Flexible handling gripper

Abstract

The application provides a flexible carrying gripper, and belongs to the technical field of vehicle assembly. The flexible carrying gripper comprises a first telescopic arm assembly, a second telescopic arm assembly and a plurality of clamping claws. The second telescopic arm assembly is rotatably connected with the first telescopic arm assembly. The first telescopic arm assembly and the second telescopic arm assembly are both provided with telescopic parts which can be telescopically extended along the extension direction of the first telescopic arm assembly and the second telescopic arm assembly. The plurality of clamping claws are respectively arranged at the end of the telescopic parts of the first telescopic arm assembly and the second telescopic arm assembly. When the telescopic parts are telescopically extended along the extension direction of the first telescopic arm assembly and the second telescopic arm assembly, the clamping claws are driven to move, so that the relative positions between the clamping claws are adjusted. The flexible carrying gripper has improved flexible adaptation capability.

Description

Technical Field

[0001] This application relates to the field of vehicle assembly technology, and in particular to a flexible handling gripper. Background Technology

[0002] Currently, with the continuous improvement of automation in the automotive manufacturing industry, the demand for automated handling of sheet metal workpieces (such as automotive floor parts, side panels, door panels, and reinforcing plates) on production lines is increasing. To improve production efficiency and reduce manual operation, industrial robots are typically used in conjunction with handling grippers to grasp and transfer sheet metal parts. In practical applications, the gripper connects to the robot's end effector to locate, grasp, and move sheet metal parts between workstations, thereby completing processes such as welding, assembly, or loading / unloading.

[0003] However, grippers used for handling sheet metal are mostly specialized clamping devices designed for specific workpiece structures. Their gripping position, gripper structure, and clamping spacing are usually fixed according to the size of the specific sheet metal and the position of the positioning holes. Although such grippers can achieve stable clamping during the handling of specific workpieces, when the production line needs to switch to different specifications or models of sheet metal, it is often necessary to replace the entire gripper structure or readjust the gripper installation position, thereby increasing equipment adjustment time and production costs.

[0004] Therefore, there is an urgent need to provide a flexible handling gripper. Summary of the Invention

[0005] Therefore, it is necessary to provide a flexible handling gripper to address the aforementioned technical problems. The gripper is characterized by comprising a first telescopic arm assembly, a second telescopic arm assembly, and a plurality of grippers; wherein the second telescopic arm assembly is rotatably connected to the first telescopic arm assembly; both ends of the first and second telescopic arm assemblies are provided with telescopic portions that can extend and retract along their respective extension directions; the plurality of grippers are respectively disposed at the ends of the telescopic portions of the first and second telescopic arm assemblies; when the telescopic portions extend and retract along the extension directions of the first and second telescopic arm assemblies, they drive the grippers to move, thereby adjusting the relative positions between the grippers.

[0006] As an optional implementation, both the first telescopic arm assembly and the second telescopic arm assembly include a mounting plate, two telescopic arms, and a drive motor; wherein, the fixed ends of the two telescopic arms are respectively connected to both sides of the mounting plate and extend to both sides along the same axis, and the drive motor is drivenly connected to the drive end of the telescopic arms to drive the two telescopic arms to extend or retract along the extension direction.

[0007] As an optional implementation, the telescopic arm includes a telescopic rod sliding mounting base, a lead screw, and a telescopic rod. The telescopic rod sliding mounting base is connected to the mounting plate. The telescopic rod sliding mounting base has a telescopic rod groove along the axial direction. One end of the telescopic rod groove has a lead screw through hole, and the other end has a telescopic rod through hole. One end of the lead screw passes through the lead screw through hole and is connected to the output end of the drive motor, and the other end is connected to one end of the telescopic rod. The other end of the telescopic rod passes through the telescopic rod through hole and is connected to the pawl.

[0008] As an optional implementation, the telescopic rod is a dovetail groove type drive rod, and the telescopic rod groove is a dovetail groove corresponding to the shape of the telescopic rod.

[0009] As an optional implementation, the gripper further includes a rotary bearing, which includes a rotating part and a fixed part. The first telescopic arm assembly is disposed on the upper part of the second telescopic arm assembly and is connected to the second telescopic arm assembly through the rotary bearing. The first mounting plate of the first telescopic arm assembly is fixedly connected to the fixed part, and the second mounting plate of the second telescopic arm assembly is fixedly connected to the rotating part.

[0010] As an optional implementation, the gripper further includes an electric cylinder, the drive end of which is connected to the first telescopic arm assembly, and the telescopic end of which is connected to the second telescopic arm assembly.

[0011] As an optional implementation, the gripper further includes a gun-changing disc, which is disposed on the upper part of the first telescopic arm assembly.

[0012] As an optional implementation, the gripper further includes a gun-changing disc bracket, which includes a column and a top plate. The lower part of the column is connected to the mounting plate of the first telescopic arm assembly, and the upper part is connected to the top plate. The gun-changing disc is disposed on the upper part of the top plate.

[0013] As an optional implementation, the gripper also includes a vision guidance component, which is disposed on the telescopic arm and is used to capture image data of the positioning holes of the part to be gripped.

[0014] As an optional implementation, the gripper includes a gripper connector, a multi-claw cylinder, and multiple gripping arms. One end of the gripper connector is connected to the first telescopic arm assembly or the second telescopic arm assembly, and the other end of the gripper connector is connected to the upper part of the multi-claw cylinder. The lower part of the multi-claw cylinder is provided with multiple gripping arm mounting seats, and the multiple gripping arms are respectively connected to the multiple gripping arm mounting seats. When the gripping arms are inserted into the positioning holes of the plate, the multiple gripping arm mounting seats of the multi-claw cylinder move from the inside to the outside in multiple directions, causing the multiple gripping arms to unfold from the inside to the outside and abut against the inner wall of the positioning hole.

[0015] This application provides a flexible handling gripper, characterized in that it includes a first telescopic arm assembly, a second telescopic arm assembly, and a plurality of grippers; wherein the second telescopic arm assembly is rotatably connected to the first telescopic arm assembly; both ends of the first telescopic arm assembly and the second telescopic arm assembly are provided with telescopic portions that can extend and retract along their respective extension directions; the plurality of grippers are respectively disposed at the ends of the telescopic portions of the first telescopic arm assembly and the second telescopic arm assembly; when the telescopic portions extend and retract along the extension directions of the first telescopic arm assembly and the second telescopic arm assembly, they drive the grippers to move, thereby adjusting the relative positions between the grippers.

[0016] The technical solutions provided by the embodiments of this application bring at least the following beneficial effects: The second telescopic arm assembly is rotatably connected to the first telescopic arm assembly. When the gripper needs to adapt to plates of different sizes or structures during operation, the relative spatial position between the two telescopic arm assemblies can be changed through rotational engagement. This allows the overall gripper structure to adjust its posture according to the plate size, improving its adaptability to different plates. Furthermore, multiple claws are respectively located at the retractable ends of both the first and second telescopic arm assemblies. When the first and second telescopic arm assemblies extend and retract, the relative distance between the claws changes, allowing them to insert into the positioning holes of the plate and clamp and position it. The telescopic structure allows the claw spacing to be adjusted according to the plate size, ensuring the gripper can stably grip plates of different specifications. Therefore, by connecting the first telescopic arm assembly and the second telescopic arm assembly with a rotatable structure, and by setting claws at the telescopic ends of the two telescopic arm assemblies, the handling gripper can flexibly adjust the position of the claws through a combination of telescopic and rotational adjustment. This effectively solves the problems of poor adaptability of the gripper structure and difficulty in compatibility with different sized plates in the prior art, and improves the flexibility and adaptability of the handling gripper and the versatility of automated production lines.

[0017] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit this application. Attached Figure Description

[0018] 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 only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1This is a schematic diagram of the structure of a flexible handling gripper provided in an embodiment of this application; Figure 2 This is a schematic diagram of the structure of a telescopic arm assembly provided in an embodiment of this application; Figure 3 This is a schematic diagram of the structure of a telescopic arm provided in an embodiment of this application; Figure 4 This is a schematic diagram of the structure of a telescopic rod provided in an embodiment of this application; Figure 5 This is a schematic diagram of a gripper rotation structure provided in an embodiment of this application; Figure 6 This is a schematic diagram of the structure of an electric cylinder provided in an embodiment of this application; Figure 7 A schematic diagram illustrating the parameterized switching of a gripper as provided in an embodiment of this application; Figure 8 This is a schematic diagram of the structure of a gun changing disc bracket provided in an embodiment of this application; Figure 9 A schematic diagram of an example of a flexible handling gripper provided in this application embodiment; Figure 10 This is a schematic diagram of a chuck structure provided in an embodiment of this application. Detailed Implementation

[0020] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0021] The following will describe in detail a flexible handling gripper provided in the embodiments of this application, with reference to specific implementation methods. Figure 1 This is a structural schematic diagram of a flexible handling gripper provided in an embodiment of this application, as shown below. Figure 1As shown, the device includes a first telescopic arm assembly 1, a second telescopic arm assembly 2, and multiple grippers 3. The second telescopic arm assembly 2 is rotatably connected to the first telescopic arm assembly 1. Both ends of the first and second telescopic arm assemblies have telescopic portions that can extend and retract along their respective extension directions. Multiple grippers 3 are respectively disposed at the ends of the telescopic portions of the first and second telescopic arm assemblies. When the telescopic portions extend and retract along the extension directions of the first and second telescopic arm assemblies, they drive the grippers 3 to move, thereby adjusting the relative positions between the grippers 3. The second telescopic arm assembly 2 can be disposed below the first telescopic arm assembly 1, allowing relative rotation between the two assemblies and thus changing their spatial orientation. When the first and second telescopic arm assemblies extend and retract, the handling gripper can adapt to plates of different sizes or with different positioning hole spacings, thereby achieving compatible gripping of plates of different specifications. Because the handling gripper has an adjustable gripping range and posture adjustment capability, it has flexible adaptability and can meet the handling needs of various sizes of plates in automated production lines.

[0022] As an optional implementation, the first telescopic arm assembly 1 and the second telescopic arm assembly 2 have the same structure, both including a mounting plate, two telescopic arms and a drive motor. Figure 2 This is a schematic diagram of the structure of a telescopic arm assembly provided in an embodiment of this application, as shown below. Figure 2 As shown, taking the first telescopic arm assembly 1 as an example, the first telescopic arm assembly 1 includes a first mounting plate 11, a first telescopic arm 12, a second telescopic arm 13, and a first drive motor 14. Ear plates 111 can be provided on both sides of the first mounting plate 11. The fixed ends of the first telescopic arm 12 and the second telescopic arm 13 can be respectively connected to the ear plates 111 on both sides of the mounting plate. Screw holes can be provided on the ear plates 111 for fixing the first telescopic arm 12 and the second telescopic arm 13 by screwing. The first telescopic arm 12 and the second telescopic arm 13 extend from the first mounting plate 11 to both sides along the same axis.

[0023] Optionally, a first drive motor 14 can be set, such as Figure 2 As shown, the first drive motor 14 includes two output terminals 141 and 142, which are respectively connected to the drive ends of the first telescopic arm 12 and the second telescopic arm 13, and can drive the first telescopic arm 12 and the second telescopic arm 13 to extend and retract. Alternatively, two first drive motors 14 can be provided, with the output terminals of the two first drive motors 14 respectively connected to the first telescopic arm 12 and the second telescopic arm 13.

[0024] As an optional implementation, the telescopic arm structures of the first telescopic arm assembly 1 and the second telescopic arm assembly 2 are identical, both including a telescopic rod sliding mounting seat, a lead screw, and a telescopic rod. Figure 3This is a schematic diagram of the structure of a telescopic arm provided in an embodiment of this application, as shown below. Figure 3 As shown, taking the third telescopic arm 21 of the second telescopic arm assembly 2 as an example, the third telescopic arm 21 includes a telescopic rod sliding mounting base 211, a lead screw 212, and a telescopic rod 213. The telescopic rod sliding mounting base 211 is the fixed end of the third telescopic arm and is connected to the mounting plate. The telescopic rod sliding mounting base 211 can be a cuboid metal block, with a telescopic rod groove 2111 for accommodating the lead screw 212 and the telescopic rod 213 opened along the length direction (i.e., the axial direction) of the cuboid metal block. One end of the telescopic rod groove 2111 has a lead screw through hole 2112, and the other end has a telescopic rod through hole 2113. One end of the lead screw 212 passes through the lead screw through hole 2112 and is connected to the drive motor, and the other end is connected to one end of the telescopic rod 213. The telescopic rod 213 can be provided with a threaded structure corresponding to the lead screw 212 (not shown in the figure). The drive motor drives the lead screw 212 to rotate around its own axis. When the drive motor drives the lead screw 212 to rotate around its own axis, the telescopic rod 213 slides along the axial direction of the telescopic rod groove 2111 under the action of threaded transmission, thereby realizing the extension movement of the telescopic rod 213. When the drive motor rotates in the opposite direction, the lead screw 212 drives the telescopic rod 213 to slide in the opposite direction, thereby realizing the retraction movement of the telescopic rod 213. The telescopic rod 213 can be a metal block structure that matches the shape of the telescopic rod groove 2111, so that the telescopic rod 213 maintains lateral stability during sliding. The other end of the telescopic rod 213 passes through the telescopic rod through hole 2113 and is connected to the claw 3. The second telescopic arm assembly 2 also includes a limiting cover plate 214, which is fastened to the upper part of the telescopic rod groove 2111 to limit the telescopic rod 213, thereby making the telescopic rod 213 maintain longitudinal stability during sliding.

[0025] As an optional implementation method, Figure 4 This is a schematic diagram of a telescopic rod provided in an embodiment of this application. The telescopic rod is a dovetail groove type drive rod, and the telescopic rod groove is a dovetail groove corresponding to the shape of the telescopic rod, such as... Figure 4 As shown, taking the third telescopic arm 21 of the second telescopic arm assembly 2 as an example, the telescopic rod 213 is a dovetail-groove type drive rod, with a trapezoidal or dovetail-shaped cross-section. If a common round rod is used for driving, it is prone to rotation after being subjected to force, which in turn causes the position of the chuck 3 to shift, resulting in a decrease in gripping accuracy. The dovetail groove structure can only slide axially, limiting lateral offset and rotation, so the telescopic rod 213 can only perform linear motion. Correspondingly, the telescopic rod groove 2111 is a dovetail groove corresponding to the shape of the telescopic rod 213.

[0026] As an optional implementation method, Figure 5 This is a schematic diagram of a gripper rotation structure provided in an embodiment of this application, as shown below. Figure 5As shown, the gripper also includes a rotary bearing 4, which may include a rotating part 41 and a fixed part 42. The first telescopic arm assembly 1 is disposed on the upper part of the second telescopic arm assembly 2 and is connected to the second telescopic arm assembly 2 through the rotary bearing 4. The first mounting plate 11 of the first telescopic arm assembly 1 can be fixedly connected to the fixed part 42, and the second mounting plate 21 of the second telescopic arm assembly 2 can be fixedly connected to the rotating part 41. A rolling element structure (such as spherical rollers, cylindrical rollers, or tapered rollers, etc., the internal rolling element structure is not shown in the figure) can be provided between the rotating part 41 and the fixed part 42 to convert sliding friction into rolling friction, so that the rotating part 41 can rotate relative to the fixed part 42 around the bearing axis. When the second telescopic arm assembly 2 is driven or subjected to external force, since the second telescopic arm assembly 2 is fixedly connected to the rotating part 41, the second telescopic arm assembly 2 can only rotate around the fixed part 42 as the axis to realize the angle change between the two telescopic arm assemblies.

[0027] As an optional implementation method, Figure 6 This is a schematic diagram of the structure of an electric cylinder provided in an embodiment of this application, as shown below. Figure 6 As shown, the gripper also includes an electric cylinder 5. The drive end 51 of the electric cylinder 5 is connected to one of the telescopic arms of the first telescopic arm assembly 1, such as the first telescopic arm 12. Specifically, a screw hole 1111 can be provided on the ear plate where the first telescopic arm 12 is located, and the drive end 51 of the electric cylinder 5 is fixed to the screw hole 1111 by screws. Similarly, a screw hole 2111 can be provided on the ear plate on one side of the third telescopic arm 22, and the telescopic end 52 of the electric cylinder 5 is fixed to the screw hole 2111 by screws. The electric cylinder 5 drives the relative angle between the first telescopic arm 12 and the third telescopic arm 22 to change through its telescopic movement, thereby changing the relative distance between the claws provided at the ends of the telescopic arms to adapt to the gripping requirements of different plate positioning holes.

[0028] Optionally, since the chuck 3 requires high accuracy in recognizing the positioning hole, this embodiment uses a high-precision servo electric cylinder to precisely control the posture of the telescopic arm assembly, so that the chuck 3 can maintain a stable gripping position during the gripping process, thereby improving the positioning accuracy and stability during the gripping of the plate.

[0029] As an optional implementation method, Figure 7 This is a schematic diagram illustrating the parameterized switching display of a gripper, as provided in an embodiment of this application. Figure 7As shown, the spacing between the positioning holes of the workpiece to be gripped can be identified first. Specifically, this can be done manually or by using a vision recognition device installed on the robot, handling gripper, or production line to capture images of the workpiece. The image recognition algorithm then identifies the positions of the positioning holes on the workpiece, thereby calculating the spacing parameters between each positioning hole. Then, the relative angle β between the telescopic arms is adjusted by controlling the extension distance of the electric cylinder 5. By controlling the extension length ΔL of the telescopic arms, the distances L and W between the gripper's claws are made to match the spacing between the positioning holes of the workpiece to be gripped.

[0030] As an optional implementation method, such as Figure 5 As shown, the gripper may also include a tool changer 6, which can be mounted on the upper part of the first telescopic arm assembly 1. Specifically, the tool changer 6 can be fixed to the first telescopic arm assembly 1 by bolt connection or flange connection. The tool changer 6 is used to connect to the end effector of the industrial robot, allowing the flexible handling gripper to be installed at the end of the robot via the tool changer 6. By setting the tool changer 6, a standardized connection interface is formed between the flexible handling gripper and the robot, thereby enabling rapid replacement between different grippers, improving equipment changeover efficiency, and reducing production line downtime during gripper replacement.

[0031] As an optional implementation method, Figure 8 This is a schematic diagram of the structure of a gun-changing disc bracket provided in an embodiment of this application, as shown below. Figure 8 As shown, the gun changing disc bracket 7 includes four columns 71 and a top plate 72. The lower part of the columns 71 is connected to the first mounting plate 11 of the first telescopic arm assembly 1, and the upper part is connected to the top plate 72. The top plate 72 has screw holes and is fixed to the columns 71 by screwing, forming a stable support structure. The gun changing disc 6 is set on the upper part of the top plate 72. The top plate 72 can also have holes or grooves made according to the shape of the contact surface of the gun changing disc 6, which can be used for positioning the gun changing disc 6. For example, if the lower part of the gun changing disc 6 is a cylindrical structure, in order to ensure a tight connection between the gun changing disc 6 and the top plate 72, holes 721 or grooves corresponding to the cylindrical shape can be made on the upper part of the top plate 72. This achieves precise positioning between the gun changing disc 6 and the top plate 72, and also ensures the connection stability and positioning accuracy of the gun changing disc 6 after installation. In addition, the column structure of the gun changing plate bracket 7 forms an installation space below the top plate 72, allowing at least part of the telescopic arm assembly and its drive motor to be arranged in the installation space, thereby avoiding interference between the gun changing plate bracket 7 and the installation of the telescopic arm assembly and drive motor, and ensuring the overall compactness and stability of the handling gripper structure.

[0032] As an optional implementation method, Figure 9 A schematic diagram of the structure of an example of a flexible handling gripper provided in this application embodiment is shown below. Figure 9As shown, the gripper also includes a vision guidance component 8, which can be mounted on the telescopic arm. In this embodiment, the vision guidance component 8 can be mounted on the first telescopic arm 12 of the first telescopic arm assembly 1. In other embodiments, the vision guidance component 8 can also be mounted on the robot end effector or the production line fixed bracket, as long as the vision guidance component 8 can acquire image information of the workpiece to be gripped. The vision guidance component 8 can be a three-dimensional vision camera (3D camera), which can acquire image data of the workpiece to be gripped through structured light, binocular vision, or laser scanning. When the gripper is at the gripping station, the vision guidance component 8 can acquire images of the workpiece to be gripped, thereby obtaining image data containing surface feature information of the workpiece. The image data acquired by the vision guidance component 8 can be transmitted to the robot control system for processing via data transmission. The robot control system can include an industrial computer, a vision processing unit, and a motion control unit. The vision processing unit can analyze the image data using a preset image recognition algorithm to identify the position of the positioning holes on the workpiece. For example, the contour of the positioning holes on the workpiece can be identified using an edge detection algorithm, a circular feature recognition algorithm, or a template matching algorithm, and the center coordinate information of the positioning holes can be extracted. During image recognition, the vision processing unit first preprocesses the acquired image, such as performing grayscale conversion, filtering, or edge enhancement, to improve the accuracy of hole recognition. Then, a pre-defined circular detection algorithm identifies circular feature regions in the image, determining the center position of the hole, ultimately obtaining the two-dimensional or three-dimensional coordinate data of each hole in the visual coordinate system. After acquiring the hole coordinate data, the vision processing unit further calculates the relative positional relationships between the holes. For example, it calculates the distance, angle, and relative arrangement between the holes to obtain the spacing parameters. To match the visual measurement results with the gripper motion system, a transformation relationship between the visual coordinate system and the robot coordinate system can be established using coordinate calibration methods. For example, the vision system can be calibrated using a calibration plate or reference points at known locations to obtain the transformation matrix between the visual coordinate system and the robot coordinate system. Through this transformation relationship, the coordinate information of the holes can be converted into spatial position data in the robot coordinate system.

[0033] Those skilled in the art can use existing machine vision processing methods to perform image analysis of the workpiece to be gripped, according to actual needs. For example, mature algorithms in existing image processing, machine vision recognition, 3D measurement, or target detection fields can be used to extract features, identify targets, and calculate spatial coordinates from the acquired image data, thereby obtaining the positional relationship and spacing parameters of the workpiece's positioning holes. The specific form of the above algorithm can be selected or replaced according to actual application requirements, and this application does not specifically limit it. As long as the positional relationship of the workpiece's positioning holes can be identified and the corresponding spacing parameters can be obtained, thereby controlling the length of the flexible handling gripper's telescopic arm and the angle adjustment between the telescopic arms, it should fall within the protection scope of this application. After obtaining the positioning hole spacing, the four claws need to be aligned with the four positioning holes on the workpiece to be gripped. The first telescopic arm assembly and the second telescopic arm assembly respectively form two intersecting straight lines, and the two claws on each straight line correspond to a set of diagonal positioning holes, so as to... Figure 7 For example, this application embodiment uses a rectangle as an example of the positional relationship of the positioning holes to provide an example of calculating the included angle and extension length of the telescopic rod, as follows: The included angle between the two sets of telescopic arms is denoted as β. When the telescopic arms are fully retracted, the distance between the chuck and the rotation center is R. Assuming the center coordinates of the four positioning holes are (L / 2, W / 2), (-L / 2, W / 2), (-L / 2, -W / 2), and (L / 2, -W / 2), the center of the rectangle is the rotation center of the gripper. The two sets of diagonal positioning holes are located on the two diagonals. The included angle between the two diagonals is: β = 2srctan(L / W); This allows us to determine the target angle that should be adjusted between the two sets of telescopic arms.

[0034] The distance from each claw to the center is the length of half the diagonal of the rectangle, which is R + the extension length ΔL.

[0035] ; Right now: Optionally, to improve the stability of the gripping process, a secondary inspection can be performed by the vision system when the gripper approaches the workpiece to confirm the relative position between the gripper and the positioning hole, thereby further improving the gripping accuracy.

[0036] In summary, by obtaining the position of the positioning hole through the vision guidance component and adjusting the gripper structure parameters in conjunction with the drive motor and electric cylinder, the gripper can automatically adjust the position of the claw according to the positioning hole spacing of different plates, thereby achieving flexible gripping of plates of different specifications.

[0037] As an optional implementation method, such as Figure 6As shown, the gripper also includes a control box 9, which is electrically connected to the electric cylinder 5 and each drive motor.

[0038] As an optional implementation method, Figure 10 This is a schematic diagram of the structure of a chuck provided in an embodiment of this application, as shown below. Figure 10 As shown, the gripper 3 includes a gripper connector 31, a multi-jaw cylinder 32, and multiple gripping arms 33. One end of the gripper connector 31 is connected to the first telescopic arm assembly 1 or the second telescopic arm assembly 2, and the other end of the gripper connector 31 is connected to the upper part of the multi-jaw cylinder 32. The lower part of the multi-jaw cylinder 32 is provided with multiple gripping arm mounting seats 321 (three gripping arm mounting seats are used as an example in the figure). The multiple gripping arms 33 are connected to the multiple gripping arm mounting seats 321 one by one. When the gripping arms 33 are inserted into the positioning holes of the plate, the multiple gripping arm mounting seats 321 of the multi-jaw cylinder 32 move from the inside to the outside in multiple directions (movement directions are as follows). Figure 10 As shown by the dashed arrow in the middle, multiple clamping arms 33 unfold from the inside out and abut against the inner wall of the positioning hole.

[0039] Optionally, a multi-claw cylinder may include a cylinder body, piston assembly, and connecting parts. When the air source (such as...) Figure 10 (322) When compressed air is introduced into the cylinder cavity, the piston assembly moves vertically under the action of air pressure and drives multiple clamping arm mounting seats to move from the inside to the outside in multiple directions through the connecting parts, thereby causing the multiple clamping arms to unfold outward. When the air pressure in the cylinder cavity is released or air is supplied in the opposite direction, the piston assembly can move in the opposite direction, causing the multiple clamping arm mounting seats to move inward in the radial direction, thereby causing the multiple clamping arms to retract inward so that the chucks can disengage from the positioning holes.

[0040] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0041] The various embodiments in this specification are described in a related manner. Similar or identical parts between embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. In particular, the system embodiments are basically similar to the method embodiments, so the description is relatively simple; relevant parts can be referred to the descriptions of the method embodiments.

[0042] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0043] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A flexible handling gripper, characterized in that, It includes a first telescopic arm assembly (1), a second telescopic arm assembly (2), and a plurality of claws (3); wherein the second telescopic arm assembly (2) is rotatably connected to the first telescopic arm assembly (1); both ends of the first telescopic arm assembly (1) and the second telescopic arm assembly (2) are provided with telescopic portions that can extend and retract along their respective extension directions; the plurality of claws (3) are respectively provided at the ends of the telescopic portions of the first telescopic arm assembly (1) and the second telescopic arm assembly (2); when the telescopic portions extend and retract along the extension directions of the first telescopic arm assembly (1) and the second telescopic arm assembly (2), they drive the claws (3) to move, so as to adjust the relative position between each claw (3).

2. The gripper according to claim 1, characterized in that, Both the first telescopic arm assembly (1) and the second telescopic arm assembly (2) include a mounting plate, two telescopic arms and a drive motor; wherein, the fixed ends of the two telescopic arms are respectively connected to both sides of the mounting plate and extend to both sides along the same axis, and the drive motor is connected to the drive end of the telescopic arm for driving the two telescopic arms to extend or retract along the extension direction.

3. The gripper according to claim 2, characterized in that, The telescopic arm includes a telescopic rod sliding mounting base, a lead screw, and a telescopic rod. The telescopic rod sliding mounting base is connected to the mounting plate. The telescopic rod sliding mounting base has a telescopic rod groove along the axial direction. One end of the telescopic rod groove has a lead screw through hole, and the other end has a telescopic rod through hole. One end of the lead screw passes through the lead screw through hole and is connected to the output end of the drive motor. The other end is connected to one end of the telescopic rod. The other end of the telescopic rod passes through the telescopic rod through hole and is connected to the pawl (3).

4. The gripper according to claim 3, characterized in that, The telescopic rod is a dovetail groove type drive rod, and the telescopic rod groove is a dovetail groove corresponding to the shape of the telescopic rod.

5. The gripper according to claim 2, characterized in that, The gripper also includes a rotary bearing (4), which includes a rotating part (41) and a fixing part (42). The first telescopic arm assembly (1) is disposed on the upper part of the second telescopic arm assembly (2) and is connected to the second telescopic arm assembly (2) through the rotary bearing (4). The mounting plate of the first telescopic arm assembly (1) is fixedly connected to the fixing part (42), and the mounting plate of the second telescopic arm assembly (2) is fixedly connected to the rotating part (41).

6. The gripper according to claim 1, characterized in that, The gripper also includes an electric cylinder (5), the drive end of which is connected to the first telescopic arm assembly (1), and the telescopic end of which is connected to the second telescopic arm assembly (2).

7. The gripper according to claim 6, characterized in that, The gripper also includes a gun-changing disc (6), which is located on the upper part of the first telescopic arm assembly (1).

8. The gripper according to claim 7, characterized in that, The gripper also includes a gun changing disc bracket (7), which includes a column (71) and a top plate (72). The lower part of the column (71) is connected to the mounting plate of the first telescopic arm assembly (1), and the upper part is connected to the top plate (72). The gun changing disc (6) is located on the upper part of the top plate (72).

9. The gripper according to claim 2, characterized in that, The gripper also includes a vision guidance component (8), which is disposed on the telescopic arm and is used to capture image data of the positioning holes of the part to be gripped.

10. The gripper according to claim 1, characterized in that, The claw (3) includes a claw connector (31), a multi-claw cylinder (32), and multiple clamping arms (33). One end of the claw connector (31) is connected to the first telescopic arm assembly (1) or the second telescopic arm assembly (2), and the other end of the claw connector (31) is connected to the upper part of the multi-claw cylinder (32). The lower part of the multi-claw cylinder (32) is provided with multiple clamping arm mounting seats (321). The multiple clamping arms (33) are respectively connected to the multiple clamping arm mounting seats (321). When the clamping arms (33) are inserted into the positioning hole of the plate, the multiple clamping arm mounting seats (321) of the multi-claw cylinder (32) move from the inside to the outside in multiple directions, causing the multiple clamping arms (33) to unfold from the inside to the outside and abut against the inner wall of the positioning hole.

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