the movement trajectories of the two sets of gripper assemblies must be preset to be staggered to avoid collisions during alternating operations. 3. Regularly check the sensitivity of the pressure sensor, the smoothness of the extension and retraction of the electric telescopic rod, and the inflation / extraction efficiency of the bidirectional diaphragm air pump; promptly clean debris from the surface of the clamping plate to ensure long-term stable operation of the equipment and extend its service life.

[0048] In this invention, unless otherwise stated, the directional terms such as "up" and "down" generally refer to the directions shown in the accompanying drawings, or to the vertical, perpendicular, or gravitational direction; similarly, for ease of understanding and description, "left" and "right" generally refer to the left and right shown in the accompanying drawings; "inner" and "outer" refer to the inner and outer contours of each component itself, but the above directional terms are not intended to limit this invention.

[0049] Of all the solutions mentioned above, those involving the connection between two components can be selected according to the actual situation, such as welding, bolt and nut connection, bolt or screw connection, or other known connection methods, which will not be elaborated here. For all the fixed connections mentioned above, welding is preferred. Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A gripper for picking up materials, comprising a support frame, characterized in that, The support frame is C-shaped, and a support shaft (5) is rotatably connected to the open end of the support frame. A drive assembly for driving the support shaft (5) to rotate is connected to the support frame. A fixed frame (10) is connected to the support shaft (5). A pair of connecting seats (11) are connected to the fixed frame (10). Each connecting seat (11) is provided with an adjustment assembly. Each adjustment assembly is connected to a pair of connecting blocks (24) for driving the two connecting blocks (24) to move synchronously relative to each other. A gripper assembly is connected to the connecting block (24). The gripper assembly and the adjustment assembly are both connected to a bidirectional diaphragm air pump. An attitude holding assembly is connected to the gripper assembly.

2. The gripper material handling device according to claim 1, characterized in that, The support frame includes a horizontal plate (1) and a first vertical plate (2) and a second vertical plate (3) connected vertically thereto, which together form a C-shaped structure. The ends of the first vertical plate (2) and the second vertical plate (3) away from the horizontal plate (1) are connected to support bearings (4). The two ends of the support shaft (5) are respectively interference-fitted in the two support bearings (4).

3. The gripper material handling device according to claim 1, characterized in that, The drive assembly includes a drive motor (6), a drive gear (7), a transmission gear (8), and a transmission belt (9). The drive motor (6) is mounted on a support frame, and its output shaft is connected to the drive gear (7). The transmission gear (8) is connected to the support shaft (5). The drive gear (7) and the transmission gear (8) are connected by transmission belt (9).

4. The gripper material handling device according to claim 1, characterized in that, The adjustment assembly includes several adjustment rods (14) and an adjustment piston (13). Several adjustment cylinders (12) are provided in the connecting seat (11). The adjustment piston (13) is located in the adjustment cylinder (12). One end of the adjustment rod (14) is connected to the adjustment piston (13), and the other end extends to the outside of the adjustment cylinder (12) and is connected to the connecting block (24). An adjustment air inlet (18) and several adjustment air outlets (19) are provided in the connecting seat (11). The adjustment air outlets (19) are connected to the adjustment cylinder (12) through several adjustment connecting holes (20). The adjustment air inlet (18) is connected to the bidirectional diaphragm air pump.

5. A gripper for picking up materials according to claim 1, characterized in that, The gripper assembly includes a base plate (25), a clamping plate (30), a connecting rod (34), an upper piston (33), and a lower piston (32). The base plate (25) is connected to the connecting block (24). Several lower cylinders (29) and upper cylinders (31) are respectively opened in the base plate (25) and the clamping plate (30). The upper piston (33) and the lower piston (32) are respectively disposed in the upper cylinder (31) and the lower cylinder (29). The two ends of the connecting rod (34) are respectively connected to the upper piston (33) and the lower piston (32). (25) has a clamping air supply hole (28) that connects to several lower cylinders (29). The base plate (25) has a clamping air inlet hole that connects to the clamping air supply hole (28). An air inlet interface (26) is connected to the base plate (25) at the clamping air inlet hole. The air inlet interface (26) is connected to a bidirectional diaphragm air pump. The upper piston (33), lower piston (32) and connecting rod (34) have a synchronous air hole (38) that connects to each other. The synchronous air hole (38) is connected to the upper cylinder (31) and the lower cylinder (29).

6. The gripper picking device according to claim 1, characterized in that, The attitude holding assembly includes an inner connecting shaft (40), an outer connecting shaft (47), an inner clamping plate (41), and an outer clamping plate (48). The inner and outer end faces of the clamping plate (30) are respectively connected to an inner connecting bearing (39) and an outer connecting bearing (46). One end of the inner connecting shaft (40) and the outer connecting shaft (47) is respectively interference-fitted into the inner connecting bearing (39) and the outer connecting bearing (46), and the other end is respectively eccentrically connected to the inner clamping plate (41) and the outer clamping plate (48). The inner end faces of the inner clamping plate (41) and the outer clamping plate (48) away from the inner connecting shaft (40) and the outer connecting shaft (47) are respectively connected to an inner counterweight (42) and an outer counterweight (49).

7. A gripper for picking up materials according to claim 6, characterized in that, The clamping plate (30) is connected to a locking assembly for locking and limiting the inner clamping plate (41) and the outer clamping plate (48). The locking assembly includes an inner fixing block (44), an outer fixing block (51), an inner electric telescopic rod (45), and an outer electric telescopic rod (52). The inner electric telescopic rod (45) and the outer electric telescopic rod (52) are respectively connected to the inner fixing block (44) and the outer fixing block (51). The inner counterweight block (42) and the outer counterweight block (49) are respectively provided with an inner locking hole (43) and an outer locking hole (50). When the telescopic ends of the inner electric telescopic rod (45) and the outer electric telescopic rod (52) are inserted into the inner locking hole (43) and the outer locking hole (50) respectively, the inner clamping plate (41) and the outer clamping plate (48) are locked respectively, so that the posture holding assembly stops working.

8. A gripper for picking up materials according to claim 6, characterized in that, The posture holding assembly and the connecting seat (11) are connected to a limiting assembly that limits the adjustment assembly. The limiting assembly includes an internal pressure sensor (65), an external pressure sensor (67), and a limiting electric telescopic rod (22). The internal pressure sensor (65) and the external pressure sensor (67) are respectively connected to the internal clamping plate (41) and the external clamping plate (48). The limiting electric telescopic rod (22) is connected to the connecting seat (11) and extends partially into the connecting seat (11) to abut against the adjustment assembly. The internal pressure sensor (65) and the external pressure sensor (67) are electrically connected to the limiting electric telescopic rod (22) so that when the internal clamping plate (41) or the external clamping plate (48) clamps the item, the internal pressure sensor (65) or the external pressure sensor (67) generates a pressure signal, thereby controlling the extension of the limiting electric telescopic rod (22) to limit and lock the adjustment assembly.

9. A gripper for picking up materials according to claim 1, characterized in that, The supporting shaft (5) has four vent pipes (53) connected inside. The two sets of adjustment components and gripper components are respectively connected to the four vent pipes (53) inside the supporting shaft (5). The end of the supporting shaft (5) is connected to a vent connector assembly that is connected to the four vent pipes (53), so that the supporting shaft (5) can be rotated through the vent connector assembly, while ensuring the ventilation of the adjustment components and gripper assembly. The vent connector assembly includes a vent sleeve (54), a limit screw (56) and four vent connecting pipes (63). The outer end face of the supporting shaft (5) is provided with a connecting ring groove (55) and several external sealing ring grooves (58). The limit screw (56) is threaded onto the vent sleeve (54), and one end extends through the vent sleeve (54) to the connecting pipe. Inside the connecting ring groove (55), the inner wall of the vent sleeve (54) is provided with several inner sealing ring grooves (57), and the outer sealing ring groove (58) and the inner sealing ring groove (57) are provided with sealing rings (59). The outer surface of the support shaft (5) between adjacent outer sealing ring grooves (58) is provided with venting ring grooves (60). Each venting ring groove (60) is provided with an inner venting connection hole (61) that connects to one of the internal venting pipes (53). The venting sleeve (54) is provided with an outer venting connection hole (62) that corresponds to and is connected to the venting ring groove (60). The four venting connecting pipes (63) are respectively connected to the venting sleeve (54) at the four outer venting connection holes (62). The four venting connecting pipes (63) are connected to the bidirectional diaphragm air pump.

10. A gripper for picking up materials according to claim 1, characterized in that, A pair of trigger plates (68) are connected to the support shaft (5), and an infrared beam sensor (69) is connected to the support frame. The two trigger plates (68) generate signals when they pass the infrared beam sensor (69) as the support shaft (5) rotates. The infrared beam sensor (69) is electrically connected to a single-chip microcomputer control module assembly, and the bidirectional diaphragm air pump is electrically connected to the single-chip microcomputer control module assembly.

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