An adaptive clamping intelligent mechanical gripping device

Abstract

The present application relates to the technical field of intelligent mechanical grabbing equipment, and particularly discloses an intelligent mechanical grabbing device with self-adaptive clamping, which comprises a mounting base, a supporting assembly, a clamping assembly, a negative pressure blowing assembly and a control module; the mounting base is connected with a telescopic driving motor through a rotary driving support to realize multi-stage telescopic adjustment; the clamping assembly is driven by a driving motor to clamp a clamping plate, an antiskid cushion and a pressure sensor are arranged in the clamping plate to realize self-adaptive adjustment of clamping force; the negative pressure blowing assembly is telescopically arranged between the clamping plates, a bottom negative pressure control disc is integrated with a blowing pipe and a negative pressure suction disc, and the blowing pipe is used to clean first and then the negative pressure suction disc is used for adsorption; the control module comprises a master controller and a visual recognition module which are cooperatively controlled. The device adopts double-mode fixation of clamping and negative pressure adsorption, is stable and reliable, the pressure sensor can realize real-time feedback and self-adaptive protection of workpieces, blowing cleaning can enhance adsorption, and the device has a simple structure and high universality.

Description

Technical Field

[0001] This invention relates to the field of intelligent mechanical gripping equipment technology, specifically to an adaptive clamping intelligent mechanical gripping device. Background Technology

[0002] In the production and processing of glass products, frequent handling, transfer, and positioning operations are required. Traditional glass gripping methods mainly rely on vacuum suction cups or rigid clamps. Vacuum suction cups require a high degree of flatness and cleanliness of the glass surface; when the glass surface is stained or uneven, the suction effect is greatly reduced, easily causing the glass to fall off during handling. Rigid clamping methods, on the other hand, have the problem of difficulty in precisely controlling the clamping force. Too little clamping force can cause the glass to slip, while too much clamping force can easily cause the glass to break or even shatter. Currently, there are some adaptive clamping glass gripping devices on the market, such as solutions that acquire glass images through a vision positioning module and adjust the clamping force accordingly, or solutions that use drive motors to move multiple adjustment blocks closer together to adapt to the side shape of the glass. However, these existing technologies are often complex in structure, including vision modules, laser scanning modules, multiple drive motors, and complex transmission mechanisms. They are not only costly to manufacture but also difficult to maintain, making them unsuitable for small and medium-sized glass processing enterprises. In addition, most existing glass gripping devices can only adapt to glass of specific shapes or sizes. When the size or shape of the glass changes, the clamping parts need to be replaced or the equipment parameters need to be readjusted, resulting in poor versatility.

[0003] Therefore, it is necessary to develop an adaptive gripping intelligent mechanical grasping device to solve the above-mentioned problems of existing technologies. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to overcome the defects of the above-mentioned technology and provide an intelligent mechanical gripping device with adaptive clamping.

[0005] To achieve the above objectives, the present invention provides an adaptive clamping intelligent mechanical gripping device, comprising: a mounting base, a support assembly, a clamping assembly, a negative pressure blowing assembly, and a control module; the mounting base is rotatably mounted on top of a retractable support assembly, the clamping assembly is symmetrically arranged at the lower part of one end of the support assembly, the negative pressure blowing assembly is retractably arranged between the clamping assemblies, and the control module intelligently controls the device to perform adaptive gripping operations; the mounting base is provided with fixing bolts and a rotation drive support; the support assembly includes a vertical support arm, a first telescopic drive motor, a horizontal support arm, a horizontal telescopic arm, a second telescopic drive motor, and a telescopic connecting rod; the clamping assembly includes a clamping drive motor, a clamping telescopic rod, and a clamping plate; the negative pressure blowing assembly includes a negative pressure drive motor, a negative pressure telescopic rod, a blowing motor, and a negative pressure control panel; the control module includes a main controller and a vision recognition module.

[0006] Furthermore, the fixing bolts are respectively located at the four corners of the mounting base, the rotary drive support is rotatably located at the top center of the mounting base, and the top of the rotary drive support is provided with a support component.

[0007] Furthermore, the bottom of the vertical support arm is fixedly connected to the rotary drive support, and a telescopic drive motor is provided at the top. The horizontal support arm is located on the side of the telescopic drive motor, and the horizontal telescopic arm is telescopically located inside the horizontal support arm and performs left and right telescopic operations through the telescopic drive motor. A second telescopic drive motor is provided at the end of the horizontal telescopic arm, and a telescopic connecting rod is vertically telescopically located at the bottom of the second telescopic drive motor and performs up and down telescopic operations through the second telescopic drive motor. A clamping assembly is provided at the bottom of the telescopic connecting rod.

[0008] Furthermore, the clamping drive motor is located at the bottom of the telescopic connecting rod, and the clamping telescopic rod is symmetrically and telescopically arranged on the left and right sides of the clamping drive motor, and performs left and right telescopic operations through the clamping drive motor; clamping plates are respectively provided on the clamping telescopic rod, and a negative pressure blowing assembly is provided at the bottom of the clamping drive motor.

[0009] Furthermore, the inner side of the clamping plate is provided with anti-slip pads, and the pressure sensors are respectively provided on the clamping plate and located between the clamping plate and the anti-slip pads.

[0010] Furthermore, the negative pressure drive motor is located at the bottom of the clamping drive motor, the negative pressure telescopic rod is located at the bottom of the negative pressure drive motor, and the negative pressure drive motor is used for vertical extension and retraction; the blower motor is located at the bottom end of the negative pressure telescopic rod, and the negative pressure control panel is located at the bottom of the blower motor.

[0011] Furthermore, an air outlet pipe is provided at the center of the bottom of the negative pressure control panel, and the air outlet pipe is blown by a blower motor; multiple negative pressure suction cups are evenly spaced along the circumference of the bottom of the negative pressure control panel.

[0012] Furthermore, the main controller is located inside the mounting base and is connected to the rotary drive support, telescopic drive motor one, telescopic drive motor two, clamping drive motor, pressure sensor, negative pressure drive motor and blower motor respectively through wires, and coordinates the drive mechanism to perform gripping operations; the visual recognition module is symmetrically arranged on both sides of the clamping drive motor and is connected to the main controller through wires to perform object shape scanning operations.

[0013] Compared with the prior art, the present invention has the following beneficial effects: Dual-mode fixation for stable gripping: The dual-mode fixation method, which combines the clamping component and the negative pressure blowing component, provides mechanical clamping force and suction cups provide adsorption force. This dual protection significantly improves the stability of the glass gripping and effectively avoids the risk of falling off during transportation.

[0014] Adaptive clamping to protect the workpiece: The pressure sensor provides real-time feedback on the clamping pressure, and the main controller adaptively adjusts the opening and closing distance of the clamping telescopic rod accordingly to avoid slippage due to insufficient clamping force or breakage of the glass due to excessive clamping force, thus achieving flexible adaptation to glass of different sizes.

[0015] Air blowing for cleaning and enhanced adsorption: The negative pressure air blowing component integrates an air blowing motor and a negative pressure suction cup. Before gripping, dust and impurities on the glass surface are blown away by the air blowing pipe, and then the negative pressure suction cup adsorbs them, which significantly improves the reliability of negative pressure adsorption and solves the problem of high requirements for the cleanliness of the glass surface of traditional suction cups.

[0016] Simplified structure and strong versatility: Compared with existing technologies, it eliminates complex mechanisms such as laser scanning modules. It uses a vision recognition module in conjunction with the main controller to achieve shape recognition and collaborative control. The structure is simplified, the manufacturing cost is low, and the maintenance is convenient. It can adapt to glass of various shapes and sizes, has good versatility, and is suitable for small and medium-sized glass processing enterprises. Attached Figure Description

[0017] Figure 1 This is a perspective view of an adaptive clamping intelligent mechanical gripping device according to the present invention.

[0018] Figure 2 This is a front view of an adaptive clamping intelligent mechanical gripping device according to the present invention.

[0019] Figure 3 This is a side view of an adaptive clamping intelligent mechanical gripping device according to the present invention.

[0020] Figure 4 This is a top view of an adaptive clamping intelligent mechanical gripping device according to the present invention.

[0021] Figure 5 This is a partial enlarged view of the negative pressure blowing component of an adaptive clamping intelligent mechanical gripping device according to the present invention.

[0022] Figure 6 This is a schematic cross-sectional view of the mounting base of an adaptive clamping intelligent mechanical gripping device according to the present invention.

[0023] The diagram is labeled as follows: 1. Mounting base; 101. Fixing bolts; 102. Rotary drive support; 2. Support assembly; 201. Vertical support arm; 202. Telescopic drive motor one; 203. Horizontal support arm; 204. Horizontal telescopic arm; 205. Telescopic drive motor two; 206. Telescopic connecting rod; 3. Clamping assembly; 301. Clamping drive motor; 302. Clamping telescopic rod; 303. Clamping plate; 3031. Anti-slip soft pad; 3032. Pressure sensor; 4. Negative pressure blower assembly; 401. Negative pressure drive motor; 402. Negative pressure telescopic rod; 403. Blower motor; 404. Negative pressure control panel; 4041. Blower pipe; 4042. Negative pressure suction cup; 5. Control module; 501. Main controller; 502. Vision recognition module. Detailed Implementation

[0024] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and 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 this invention.

[0025] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0026] In the description of the embodiments of the present invention, if a feature is referred to as "setting", "fixing", "connecting", or "installing" on another feature, it can be set, fixed, or connected directly to the other feature, or it can be set, fixed, connected, or installed indirectly on the other feature.

[0027] In the description of the embodiments of the present invention, the term "several" means one or more, and the term "multiple" means two or more. The terms "greater than," "less than," and "exceeding" should be understood as excluding the stated number, while the terms "above," "below," and "within" should be understood as including the stated number. The terms "first" and "second" should be understood as distinguishing technical features and not as indicating or implying relative importance, the number of indicated technical features, or the order of the indicated technical features.

[0028] The present invention will now be described in further detail with reference to the accompanying drawings.

[0029] Combined with appendix Figure 1 To be continued Figure 6 This embodiment provides an adaptive gripping intelligent mechanical grasping device, including: a mounting base 1, a support component 2, a gripping component 3, a negative pressure blowing component 4, and a control module 5; the mounting base 1 has a retractable support component 2 rotatably mounted on its top; the gripping component 3 is symmetrically arranged at the lower part of one end of the support component 2; the negative pressure blowing component 4 is retractably arranged between the gripping components 3; and the control module 5 intelligently controls the device to perform adaptive gripping operations; the mounting base 1 is provided with fixing bolts 101 and a rotary drive support 1. 02; The support assembly 2 includes a vertical support arm 201, a telescopic drive motor 1 202, a horizontal support arm 203, a horizontal telescopic arm 204, a telescopic drive motor 205, and a telescopic connecting rod 206; The clamping assembly 3 includes a clamping drive motor 301, a clamping telescopic rod 302, and a clamping plate 303; The negative pressure blowing assembly 4 includes a negative pressure drive motor 401, a negative pressure telescopic rod 402, a blowing motor 403, and a negative pressure control panel 404; The control module 5 includes a main controller 501 and a visual recognition module 502.

[0030] Furthermore, in conjunction with the appendix Figure 1 To be continued Figure 4 As shown, the fixing bolts 101 are respectively set at the four corners of the mounting base 1, and the rotary drive support 102 is rotatably set at the top center of the mounting base 1. The top of the rotary drive support 102 is provided with a support component 2. The fixing bolts 101 are used to securely install the device at the work station or the end of the robotic arm. The rotary drive support 102 allows the support component 2 to be adjusted horizontally to expand the gripping range.

[0031] Furthermore, in conjunction with the appendix Figure 1 and attached Figure 2As shown, the bottom of the vertical support arm 201 is fixedly connected to the rotary drive support 102, and a telescopic drive motor 202 is provided at the top. The horizontal support arm 203 is located on one side of the telescopic drive motor 202, and the horizontal telescopic arm 204 is telescopically installed inside the horizontal support arm 203 and is telescopically extended left and right by the telescopic drive motor 202. A telescopic drive motor 205 is provided at the end of the horizontal telescopic arm 204, and a telescopic connecting rod 206 is vertically telescopically installed at the bottom of the telescopic drive motor 205 and is telescopically extended up and down by the telescopic drive motor 205. A clamping component 3 is provided at the bottom of the telescopic connecting rod 206. This multi-stage telescopic structure allows the device to flexibly adjust the position of the clamping component 3 in both horizontal and vertical directions to adapt to glass gripping needs at different heights and distances.

[0032] Furthermore, in conjunction with the appendix Figure 1 Appendix Figure 2 and attached Figure 5 As shown, the clamping drive motor 301 is located at the bottom of the telescopic connecting rod 206. The clamping telescopic rod 302 is symmetrically and telescopically arranged on the left and right sides of the clamping drive motor 301, and performs left and right telescopic operations through the clamping drive motor 301. The clamping telescopic rod 302 is respectively provided with clamping plates 303, and the bottom of the clamping drive motor 301 is provided with a negative pressure blowing assembly 4. The inner side of the clamping plate 303 is respectively provided with anti-slip soft pads 3031. The pressure sensors 3032 are respectively provided on the clamping plate 303, and are respectively located between the clamping plate 303 and the anti-slip soft pads 3031. The anti-slip soft pads 3031 increase the friction and protect the glass surface. The pressure sensors 3032 detect the clamping pressure in real time and feed it back to the main controller 501 to realize the adaptive adjustment of the clamping force.

[0033] Furthermore, in conjunction with the appendix Figure 2 and attached Figure 5 As shown, the negative pressure drive motor 401 is located at the bottom of the clamping drive motor 301, and the negative pressure telescopic rod 402 is located at the bottom of the negative pressure drive motor 401, and performs vertical extension and retraction operations through the negative pressure drive motor 401; the blower motor 403 is located at the bottom end of the negative pressure telescopic rod 402, and the negative pressure control disk 404 is located at the bottom of the blower motor 403. A blower pipe 4041 is located at the center of the bottom of the negative pressure control disk 404, and the blower pipe 4041 performs blowing operations through the blower motor 403; multiple negative pressure suction cups 4042 are evenly spaced along the circumference of the bottom of the negative pressure control disk 404. The blower pipe 4041 first removes impurities from the glass surface, and the negative pressure suction cups 4042 then provide suction force, providing double protection for gripping stability.

[0034] Furthermore, in conjunction with the appendix Figure 1 Appendix Figure 2 and attached Figure 6As shown, the main controller 501 is located inside the mounting base 1 and is connected to the rotary drive support 102, the telescopic drive motor 1 202, the telescopic drive motor 205, the clamping drive motor 301, the pressure sensor 3032, the negative pressure drive motor 401, and the blower motor 403 via electrical wires, respectively, to coordinate the control of the drive mechanism for gripping operations; the visual recognition module 502 is symmetrically arranged on both sides of the clamping drive motor 301 and is connected to the main controller 501 via electrical wires to perform object shape scanning operations, providing the main controller 501 with the shape and size information of the glass so as to adaptively adjust the working parameters of each drive motor.

[0035] Specifically, this invention provides an adaptive clamping intelligent mechanical gripping device. In use, the device first scans the shape and size of the glass to be gripped using a visual recognition module and uploads the data to the main controller. The main controller sends coordinated control signals to the rotary drive support, telescopic drive motor one, telescopic drive motor two, clamping drive motor, pressure sensor, negative pressure drive motor, and blower motor: the rotary drive support rotates the support assembly to the target position; the telescopic drive motor one controls the horizontal telescopic arm to extend and retract left and right to adjust its horizontal position; and the telescopic drive motor two controls the telescopic connecting rod to extend and retract up and down to adjust its vertical height, aligning the clamping assembly with the glass. The glass is gripped by a clamping drive motor that drives the clamping telescopic rod to bring the clamping plate closer to the glass. A pressure sensor monitors the clamping pressure in real time, and the main controller adaptively adjusts the clamping force accordingly to prevent slippage due to insufficient force or breakage due to excessive force. After stable gripping, the negative pressure drive motor controls the negative pressure telescopic rod to extend and retract the negative pressure control plate downwards. A blower motor blows away dust and impurities from the glass surface through a blower pipe. Multiple negative pressure suction cups on the negative pressure control plate then adhere to the glass surface, further ensuring the stability of the grip. After gripping, the device transports the glass to the target position, releases the clamping plate, and retracts the negative pressure suction cups, completing one gripping operation. This invention significantly improves the stability of glass gripping through a dual-fixation method of clamping and adsorption. Simultaneously, intelligent collaborative control enables adaptive adjustment of clamping force and spacing, offering strong versatility. Furthermore, it incorporates a blowing cleaning function, effectively enhancing the adsorption stability of the negative pressure suction cups. This invention offers the beneficial effects of dual-mode fixed gripping stability, adaptive clamping to protect the workpiece, blowing cleaning to enhance adsorption, and a simplified structure with strong versatility.

[0036] The present invention and its embodiments have been described above. This description is not restrictive, and the accompanying drawings are only one embodiment of the present invention; the actual structure is not limited thereto. In conclusion, if those skilled in the art are inspired by this description and design similar structures and embodiments without departing from the spirit of the invention, such designs should fall within the protection scope of the present invention.

Claims

1. An adaptive gripping intelligent mechanical grasping device, characterized in that, include: The mounting base (1) comprises a support assembly (2), a clamping assembly (3), a negative pressure blowing assembly (4), and a control module (5). The top of the mounting base (1) is rotatably equipped with a retractable support assembly (2). The clamping assembly (3) is symmetrically positioned at the lower end of one end of the support assembly (2). The negative pressure blowing assembly (4) is retractably positioned between the clamping assemblies (3). The control module (5) intelligently controls the device to perform adaptive gripping operations. The mounting base (1) is equipped with fixing bolts (101) and a rotary drive support (102). The support assembly (2) includes vertical supports. The arm (201), telescopic drive motor one (202), lateral support arm (203), lateral telescopic arm (204), telescopic drive motor two (205), and telescopic connecting rod (206); the clamping assembly (3) includes clamping drive motor (301), clamping telescopic rod (302), and clamping plate (303); the negative pressure blowing assembly (4) includes negative pressure drive motor (401), negative pressure telescopic rod (402), blowing motor (403), and negative pressure control panel (404); the control module (5) includes main controller (501) and vision recognition module (502).

2. The adaptive clamping intelligent mechanical gripping device according to claim 1, characterized in that: The fixing bolts (101) are respectively located at the four corners of the mounting base (1), the rotary drive support (102) is rotatably located at the top center of the mounting base (1), and the top of the rotary drive support (102) is provided with a support component (2).

3. The adaptive clamping intelligent mechanical gripping device according to claim 1, characterized in that: The bottom of the vertical support arm (201) is fixedly connected to the rotary drive support (102), and the top is provided with a telescopic drive motor (202). The horizontal support arm (203) is provided on one side of the telescopic drive motor (202). The horizontal telescopic arm (204) is telescopically installed inside the horizontal support arm (203) and performs left and right telescopic operations through the telescopic drive motor (202). The end of the horizontal telescopic arm (204) is provided with a telescopic drive motor (205). The telescopic connecting rod (206) is vertically telescopically installed at the bottom of the telescopic drive motor (205) and performs up and down telescopic operations through the telescopic drive motor (205). The bottom end of the telescopic connecting rod (206) is provided with a clamping assembly (3).

4. The adaptive gripping intelligent mechanical grasping device according to claim 1, characterized in that: The clamping drive motor (301) is located at the bottom of the telescopic connecting rod (206). The clamping telescopic rod (302) is symmetrically and telescopically arranged on the left and right sides of the clamping drive motor (301), and performs left and right telescopic operations through the clamping drive motor (301). The clamping telescopic rod (302) is provided with clamping plates (303), and the bottom of the clamping drive motor (301) is provided with a negative pressure blowing assembly (4).

5. The adaptive clamping intelligent mechanical gripping device according to claim 4, characterized in that: The inner side of the clamping plate (303) is provided with anti-slip pads (3031), and the pressure sensors (3032) are respectively provided on the clamping plate (303) and located between the clamping plate (303) and the anti-slip pads (3031).

6. The adaptive clamping intelligent mechanical gripping device according to claim 1, characterized in that: The negative pressure drive motor (401) is located at the bottom of the clamping drive motor (301), the negative pressure telescopic rod (402) is located at the bottom of the negative pressure drive motor (401), and the negative pressure drive motor (401) is used for vertical extension and retraction. The blower motor (403) is located at the bottom of the negative pressure telescopic rod (402), and the negative pressure control panel (404) is located at the bottom of the blower motor (403).

7. The adaptive clamping intelligent mechanical gripping device according to claim 6, characterized in that: A blower pipe (4041) is provided at the center of the bottom of the negative pressure control plate (404), and the blower pipe (4041) performs blowing operations through a blower motor (403); a plurality of negative pressure suction cups (4042) are evenly spaced along the circumferential direction at the bottom of the negative pressure control plate (404).

8. The adaptive clamping intelligent mechanical gripping device according to claim 1, characterized in that: The main controller (501) is located inside the mounting base (1) and is connected to the rotary drive support (102), telescopic drive motor one (202), telescopic drive motor two (205), clamping drive motor (301), pressure sensor (3032), negative pressure drive motor (401) and blower motor (403) respectively via wires, and coordinates the drive mechanism to perform gripping operations; the visual recognition module (502) is symmetrically arranged on both sides of the clamping drive motor (301) and is connected to the main controller (501) via wires to perform object shape scanning operations.

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