Mechanical hand gripping device with pre-positioned latch and spring-loaded post and method of use

Abstract

This invention provides a robotic gripper device and its usage method with a pre-positioning pin and elastic pressure columns, belonging to the technical field of gripper devices for robotic arms. It includes a base, a gripping mechanism, and a lifting unit. A lifting plate is slidably connected to the bottom of the base. Pins are arranged and installed in the base, each pin including a positioning column, a conical column, a balance plate, and a balance spring. Tilt sensors are evenly installed on the outer surface of the balance plate. Elastic pressure column assemblies are arranged and installed in the lifting plate. Each elastic pressure column assembly includes an elastic sleeve, a fixed cylinder, and adjustable nylon pressure columns, which form a spatial array contact structure. During operation, the conical column first contacts the workpiece's positioning features. The tilt sensors monitor the tilt angle of the balance plate in real time to determine if the pre-positioning is qualified. After pre-positioning, the lifting plate moves downward, causing the nylon pressure columns to contact the workpiece surface, achieving conformal fitting with complex curved surfaces. Finally, the gripping mechanism closes and locks the workpiece. This significantly improves the efficiency and safety of gripping irregularly shaped workpieces.

Description

Technical Field

[0001] This invention relates to the field of gripping devices for robotic arms, and particularly to a gripping device for robotic arms with a prepositioning pin and an elastic pressure post, and a method of using it. Background Technology

[0002] Robotic gripper devices are key actuators in automated production lines and robotic systems, widely used in processes such as workpiece gripping, handling, and assembly. Traditional robotic gripper devices typically employ a rigid gripping structure, using cylinders or electric drives to achieve the gripping action.

[0003] However, existing technologies have the following shortcomings: First, traditional clamping devices lack an effective pre-positioning detection mechanism, making it impossible to accurately determine whether the workpiece is positioned correctly before clamping. When there is a positioning deviation, it is easy to force clamping, leading to workpiece damage, deformation of positioning holes, or even equipment failure. Moreover, operators cannot detect positioning abnormalities in a timely manner. Second, the auxiliary pressing structure of existing clamping devices is mostly rigid contact. When facing curved or irregularly shaped workpieces, it can only passively select a planar position for pressing. If the curved surface of the workpiece is complex and there is no suitable planar area, it is difficult to achieve auxiliary pressing. The adaptability to irregular workpieces is poor, requiring frequent adjustments to the workpiece or robot arm posture, which reduces work efficiency. Summary of the Invention

[0004] The purpose of this invention is to provide a robotic gripper with a pre-positioning pin and an elastic pressure column, which aims to solve the problems of workpiece damage caused by the lack of positioning detection, difficulty in rigid contact fitting curved surfaces, and uneven force distribution in the aforementioned background technology, and to achieve safe, efficient, and flexible gripping of irregularly shaped workpieces.

[0005] The objective of this invention is achieved through the following technical solution: a robotic gripper with a pre-positioning pin and an elastic pressure column, comprising a base, a lifting part, a pin part, and an elastic pressure column assembly; the base includes a mounting plate, the lifting part includes a lifting plate, the bottom of the mounting plate is slidably connected to a liftable lifting plate, and the pin part is arranged and installed in the mounting plate.

[0006] The pin assembly includes a positioning post, a tapered post, a balance plate, and a balance spring. The top of the balance plate is connected to the bottom of the mounting plate via evenly distributed balance springs. The top of the positioning post is fixed to the middle of the bottom of the balance plate. The tapered post is installed at the bottom of the positioning post. Tilt sensors are evenly installed on the outer side of the balance plate.

[0007] The lifting plate is equipped with an elastic pressure column assembly, which includes an elastic sleeve and a fixed cylinder. The outer side of the elastic sleeve is fixedly connected to the main body of the lifting plate, and the inner side is fixedly connected to the upper end of the fixed cylinder. The top end of the fixed cylinder is swivelly connected to the top end of the lifting plate. The bottom end of the fixed cylinder is slidably connected to an elastic sliding column arranged downwards. The bottom end of the elastic sliding column is equipped with a position-adjustable nylon pressure column.

[0008] The process of using the technical solution of the present invention is as follows:

[0009] An external robotic arm is connected to the top center of the mounting plate, and an automatically opening and closing clamping mechanism is installed in the main body of the mounting plate.

[0010] With the clamping mechanism open, the robot arm carries the device to above the workpiece to be clamped. Then, when the device contacts the workpiece downwards, the tapered column first contacts the positioning hole or positioning feature on the workpiece surface.

[0011] During the process of inserting the tapered column downwards into the workpiece positioning hole or positioning feature, slight deviations are allowed within a certain range;

[0012] The balance plate tilts as the conical column deflects. The tilt sensor can monitor the tilt angle of the balance plate in real time and feed the monitored angle information back to the control system to determine whether the pre-positioning is qualified.

[0013] If the tilt angle of the balance plate exceeds the set value, a warning will be issued indicating a potential risk of clamping, and the control system will issue an alarm.

[0014] If the tilt angle of the balance plate is within the set range, the pre-positioning is deemed qualified, and the control system continues to execute subsequent clamping actions.

[0015] After the pre-positioning is completed, the lifting unit starts to work. The lifting plate moves downward relative to the mounting plate, driving the elastic pressure column assembly to move down as a whole, so that the nylon pressure column gradually approaches the workpiece surface. When the ball head structure at the bottom of the nylon pressure column contacts the workpiece surface, because multiple nylon pressure columns in the same set of elastic pressure column assemblies are arranged in a spatial array, each nylon pressure column can also independently adjust its extension length according to the actual curvature of the workpiece surface, thus achieving conformal fitting with complex curved surfaces.

[0016] The universal joint structure between the top of the fixed cylinder and the lifting plate, together with the elastic sleeve, buffers and restricts the fixed cylinder, allowing the elastic pressure column assembly to self-adaptively deflect within a certain angle range.

[0017] The lifting plate drives the nylon pressure column to press down continuously until the preset pressing force is reached. At this time, the elastic deformation of the elastic slide column is stable, and the pressing force is evenly distributed at each contact point.

[0018] After the elastic pressure column assembly completes the flexible clamping, the automatic opening and closing clamping mechanism in the mounting plate body starts to move, changing from the open state to the closed state, and clamping and locking the workpiece.

[0019] After clamping is completed, the external robotic arm carries the device and workpiece to the target position. Upon reaching the target position, the above actions are reversed: the clamping mechanism first opens and releases, the lifting plate moves the nylon pressure column away from the workpiece surface, and finally the entire device moves upward to complete the workpiece placement. Throughout the process, the tilt sensor continuously monitors the attitude changes of the balance plate, providing real-time feedback to the control system to ensure the safety and reliability of the clamping and releasing actions.

[0020] Another object of the present invention is to provide a method of using a robotic gripper having a prepositioning pin and a resilient pressure post, comprising the following steps:

[0021] S1. In the pre-positioning operation phase, the external robot arm is connected to the top center of the mounting plate. With the clamping mechanism open, the robot arm carrying the device moves above the workpiece to be clamped. When the device contacts the workpiece downwards, the conical column first contacts the positioning hole or positioning feature on the workpiece surface and inserts downwards. During the insertion of the conical column, the balance plate tilts with the deviation of the conical column. The tilt angle sensor monitors the tilt angle of the balance plate in real time and feeds the angle information back to the control system. The control system determines whether the pre-positioning is qualified based on the tilt angle. If the deviation angle exceeds the set value, an alarm is triggered and the workpiece or robot arm position is adjusted before re-positioning. If the deviation angle is within the set range, the pre-positioning is deemed qualified.

[0022] S2. In the flexible pressing operation stage, after the pre-positioning is completed, the lifting unit starts to work. The lifting plate moves downward relative to the mounting plate, driving the elastic pressure column assembly to move downward as a whole, so that the ball head structure at the bottom of the nylon pressure column contacts the workpiece surface. Each nylon pressure column independently adjusts its extension length according to the actual curvature of the workpiece surface to achieve conformal fitting with complex curved surfaces. The lifting plate continues to press down until the preset pressing force is reached. The elastic deformation of the elastic sliding column is stable, and the pressing force is evenly distributed at each contact point.

[0023] S3, Clamping and locking operation stage: After the elastic pressure column assembly completes flexible clamping, the automatic opening and closing clamping mechanism in the mounting plate body starts to move, changing from the open state to the closed state to clamp and lock the workpiece. After clamping is completed, the external robot arm carries the device and the workpiece to the target position.

[0024] S4. After reaching the target position, the clamping mechanism first opens to release the workpiece, and the nylon pressure column on the lifting plate moves away from the workpiece surface. The entire device moves upward to complete the workpiece placement. Throughout the process, the tilt sensor continuously monitors the attitude change of the balance plate to provide real-time feedback to the control system.

[0025] By adopting the above technical solution, the present invention can achieve the following beneficial effects:

[0026] (1) The pin part of the present invention is not only a pre-positioning tilt angle monitoring system, but also connects the top of the balance plate to the bottom of the mounting plate through evenly distributed balance springs, so that the conical column can first adapt to the tilt within a reasonable range during pre-positioning, and based on this, multiple sets of tilt angle sensors are used to redundantly collect tilt data, so that if the pre-positioning tilt exceeds the standard, an alarm is triggered immediately to prevent workpiece damage or equipment failure caused by forced clamping.

[0027] (2) The nylon pressure column at the bottom of the elastic pressure column assembly of the present invention can form a spatial array contact structure. Combined with the universal joint formed by the top of the solid cylinder and the lifting plate and the elastic buffer mechanism provided by the elastic sleeve, and through the independent adjustment of the extension position of each group of nylon pressure columns relative to the elastic sliding column, the bottom end of the nylon pressure column can perfectly fit the irregular complex curved surface to achieve uniform force.

[0028] (3) Furthermore, since each set of elastic sliding columns in the elastic pressure column assembly is elastically slidably connected to the solid cylinder, it can adapt to changes in the curved surface. This capability reduces the position adjustment requirement of the workpiece when the deviation occurs to a certain extent. On the basis of safe clamping, it improves the reasonable range of the deviation angle of the balance plate and reduces the probability of the pin part frequently triggering the alarm. The combination of the two enables the device to quickly complete the pre-positioning verification and perform flexible pressing in real time when facing irregular workpieces, which greatly improves the work efficiency. Attached Figure Description

[0029] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0030] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0031] Figure 2 This is a schematic diagram of the structure of the mounting base of the present invention;

[0032] Figure 3 This is a schematic diagram of the clamping opening and closing module of the present invention;

[0033] Figure 4 This is a front view of the clamping and opening module of the present invention;

[0034] Figure 5 This is a front view of the elastic support portion of the present invention;

[0035] Figure 6 This is a schematic diagram of the lifting part of the present invention;

[0036] Figure 7 This is a schematic diagram of the mounting structure of the pin part of the present invention;

[0037] Figure 8 This is a schematic diagram of the structure of the pin part of the present invention;

[0038] Figure 9 This is a schematic diagram of the structure of the elastic pressure column assembly of the present invention.

[0039] Figure label:

[0040] 1. Base; 2. Clamping and opening / closing module; 3. Elastic support; 4. Lifting part; 5. Pin part; 6. Elastic pressure column assembly;

[0041] 101. Mounting plate; 102. Gantry frame;

[0042] 201. Linear guide rail; 202. Linear slider; 203. Sliding frame; 204. Clamping block; 205. Opening and closing rack; 206. Rotary cylinder; 207. Connecting arm; 208. Opening and closing gear;

[0043] 301. Stand; 302. Supporting guide rod; 303. Guide rod slide; 304. Supporting spring;

[0044] 401. Side ear seat; 402. Lifting slide; 403. Lifting slide column; 404. Lifting plate; 405. Lifting cylinder;

[0045] 501. Positioning post; 502. Conical post; 503. Balance plate; 504. Tilt sensor; 505. Balance spring; 506. Balance adjusting nut; 507. Balance adjusting rod;

[0046] 601. Elastic base; 602. Elastic sleeve; 603. Fixed cylinder; 604. Connecting column; 605. Spherical head; 606. Spherical seat; 607. Integrated slide; 608. Elastic slide column; 609. Limiting sleeve; 610. Elastic compression spring; 611. Nylon pressure column. Detailed Implementation

[0047] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0048] In the description of this invention, it should be noted that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0049] Example 1:

[0050] Examples of the application of the clamping pin 5 and the elastic pressure post assembly 6 in the clamping action of the present invention Figure 1 , Figure 2 , Figure 6 , Figure 7 , Figure 8 and Figure 9 As shown;

[0051] The bottom of the mounting plate 101 in the base 1 is slidably connected to a liftable lifting plate 404. The mounting plate 101 is equipped with a pin part 5 arranged in a set position. The top of the balance plate 503 in the pin part 5 is connected to the bottom of the mounting plate 101 through evenly distributed balance springs 505. The top of the positioning column 501 is fixed to the middle of the bottom end of the balance plate 503. The tapered column 502 is installed at the bottom end of the positioning column 501. The tilt sensor 504 is evenly installed on the outer side of the balance plate 503. In the free state, the axis of the positioning column 501 is perpendicular to the mounting plate 101.

[0052] Elastic pressure column assembly 6 is installed in the lifting plate 404 according to the set position. The outer side of the elastic sleeve 602 in the elastic pressure column assembly 6 is fixed to the main body of the lifting plate 404, and the inner side is fixed to the upper end of the fixed cylinder 603. The top end of the fixed cylinder 603 is universally swivelly connected to the top end of the lifting plate 404. The bottom end of the fixed cylinder 603 is slidably connected to the elastic sliding column 608 in a downward springing arrangement. The bottom end of the main body of the elastic sliding column 608 is equipped with a position-adjustable nylon pressure column 611.

[0053] The bottom end of the nylon pressure column 611 is a ball head structure. The spatial array-like contact structure formed by the bottom ends of the nylon pressure columns 611 in the same set of elastic pressure column components 6 can achieve conformal fitting with complex curved surfaces.

[0054] The number of nylon pressure columns 611 in each elastic pressure column assembly 6 depends on the actual elastic pressing requirements. The more complex the curved surface and the larger the area, the more columns are needed to ensure conformal fit and uniform force distribution.

[0055] The working principle is as follows:

[0056] An external robotic arm is connected to the top center of the mounting plate 101, and an automatically opening and closing clamping mechanism is installed in the main body of the mounting plate 101.

[0057] With the clamping mechanism open, the robot arm carries the device to above the workpiece to be clamped. Then, when the device contacts the workpiece downwards, the tapered column 502 first contacts the positioning hole or positioning feature on the workpiece surface.

[0058] During the process of inserting the tapered column 502 downward into the workpiece positioning hole or positioning feature, it is permissible to have a slight deviation within a certain range.

[0059] The balance plate 503 tilts as the conical column 502 deflects. The tilt sensor 504 can monitor the tilt angle of the balance plate 503 in real time and feed the monitored angle information back to the control system to determine whether the pre-positioning is qualified.

[0060] Multiple tilt sensors 504 are evenly distributed on the outer surface of the balance plate 503. Each tilt sensor 504 can independently collect attitude angle data at its location. By comparing the measurement values ​​of multiple tilt sensors 504, the system can calculate the overall tilt angle and tilt direction of the balance plate 503 using its own algorithm (this algorithm is a conventional technical means known to those skilled in the art and is existing technology). The arrangement of multiple tilt sensors 504 can also form a redundant design. When some tilt sensors 504 are abnormal, the others can still ensure monitoring accuracy.

[0061] If the tilt angle of the balance plate 503 exceeds the set value, it will indicate that there may be a clamping risk. The control system will issue an alarm to remind the operator to reconfirm the position and posture of the workpiece to be clamped, adjust the position of the workpiece or the robot arm, and try the pre-positioning again. If it is still unsuccessful, it is necessary to check whether there are foreign objects in the tapered column 502 and the positioning hole. The clamping process can only continue after ensuring that the pre-positioning is accurate.

[0062] If the tilt angle of the balance plate 503 is within the set range, the pre-positioning is deemed qualified, and the control system continues to execute the subsequent clamping action.

[0063] After the pre-positioning is completed, the lifting unit 4 starts to work. The lifting plate 404 moves downward relative to the mounting plate 101, driving the elastic pressure column assembly 6 to move downward as a whole, so that the nylon pressure column 611 gradually approaches the workpiece surface. When the ball head structure at the bottom of the nylon pressure column 611 contacts the workpiece surface, since the multiple nylon pressure columns 611 in the same set of elastic pressure column assemblies 6 are arranged in a spatial array, each nylon pressure column 611 can also independently adjust its extension length according to the actual curvature of the workpiece surface, thus achieving conformal fitting with complex curved surfaces.

[0064] The universal joint structure between the top of the fixed cylinder 603 and the lifting plate 404, together with the elastic sleeve 602 for buffering and limiting the fixed cylinder 603, allows the elastic pressure column assembly 6 to self-adaptively deflect within a certain angle range, further enhancing the device's adaptability to irregular workpiece surfaces.

[0065] The lifting plate 404 drives the nylon pressure column 611 to press down continuously until the preset pressing force is reached. At this time, the elastic deformation of the elastic slide column 608 is stable, and the pressing force is evenly distributed at each contact point. Due to the characteristics of the nylon material of the nylon pressure column 611, it will not produce scratches or indentations when it comes into contact with the workpiece, effectively protecting the surface quality of the workpiece.

[0066] Meanwhile, the position-adjustable nylon pressure column 611 can adjust the extension length according to the curved shape of different workpieces to adapt to the fit of the curved surface. The specific operation method is to form a loft for the curved area of ​​the workpiece at this point, and use the loft to contact the ball head structure at the bottom of the nylon pressure column 611 so that in the free state, the bottom of each group of nylon pressure columns 611 can fit with the lofted curved surface.

[0067] After the elastic pressure column assembly 6 completes flexible clamping, the automatic opening and closing clamping mechanism in the main body of the mounting plate 101 starts to move, changing from the open state to the closed state, and clamping and locking the workpiece.

[0068] After clamping is completed, the external robotic arm carries the device and workpiece to the target position. Upon reaching the target position, the above actions are reversed. The clamping mechanism first opens and releases, the lifting plate 404 moves upward to lift the nylon pressure column 611 away from the workpiece surface, and finally the entire device moves upward to complete the workpiece placement. Throughout the process, the tilt sensor 504 continuously monitors the attitude change of the balance plate 503, providing real-time feedback to the control system to ensure the safety and reliability of the clamping and releasing actions.

[0069] The specific structures of the fixed base 1 and the lifting part 4 are as follows: Figure 2 and Figure 6 As shown, a portal frame 102 is fixedly connected to the top center of the mounting plate 101;

[0070] The mounting plate 101 has side ear seats 401 fixed symmetrically on both sides of the main body. The lifting slide 402 is fixedly installed in the side ear seats 401. The top of the lifting plate 404 is evenly fixed with lifting slide columns 403. The lifting slide columns 403 on the same side are slidably connected to the lifting slide 402.

[0071] A lifting cylinder 405 is fixedly installed at the bottom center of the mounting plate 101. The head end of the piston rod of the lifting cylinder 405 is fixedly connected to the center of the lifting plate 404, so that the lifting plate 404 can move independently relative to the mounting plate 101. The pin part 5 first completes the pre-positioning verification to ensure that the elastic pressure column assembly 6 is pressed down independently after passing the verification, so as to avoid damage to the nylon pressure column 611 due to the verification deviation failure.

[0072] Furthermore, a displacement sensor is installed between the bottom of the mounting plate 101 and the lifting plate 404, which can collect the position signal of the lifting plate 404 in real time and feed the signal back to the control system. The control system can control the lifting cylinder 405 to achieve precise movement of the lifting plate 404 and the elastic pressure column assembly 6 with the lifting plate 404 as the installation reference, so that each set of nylon pressure columns 611 can be stably stopped at the target height.

[0073] The specific structure of the pin part 5 and the elastic pressure column assembly 6 is as follows: Figure 7 , Figure 8 and Figure 9 As shown, the balance adjusting nut 506 and the balance adjusting rod 507 are used together. The balance plate 503 and the balance spring 505 are both fixedly connected to the position where they face each other, and the mounting plate 101 and the balance spring 505 are both fixedly connected to the position where they face each other. The balance adjusting rod 507 is threadedly connected to the balance adjusting nut 506. The two ends of the balance spring 505 are respectively locked between the two sets of balance adjusting rods 507 that are arranged opposite each other. Specifically, the threaded connection between the bottom balance adjusting rod 507 and the corresponding balance adjusting nut 506 allows the locking platform at the top of the bottom balance adjusting rod 507 after passing through the balance plate 503 to be locked at the bottom end of the balance spring 505. The threaded connection between the top balance adjusting rod 507 and the corresponding balance adjusting nut 506 allows the locking platform at the bottom of the top balance adjusting rod 507 after passing through the mounting plate 101 to be locked at the top end of the balance spring 505.

[0074] Furthermore, the end of the balance adjustment rod 507 can abut against the end face of the balance spring 505. By rotating the balance adjustment rod 507, the length of its extension into the balance adjustment nut 506 can be adjusted, thereby changing the distance between the two sets of balance adjustment rods 507. This enables axial limiting of the balance spring 505 and fine-tuning of its horizontal position, facilitating the verification and fine-tuning of the perpendicularity of the positioning column 501 and the tapered column 502 relative to the mounting plate 101 during use.

[0075] The elastic base 601 is arranged in the main body of the lifting plate 404 according to the set position. The outer top of the fixed cylinder 603 is fixed with the connecting column 604. The outer side of the elastic sleeve 602 is fixed with the elastic base 601, and the inner side is fixed with the connecting column 604, which can form a circumferential elastic support for the connecting column 604.

[0076] A spherical head 605 is fixed to the top of the connecting column 604, and a spherical seat 606 is fixed to the top of the lifting plate 404. The spherical head 605 is universally screwed into the spherical seat 606, so that in the free state, the fixed cylinder 603 is in a position perpendicular to the lifting plate 404, and the connecting column 604 is in a naturally relaxed state.

[0077] When the elastic sleeve 602 changes from a compressed state to a naturally relaxed state, its own elasticity is sufficient to support the solid cylinder 603 and the components connected to the solid cylinder 603, and restores it to a position perpendicular to the lifting plate 404 based on the universal joint between the spherical head 605 and the spherical seat 606.

[0078] The integrated slide block 607 is fixed to the bottom end of the fixed cylinder 603, and the elastic slide column 608 is slidably connected in the integrated slide block 607. The top end of each set of elastic slide columns 608 is fixed with a limit sleeve 609. One end of the elastic compression spring 610 is locked with the limit sleeve 609, and the other end is locked with the top surface of the inner cavity of the fixed cylinder 603.

[0079] Furthermore, the elastic spring 610 can provide sufficient support force for the nylon pressure post 611 and ensure that the nylon pressure post 611 forms a reliable press against the workpiece.

[0080] Example 2:

[0081] The specific structure and application examples of the clamping mechanism of the present invention Figure 1 , Figure 2 , Figure 3 , Figure 4 and Figure 5 As shown;

[0082] The clamping mechanism consists of a clamping opening and closing module 2 and an elastic support part 3. Two sets of linear guide rails 201 in the clamping opening and closing module 2 are fixedly connected to the top of the mounting plate 101 in parallel. The sliding frame 203 is symmetrically slidably connected to the linear guide rail 201 through the linear slider 202. Each set of sliding frames 203 has a clamping block 204 appropriately fixedly installed on its inner lower side.

[0083] To accommodate the clamping requirements of workpieces of different specifications, the sliding frame 203 in this embodiment provides various structural forms; such as... Figure 3 As shown, the sliding frame 203 can be constructed as a single-arm structure to achieve quick clamping and avoid interference; or it can be constructed as a double-arm structure to enhance the constraint capability for irregular or large-sized workpieces; these two structural forms are designed to provide differentiated clamping strategies to ensure that the device can achieve stable and reliable positioning and fixation when facing a variety of workpieces.

[0084] A rotary cylinder 206 is fixedly installed at the inner top of the portal frame 102. A splitting gear 208 is fixed in the output shaft of the rotary cylinder 206. Splitting racks 205 are meshed on both sides of the splitting gear 208. The splitting racks 205 on the same side are fixedly connected to the sliding frame 203 through the connecting arm 207.

[0085] The control system can start the rotary cylinder 206, drive the opening and closing gear 208 to cooperate with the opening and closing racks 205 on both sides to realize the opening and closing action of the two sets of sliding frames 203, and drive the clamping block 204 to perform clamping operation on the workpiece.

[0086] Furthermore, the control system can adjust the pressure of the air source to control the upper limit of the output torque of the rotary cylinder 206, and through the transmission ratio of the opening and closing gears 208, control the clamping force of the clamping block 204 on the workpiece within the safe threshold to ensure the safety of clamping.

[0087] The elastic support 3 is disposed between the top of the mounting plate 101 and the inner side of the top of the sliding frame 203. The upright 301 is fixed to the inner side of the top of the sliding frame 203. The top of the mounting plate 101 is fixed with a guide rod slide 303. A support guide rod 302 is fixed laterally on one side of the upright 301. The support guide rod 302 is slidably connected to the guide rod slide 303. The support spring 304 is sleeved on the outside of the support guide rod 302, and one end is locked to the guide rod slide 303, and the other end is locked to the upright 301.

[0088] The support spring 304 provides outward support for the stand 301 and the sliding frame 203, allowing the sliding frame 203 to be in a free-open state when not driven, which facilitates the picking and placing of workpieces. At the same time, it can compensate for transmission gaps and ensure the smooth and reliable clamping action.

[0089] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A robotic gripper with a pre-positioning pin and an elastic pressure post, comprising a base (1), characterized in that: It also includes a lifting part (4), a latch part (5), and an elastic pressure column assembly (6); The base (1) includes a mounting plate (101), the lifting part (4) includes a lifting plate (404), the lifting plate (404) is slidably connected to the bottom of the mounting plate (101), and the mounting plate (101) is provided with a pin part (5). The pin part (5) includes a positioning post (501), a tapered post (502), a balance plate (503), and a balance spring (505). The top of the balance plate (503) is connected to the bottom of the mounting plate (101) through evenly distributed balance springs (505). The top of the positioning post (501) is fixed to the middle of the bottom end of the balance plate (503). The tapered post (502) is installed at the bottom end of the positioning post (501). Tilt sensors (504) are evenly installed on the outer side of the balance plate (503). An elastic pressure column assembly (6) is arranged and installed in the lifting plate (404). The elastic pressure column assembly (6) includes an elastic sleeve (602) and a fixed cylinder (603). The outer side of the elastic sleeve (602) is fixedly connected to the main body of the lifting plate (404), and the inner side is fixedly connected to the upper end of the fixed cylinder (603). The top end of the fixed cylinder (603) is universally swivelly connected to the top end of the lifting plate (404). The bottom end of the fixed cylinder (603) is slidably connected to an elastic sliding column (608) that bounces downward. The bottom end of the main body of the elastic sliding column (608) is equipped with a position-adjustable nylon pressure column (611).

2. The robotic gripper with a pre-positioning pin and an elastic pressure column according to claim 1, characterized in that: The base (1) also includes a portal frame (102), the bottom sides of which are fixed to the top center of the mounting plate (101).

3. The robotic gripper with a pre-positioning pin and an elastic pressure column according to claim 2, characterized in that: The lifting part (4) also includes a lifting slide (402) and a lifting cylinder (405). Side ear seats (401) are symmetrically fixed on both sides of the main body of the mounting plate (101). The lifting slide (402) is fixedly installed in the side ear seat (401). The top of the lifting plate (404) is uniformly fixed with lifting slide columns (403). The lifting slide columns (403) on the same side are slidably connected with the lifting slide (402). The middle part of the bottom end of the mounting plate (101) is fixed with a lifting cylinder (405). The head end of the piston rod of the lifting cylinder (405) is fixedly connected to the middle part of the lifting plate (404).

4. The robotic gripper with a pre-positioning pin and an elastic pressure post according to claim 1, 2 or 3, characterized in that: A displacement sensor is installed between the bottom of the mounting plate (101) and the lifting plate (404).

5. The robotic gripper with a pre-positioning pin and an elastic pressure post according to claim 1, 2 or 3, characterized in that: The pin part (5) also includes a balance adjusting nut (506) and a balance adjusting rod (507). The balance adjusting nut (506) and the balance adjusting rod (507) are used together. The balance plate (503) and the balance spring (505) are directly opposite each other, and the mounting plate (101) and the balance spring (505) are directly opposite each other. The balance adjusting rod (507) is threadedly connected to the balance adjusting nut (506). The two ends of the balance spring (505) are respectively locked between the two sets of balance adjusting rods (507) that are arranged opposite each other.

6. The robotic gripper with a pre-positioning pin and an elastic pressure post according to claim 1, 2 or 3, characterized in that: The elastic pressure column assembly (6) also includes an elastic base (601), a spherical seat (606), an integrated slide (607), and an elastic compression spring (610). The elastic base (601) is arranged in the main body of the lifting plate (404). A connecting column (604) is fixed to the outer top of the fixed cylinder (603). The outer side of the elastic sleeve (602) is fastened to the elastic base (601), and the inner side is fastened to the connecting column (604). A spherical head (605) is fixed to the top of the connecting column (604). The spherical seat (606) is fixed to the top of the lifting plate (404), the spherical head (605) is universally screwed into the spherical seat (606), the integrated slide (607) is fixed to the bottom of the solid cylinder (603), the elastic slide column (608) is slidably connected in the integrated slide (607), and the top of each set of elastic slide columns (608) is fixed with a limit sleeve (609). One end of the elastic compression spring (610) is locked with the limit sleeve (609), and the other end is locked with the top surface of the inner cavity of the solid cylinder (603).

7. The robotic gripper with a pre-positioning pin and an elastic pressure column according to claim 2 or 3, characterized in that: It also includes a clamping opening and closing module (2), which includes a linear slider (202), a sliding frame (203) and a connecting arm (207). A linear guide rail (201) is fixedly connected to the top of the mounting plate (101) in parallel. The sliding frame (203) is symmetrically slidably connected to the linear guide rail (201) through the linear slider (202). A clamping block (204) is fixedly installed on the inner lower side of each sliding frame (203). A rotary cylinder (206) is fixedly installed on the inner top of the portal frame (102). An opening and closing gear (208) is fixed in the output shaft of the rotary cylinder (206). Opening and closing racks (205) are meshed on both sides of the opening and closing gear (208). The opening and closing racks (205) on the same side are fixedly connected to the sliding frame (203) through the connecting arm (207).

8. The robotic gripper with a pre-positioning pin and an elastic pressure column according to claim 7, characterized in that: It also includes an elastic support part (3), which is located between the top of the mounting plate (101) and the inner side of the top of the sliding frame (203). The elastic support part (3) includes a stand (301) and a support spring (304). The stand (301) is fixed to the inner side of the top of the sliding frame (203). A guide rod slide (303) is fixed to the top of the mounting plate (101). A support guide rod (302) is fixed to one side of the stand (301). The support guide rod (302) is slidably connected to the guide rod slide (303). The support spring (304) is sleeved on the outside of the support guide rod (302), and one end is locked to the guide rod slide (303), and the other end is locked to the stand (301).

9. A method of using the robotic gripper with a pre-positioning pin and an elastic pressure column as described in claim 8, characterized in that, Includes the following steps: S1. In the pre-positioning operation stage, the external robot arm is connected to the top center of the mounting plate (101). With the clamping mechanism open, the robot arm carrying the device moves to the top of the workpiece to be clamped. When the device contacts the workpiece downwards, the conical column (502) first contacts the positioning hole or positioning feature on the surface of the workpiece and inserts downwards. During the insertion of the conical column (502), the balance plate (503) changes its tilt angle as the conical column (502) tilts. The tilt angle sensor (504) monitors the tilt angle of the balance plate (503) in real time and feeds the angle information back to the control system. The control system judges whether the pre-positioning is qualified based on the tilt angle. If the tilt angle exceeds the set value, an alarm is triggered and the workpiece or robot arm posture is adjusted before re-positioning. If the tilt angle is within the set range, the pre-positioning is deemed qualified. S2, Flexible pressing operation stage: After the pre-positioning is completed, the lifting part (4) starts to work. The lifting plate (404) moves downward relative to the mounting plate (101), driving the elastic pressure column assembly (6) to move down as a whole, so that the ball head structure at the bottom of the nylon pressure column (611) contacts the workpiece surface; each nylon pressure column (611) independently adjusts its extension length according to the actual curvature of the workpiece surface to achieve conformal fitting with complex curved surfaces; the lifting plate (404) continues to press down until the preset pressing force is reached, the elastic deformation of the elastic slide column (608) is stable, and the pressing force is evenly distributed at each contact point; S3, Clamping and locking operation stage: After the elastic pressure column assembly (6) completes flexible clamping, the automatic opening and closing clamping mechanism in the main body of the mounting plate (101) starts to move, changing from the open state to the closed state, clamping and locking the workpiece. After clamping is completed, the external robot arm carries the device and the workpiece to the target position. S4. After reaching the target position, the clamping mechanism first opens to release the workpiece, and the lifting plate (404) moves upward to make the nylon pressure column (611) leave the workpiece surface. The whole device moves upward to complete the workpiece placement. Throughout the process, the tilt sensor (504) continuously monitors the attitude change of the balance plate (503) to provide real-time feedback to the control system.

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