Mechanical gripper

Abstract

The utility model provides a mechanical gripper which comprises a supporting assembly, a clamping assembly and a clamping assembly. The supporting assembly comprises a material pressing plate, and a sliding hole extending from the edge to the center is formed in the material pressing plate; the driving assembly comprises a driving piece and a pushing block connected to the driving piece, and the driving piece drives the pushing block to slide in the first direction; the material taking assembly comprises a rotating part, a traction part, a first pair of connecting arms, a second pair of connecting arms and a plurality of clamping fingers which are arranged in the sliding holes and penetrate through the sliding holes, the rotating part is rotationally connected with the material pressing plate and comprises a first end and a second end which are opposite, the first end is movably connected with the pushing block, and the second end is movably connected with the traction part; the first pair of connecting arms is rotationally connected with the traction piece, the second pair of connecting arms is rotationally connected with the pushing block, and each connecting arm is correspondingly connected with one clamping finger. According to the mechanical gripper, the workpiece can be positioned when the workpiece is grabbed, the working efficiency is improved, and the production cost is reduced.

Description

Technical Field

[0001] The present application relates to the technical field of automated processing devices, and in particular to a robotic gripper. Background Art

[0002] During the production and processing of products, parts need to be transferred to the processing device. Currently, a robot gripper is often used for transfer. The existing robot gripper cannot position the parts. Therefore, before transferring the parts to the processing device by the robot gripper, the parts need to be placed in a positioning fixture for positioning, and then the robot gripper grabs the parts and puts them into the processing device for processing. Using this method to transfer parts requires an additional positioning process, which has low operating efficiency and requires the use of a positioning fixture, which increases production costs. Utility Model Content

[0003] In view of the above, it is necessary to propose a mechanical gripper that can position the workpiece when grasping it, improve work efficiency and reduce production costs.

[0004] The embodiment of the present application provides a mechanical gripper, comprising: a supporting assembly, comprising a pressing plate, the pressing plate having a sliding hole extending from an edge to a center; a driving assembly, comprising a driving member and a pushing block connected to the driving member, the driving member driving the pushing block to slide along a first direction; and a picking assembly, comprising a rotating member, a traction member, a first pair of connecting arms, a second pair of connecting arms, and a plurality of clamping fingers all arranged in the sliding hole and passing through the sliding hole, the rotating member being rotatably connected to the pressing plate, the rotating member comprising a first end and a second end opposite to each other, the first end being movably connected to the pushing block, the second end being movably connected to the traction member, the first pair of connecting arms being movably connected to the traction member, The guide member is rotatably connected, the second pair of connecting arms is rotatably connected to the pushing block, and each of the connecting arms is correspondingly connected to one of the clamping fingers; wherein, when the driving member drives the pushing block to move along the first direction, the pushing block drives the second pair of connecting arms to move along the first direction, and at the same time drives the rotating member to rotate, and the rotating member drives the first pair of connecting arms to move in the opposite direction of the first direction through the traction member, thereby causing the first pair of connecting arms and the second pair of connecting arms to synchronously drive multiple clamping fingers to move away from each other to resist the inner side wall of the workpiece, or drive multiple clamping fingers to move closer to each other to move away from the inner side wall of the workpiece, so as to locate, grasp or detach from the workpiece.

[0005] The above-mentioned mechanical gripper is provided with a support assembly, which can be connected to an external device such as a mechanical arm to move the mechanical gripper. When the mechanical gripper grabs a workpiece, the workpiece can be first pressed and held by the pressure plate to position the workpiece in the longitudinal direction. When the driving member drives the push block to move in the first direction, the push block drives the second pair of connecting arms to move in the first direction, and at the same time drives the rotating member to rotate. The rotating member drives the first pair of connecting arms to move in the opposite direction of the first direction through the traction member, so that the first pair of connecting arms and the second pair of connecting arms synchronously drive multiple clamping fingers away from each other to hold the four corners inside the workpiece, so as to grab the workpiece and position the workpiece when grabbing the workpiece. When the driving member drives the push block to move in the opposite direction of the first direction, it can drive multiple clamping fingers to move away from the workpiece, and then release the workpiece. The above-mentioned mechanical gripper can position the workpiece in the longitudinal direction through the pressure plate, and can position the workpiece on the horizontal plane through the clamping fingers, so as to realize positioning of the workpiece while grabbing the workpiece, reduce the operation process, improve the operation efficiency, and reduce the production cost.

[0006] In some embodiments, the support assembly also includes a connecting plate connected to the pressure plate, and an accommodating space is arranged between the connecting plate and the pressure plate, and the accommodating space is used to accommodate the rotating member, the traction member, the first pair of connecting arms and the second pair of connecting arms. The connecting plate is provided with a through groove, and the pushing block is slidably arranged in the through groove, and the driving member is connected to the side of the connecting plate away from the pressure plate.

[0007] In some embodiments, a slide groove extending along the first direction is formed on one side of the pressing plate facing the connecting plate, and the traction member is slidably disposed in the slide groove, and the slide groove is used to limit the traction member.

[0008] In some embodiments, the pressing plate is also provided with a first strip hole extending along the first direction, and the first strip hole is arranged at the bottom of the slide groove and is connected to the slide groove; the material picking assembly also includes a first connecting pin, and the traction member is rotatably connected to the first pair of connecting arms through the first connecting pin, one end of the first connecting pin extends out of the traction member and is slidably arranged in the first strip hole, and then the first connecting pin is limited by the first strip hole.

[0009] In some embodiments, a second strip hole extending along the first direction is also provided on the pressing plate; the driving assembly also includes a second connecting pin, the second connecting pin is fixedly connected to the pushing block, the second pair of connecting arms are rotatably connected to the pushing block through the second connecting pin, one end of the second connecting pin extends out of the second pair of connecting arms and is slidably disposed in the second strip hole, and the second connecting pin is limited by the second strip hole.

[0010] In some embodiments, each of the connecting arms is provided with a protrusion, the protrusions on the two connecting arms in the first pair of connecting arms are provided at an end away from the first connecting pin, and the two protrusions in the second pair of connecting arms are provided at an end away from the second connecting pin, and the protrusions abut against the connecting plate and the pressing plate.

[0011] In some embodiments, a first waist-shaped hole is formed at the first end of the rotating member, and a second waist-shaped hole is formed at the second end; the material picking assembly also includes a third connecting pin, which is fixedly connected to the traction member and inserted in the second waist-shaped hole, so that the traction member and the rotating member are movably connected; the driving assembly also includes a fourth connecting pin, which is fixedly connected to the pushing block and inserted in the first waist-shaped hole, so that the pushing block and the rotating member are movably connected.

[0012] In some embodiments, the material picking assembly further includes a flexible member, which is sleeved on one end of the clamping finger extending out of the pressure plate, and the flexible member is used for flexibly abutting against the workpiece.

[0013] In some embodiments, the support assembly is further provided with a plurality of position sensors, and the plurality of position sensors are all arranged at positions corresponding to the workpiece when the pressing plate abuts against the workpiece, so as to detect the position of the workpiece.

[0014] In some embodiments, the support assembly further includes a plurality of pads, and the plurality of pads are disposed between the connecting plate and the pressing plate to connect the connecting plate and the pressing plate, thereby forming the accommodating space between the connecting plate and the pressing plate. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 A schematic diagram of the structure of the robotic gripper provided in an embodiment of the present application.

[0016] Figure 2 for Figure 1 Another angle schematic diagram of the structure of the robotic gripper shown.

[0017] Figure 3 for Figure 1 Schematic diagram of the exploded structure of the robotic gripper shown.

[0018] Figure 4 for Figure 3 Schematic diagram of the structure of the pressing plate in the robot gripper shown.

[0019] Figure 5 for Figure 3 The schematic diagram of the structure of the material picking component in the robot gripper is shown.

[0020] Figure 6 for Figure 1 The schematic diagram of the structure of the pressing plate, pushing block and material picking assembly in the robot gripper is shown.

[0021] Figure 7 for Figure 6 The schematic diagram of the structure of the pressing plate, pushing block and material taking assembly from another angle is shown.

[0022] Figure 8 for Figure 6 The structure diagram of the pressing plate, the pushing block and the material taking assembly after the pushing block drives the material taking assembly to move in the opposite direction of the X-axis.

[0023] Fig. 9 for Figure 8 The schematic diagram of the structure of the pressing plate, pushing block and material taking assembly from another angle is shown.

[0024] Main component symbols

[0025] Robotic gripper 100

[0026] Support assembly 10

[0027] Connecting plate 11

[0028] Through slot 111

[0029] Pressing plate 12

[0030] Sliding hole 121

[0031] Chute 122

[0032] The first strip hole 123

[0033] The second strip hole 124

[0034] Accommodation space 13

[0035] Position sensor 14

[0036] Block 15

[0037] Drive assembly 20

[0038] Driving member 21

[0039] Push block 22

[0040] Second connecting pin 23

[0041] Fourth connecting pin 24

[0042] Retrieving assembly 30

[0043] Rotating member 31

[0044] First End 311

[0045] Second end 312

[0046] The first waist hole 313

[0047] Second waist-shaped hole 314

[0048] Traction parts 32

[0049] The first pair of connecting arms 33

[0050] The second pair of connecting arms 34

[0051] Connecting arm 35

[0052] Raised portion 351

[0053] Clamp finger 36

[0054] First connecting pin 37

[0055] The third connecting pin 38

[0056] Flexible parts 39

[0057] Workpiece 200 DETAILED DESCRIPTION

[0058] The embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present application, and cannot be understood as limiting the present application.

[0059] In the description of the present application, it should be understood that the terms indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application. In addition, in the description of the present application, it should be noted that the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined.

[0060] In the description of the present application, it should be noted that, unless otherwise clearly specified and limited, the term "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, an electrical connection, or mutual communication, it can be a direct connection, or it can be indirectly connected through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to the specific circumstances. Some embodiments of the present application will be described in detail below in conjunction with the accompanying drawings.

[0061] The following is a further description of the embodiments of the present application in conjunction with the accompanying drawings. For ease of understanding, the first direction is defined as Figure 1 The X-axis direction is shown.

[0062] See also Figure 1 and Figure 2 The present application embodiment provides a robot gripper 100 for grabbing a workpiece 200 and positioning the workpiece 200 simultaneously. The workpiece 200 may be a middle frame of an electronic product such as a mobile phone or a tablet. The robot gripper 100 includes a support assembly 10, a drive assembly 20, and a material picking assembly 30.

[0063] For details, please refer to Figure 3 and Figure 4 The support assembly 10 includes a press plate 12, and the press plate 12 is provided with a sliding hole 121 extending from the edge to the center. The sliding hole 121 can be arranged in a strip shape, and a plurality of, for example, four, etc., can be arranged, and the extending direction of each strip sliding hole 121 is arranged toward the corner of the corresponding press plate 12.

[0064] The driving assembly 20 includes a driving member 21 and a pushing block 22 connected to the driving member 21, and the driving member 21 drives the pushing block 22 to slide along the X-axis direction. The driving member 21 can be a cylinder, a telescopic motor, etc., and the pushing block 22 can be a special-shaped structure, which is convenient for connection with other structures, and the specific shape is not limited here.

[0065] Please also read Figure 5The material taking assembly 30 includes a rotating member 31, a pulling member 32, a first pair of connecting arms 33, a second pair of connecting arms 34, and a plurality of clamping fingers 36 which are all arranged in the sliding hole 121 and penetrate the sliding hole 121. The rotating member 31 is rotatably connected to the material pressing plate 12. The rotating member 31 includes a first end 311 and a second end 312 which are opposite to each other. The first end 311 is movably connected to the pushing block 22, and the second end 312 is movably connected to the pulling member 32. The first pair of connecting arms 33 is rotatably connected to the pulling member 32, and the second pair of connecting arms 34 is rotatably connected to the pushing block 22, and each connecting arm 35 is correspondingly connected to a clamping finger 36. The rotating member 31, the pulling member 32, and the connecting arms 35 can all be strip-shaped structures, plate-shaped structures, etc. The middle part of the rotating member 31 is rotatably connected to the material pressing plate 12, so that the first end 311 and the second end 312 of the rotating member 31 can rotate around the middle part of the rotating member 31. It can be understood that each connecting arm 35 is provided corresponding to a sliding hole 121, and the clamping finger 36 can be a columnar structure. The clamping finger 36 is connected to the connecting arm 35 and passes through the corresponding sliding hole 121. In this way, when the connecting arm 35 moves, it can drive the corresponding clamping finger 36 to slide in the sliding hole 121.

[0066] When the driving member 21 drives the pushing block 22 to move along the X-axis direction, the pushing block 22 drives the second pair of connecting arms 34 to move along the X-axis direction, and drives the rotating member 31 to rotate at the same time. The rotating member 31 drives the first pair of connecting arms 33 to move in the opposite direction of the X-axis direction through the pulling member 32, so that the first pair of connecting arms 33 and the second pair of connecting arms 34 synchronously drive the multiple clamping fingers 36 to move away from each other to resist the inner side wall of the workpiece 200, or drive the multiple clamping fingers 36 to move closer to each other to move away from the inner side wall of the workpiece 200, so as to position, grasp or drop the workpiece 200. When the driving member 21 drives the pushing block 22 to move in the opposite direction of the X-axis direction, the pushing block 22 drives the second pair of connecting arms 34 to move in the opposite direction of the X-axis direction, and drives the rotating member 31 to rotate at the same time. The rotating member 31 drives the first pair of connecting arms 33 to move in the X-axis direction through the pulling member 32, so that the first pair of connecting arms 33 and the second pair of connecting arms 34 synchronously drive the multiple clamping fingers 36 to move closer to each other to release the workpiece 200.

[0067] It can be understood that the structure inside the workpiece 200 can be square, special-shaped, etc., and the manipulator gripper 100 provided in the present application positions the workpiece 200 by having a plurality of clamping fingers 36 respectively abut against the four corners inside the workpiece 200. Therefore, as long as the sliding holes 121 on the pressing plate 12 correspond to the four corners inside the workpiece 200 respectively, the workpiece 200 can be positioned when the clamping fingers 36 run along the sliding holes 121. Therefore, the position of the sliding hole 121 on the pressing plate 12 can be set according to the structure inside the workpiece 200, which is not limited here. At the same time, the length of the connecting arm 35 is set according to the position of the sliding hole 121, which is not limited here.

[0068] The robot gripper 100 provided in the present application is provided with a support assembly 10, which can be connected to an external device (not shown) such as a robot arm, etc., to move the robot gripper 100. When the robot gripper 100 grabs the workpiece 200, the workpiece 200 can be first pressed by the pressure plate 12 to position the workpiece 200 in the longitudinal direction. When the driving member 21 drives the push block 22 to move along the X-axis direction, the push block 22 drives the second pair of connecting arms 34 to move along the X-axis direction, and at the same time drives the rotating member 31 to rotate. The rotating member 31 drives the first pair of connecting arms 33 to move in the opposite direction of the X-axis direction through the traction member 32, thereby causing the first pair of connecting arms 33 and the second pair of connecting arms 34 to synchronously drive the multiple clamping fingers 36 to move away from each other to resist the four corners inside the workpiece 200, so as to grab the workpiece 200 and position the workpiece 200 when grabbing the workpiece 200. When the driving member 21 drives the push block 22 to move in the opposite direction of the X-axis direction, the multiple clamping fingers 36 can be driven to move away from the workpiece 200, thereby releasing the workpiece 200. The mechanical gripper 100 provided in the present application can position the workpiece 200 in the longitudinal direction through the pressure plate 12, and can position the workpiece 200 in the horizontal plane through the clamping fingers 36, so as to realize positioning of the workpiece 200 while grasping the workpiece 200, thereby reducing the operation process, improving the operation efficiency, and reducing the production cost.

[0069] In some embodiments, see Figure 1 , Figure 2 and Figure 3 The support assembly 10 further includes a connecting plate 11 connected to the pressing plate 12, and an accommodating space 13 is provided between the connecting plate 11 and the pressing plate 12. The accommodating space 13 is used to accommodate the rotating member 31, the traction member 32, the first pair of connecting arms 33 and the second pair of connecting arms 34. The connecting plate 11 is provided with a through slot 111, and the push block 22 is slidably provided in the through slot 111. The driving member 21 is connected to the side of the connecting plate 11 away from the pressing plate 12. It can be understood that the connecting plate 11 and the pressing plate 12 are spaced apart and connected to each other, thereby forming an accommodating space 13 between the connecting plate 11 and the pressing plate 12. The cross-sectional structure of the through slot 111 can be irregular, and the specific structure can be set according to actual needs. The cross-sectional structure of the through slot 111 corresponds to the cross-sectional structure of the pushing block 22 , so that the driving member 21 can drive the pushing block 22 to slide in the through slot 111 along the X-axis direction, and when the pushing block 22 abuts against the side wall of the through slot 111 , the through slot 111 can limit the pushing block 22 .

[0070] In some embodiments, see Figure 3 and Figure 4, a slide groove 122 extending along the X-axis direction is provided on one side of the press plate 12 facing the connecting plate 11, and the traction member 32 is slidably arranged in the slide groove 122, and the slide groove 122 is used to limit the traction member 32. It can be understood that the width of the slide groove 122 is adapted to the width of the traction member 32, and the length of the slide groove 122 is greater than the length of the traction member 32 and is the same as the movement trajectory of the traction member 32. The depth of the slide groove 122 can be the same as the depth of the traction member 32, so that the traction member 32 is hidden in the slide groove 122. In this way, by setting the slide groove 122, the traction member 32 can be limited, and the movement trajectory of the traction member 32 can be restricted, so as to avoid the position of the traction member 32 from being offset when the rotating member 31 drives the traction member 32 to move, thereby causing the position of the connecting arm 35 to drive the clamping finger 36 to be offset.

[0071] In some embodiments, see Figure 3 and Figure 4 The pressing plate 12 is also provided with a first strip hole 123 extending along the X-axis direction, and the first strip hole 123 is arranged at the bottom of the slide slot 122 and communicates with the slide slot 122. The material taking assembly 30 also includes a first connecting pin 37, through which the traction member 32 is rotatably connected to the first pair of connecting arms 33, one end of the first connecting pin 37 extends out of the traction member 32 and is slidably arranged in the first strip hole 123, and then the first connecting pin 37 is limited by the first strip hole 123. The first connecting pin 37 can be a columnar structure, and the first connecting pin 37 and the traction member 32 can be connected in a fixed connection manner, and the two connecting arms 35 in the first pair of connecting arms 33 are connected to the first connecting pin 37 in a rotatable manner, such as the two connecting arms 35 are both sleeved on the first connecting pin 37. It can be understood that when the traction member 32 moves, the traction member 32 drives the two connecting arms 35 in the first pair of connecting arms 33 to move, and the two connecting arms 35 are in different positions. Therefore, when the traction member 32 drives the first pair of connecting arms 33 to move, the traction member 32 is subjected to forces in multiple directions, which can easily cause the traction member 32 to shift. By inserting the first connecting pin 37 into the first strip hole 123, the movement trajectory of the first connecting pin 37 can be restricted, and then the connection position of the traction member 32 and the first pair of connecting arms 33 can be further limited, thereby improving the stability of the traction member 32 during movement.

[0072] In some embodiments, see Figure 3 and Figure 4, a second strip hole 124 extending along the X-axis direction is also provided on the pressing plate 12. The driving assembly 20 also includes a second connecting pin 23, which is fixedly connected to the pushing block 22, and the second pair of connecting arms 34 is rotatably connected to the pushing block 22 through the second connecting pin 23. One end of the second connecting pin 23 extends out of the second pair of connecting arms 34 and is slidably disposed in the second strip hole 124, thereby limiting the second connecting pin 23 through the second strip hole 124. The second connecting pin 23 can be a columnar structure, and the two connecting arms 35 in the second pair of connecting arms 34 are connected to the second connecting pin 23 by a rotatable connection, such as both connecting arms 35 are sleeved on the second connecting pin 23. By inserting the second connecting pin 23 into the second strip hole 124, the movement trajectory of the second connecting pin 23 can be limited, thereby improving the stability of the second pair of connecting arms 34 when the pushing block 22 drives the second pair of connecting arms 34 to move.

[0073] In some embodiments, see Figure 1 , Figure 3 and Figure 5 , each connecting arm 35 is provided with a protrusion 351, the protrusions 351 on the two connecting arms 35 in the first pair of connecting arms 33 are both provided at one end away from the first connecting pin 37, the two protrusions 351 in the second pair of connecting arms 34 are both provided at one end away from the second connecting pin 23, and the protrusions 351 abut against the connecting plate 11 and the pressing plate 12. By providing the protrusions 351, the ends of the connecting arms 35 with the protrusions 351 can abut against the connecting plate 11 and the pressing plate 12 respectively, so that the longitudinal position of the connecting arm 35 can be limited by the connecting plate 11 and the pressing plate 12, thereby improving the stability of the connecting arm 35 during operation. It can be understood that the first pair of connecting arms 33 are in a stacked state in the longitudinal direction when connected to the first connecting pin 37, so the protrusion 351 on the connecting arm 35 close to the connecting plate 11 in the first pair of connecting arms 33 is arranged toward the pressing plate 12, and the protrusion 351 on the connecting arm 35 close to the pressing plate 12 is arranged toward the connecting plate 11. The second pair of connecting arms 34 are in a stacked state in the longitudinal direction when connected to the second connecting pin 23, so the protrusion 351 on the connecting arm 35 close to the connecting plate 11 in the second pair of connecting arms 34 is arranged toward the pressing plate 12, and the protrusion 351 on the connecting arm 35 close to the pressing plate 12 is arranged toward the connecting plate 11.

[0074] In some embodiments, see Figure 3 and Figure 5, a first waist-shaped hole 313 is provided at the first end 311 of the rotating member 31, and a second waist-shaped hole 314 is provided at the second end 312. The material taking assembly 30 also includes a third connecting pin 38, which is fixedly connected to the traction member 32 and inserted in the second waist-shaped hole 314, so that the traction member 32 is movably connected to the rotating member 31. The driving assembly 20 also includes a fourth connecting pin 24, which is fixedly connected to the pushing block 22 and inserted in the first waist-shaped hole 313, so that the pushing block 22 is movably connected to the rotating member 31. The third connecting pin 38 and the fourth connecting pin 24 can both be cylindrical structures. It can be understood that the pushing block 22 and the traction member 32 both move in a straight line, and the first end 311 and the second end 312 of the rotating member 31 both move in an arc when the rotating member 31 rotates. By providing the first waist-shaped hole 313 at the first end 311, when the push block 22 moves along a straight line, the third connecting pin 38 cooperates with the first waist-shaped hole 313 to guide the first end 311 to move along an arc, and then move to the rotating member 31 to rotate. By providing the second waist-shaped hole 314 at the second end 312, when the second end 312 moves along an arc, the second waist-shaped hole 314 cooperates with the fourth connecting pin 24 to guide the traction member 32 to move along a straight line.

[0075] In one embodiment, see Figure 2 , Figure 3 and Figure 4 , the angle between the extension direction of each sliding hole 121 and the extension direction of the two side edges of the adjacent pressure plate 12 is an acute angle. In this way, it is convenient for the connecting arm 35 to drive the clamping finger 36 to move in the sliding hole 121. The angle between the extension direction of each sliding hole 121 and the extension direction of the two side edges of the adjacent pressure plate 12 is preferably in the range of 30°-60°. In one embodiment, the angle between the extension direction of the sliding hole 121 and the extension direction of the two side edges of the adjacent pressure plate 12 is 45°. In this way, it is convenient for the connecting arm 35 to drive the clamping finger 36 to reciprocate in the sliding hole 121.

[0076] In some embodiments, see Figure 3 The material taking assembly 30 further includes a flexible member 39, which is sleeved on one end of the clamping finger 36 extending out of the pressing plate 12, and is used to flexibly abut the workpiece 200. The flexible member 39 can be made of materials such as urethane, and can be an annular structure, sleeved on the clamping finger 36. By providing the flexible member 39, the clamping finger 36 can be prevented from rigidly contacting the workpiece 200, which causes damage to the surface of the workpiece 200.

[0077] In some embodiments, see Figure 1 and Figure 3The support assembly 10 is also provided with a plurality of position sensors 14, which are all provided at positions corresponding to the workpiece 200 when the pressing plate 12 abuts against the workpiece 200, so as to detect the position of the workpiece 200. The position sensor 14 may be a proximity switch, and four, six, eight, etc., position sensors 14 may be provided. By providing the position sensors 14, the position information of the workpiece 200 may be identified when the pressing plate 12 presses the workpiece 200, so as to determine whether the workpiece 200 is flat on the horizontal plane, so as to facilitate positioning of the workpiece 200.

[0078] In some embodiments, see Figure 1 The support assembly 10 further includes a plurality of pads 15, which are disposed between the connecting plate 11 and the pressing plate 12 to connect the connecting plate 11 and the pressing plate 12, thereby forming an accommodation space 13 between the connecting plate 11 and the pressing plate 12. The pads 15 may be a strip-shaped structure, and the number may be two, four, etc. By providing the pads 15, the connecting plate 11 and the pressing plate 12 may be connected to form the accommodation space 13 between the connecting plate 11 and the pressing plate 12, while improving the connection stability between the connecting plate 11 and the pressing plate 12.

[0079] The working process of the robot gripper 100 provided in the embodiment of the present application is roughly as follows:

[0080] First, see Figure 1 , the robot gripper 100 is moved to a position corresponding to the workpiece 200 by an external device, and then the robot gripper 100 is driven to move toward the workpiece 200 until the pressing plate 12 abuts against the workpiece 200. The pressing plate 12 presses the workpiece 200 to keep the workpiece 200 flat on the horizontal plane. At this time, the position sensor 14 detects the position of the workpiece 200. When the workpiece 200 is pressed flat by the pressing plate 12, please refer to Figure 6 and Figure 7 The driving member 21 drives the push block 22 to move along the X-axis direction, and the push block 22 drives the second pair of connecting arms 34 to move along the X-axis direction, and at the same time drives the rotating member 31 to rotate. The rotating member 31 drives the first pair of connecting arms 33 to move in the opposite direction of the X-axis direction through the traction member 32, so that the two pairs of connecting arms 35 synchronously drive the multiple clamping fingers 36 to move away from each other to resist the four corners inside the workpiece 200, so as to grab the workpiece 200 and position the workpiece 200 at the same time. Then, the workpiece 200 is moved to the position to be placed through the external device. After the workpiece 200 is placed, please refer to Figure 8 and Fig. 9The driving member 21 drives the pushing block 22 to move in the opposite direction of the X-axis direction, and the pushing block 22 drives the second pair of connecting arms 34 to move in the opposite direction of the X-axis direction, and at the same time drives the rotating member 31 to rotate. The rotating member 31 drives the first pair of connecting arms 33 to move in the X-axis direction through the traction member 32, and then the two pairs of connecting arms 35 synchronously drive the multiple clamping fingers 36 to approach each other to release the workpiece 200.

[0081] It is obvious to those skilled in the art that the present application is not limited to the details of the exemplary embodiments described above, and that the present application can be implemented in other specific forms without departing from the spirit or essential features of the present application. Therefore, no matter from which point of view, the embodiments should be regarded as exemplary and non-restrictive, and the scope of the present application is defined by the appended claims rather than the above description, and it is intended that all changes falling within the meaning and scope of the equivalent elements of the claims are included in the present application.

[0082] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present application and are not intended to limit it. Although the present application has been described in detail with reference to the preferred embodiments, a person of ordinary skill in the art should understand that the technical solution of the present application may be modified or replaced by equivalents without departing from the spirit and scope of the technical solution of the present application.

Claims

1. A mechanical gripper, characterized in that: include: The support assembly includes a pressing plate, wherein the pressing plate is provided with a sliding hole extending from an edge to a center; A driving assembly, comprising a driving member and a pushing block connected to the driving member, wherein the driving member drives the pushing block to slide along a first direction; and The material picking assembly comprises a rotating member, a pulling member, a first pair of connecting arms, a second pair of connecting arms, and a plurality of clamping fingers which are all arranged in the sliding hole and pass through the sliding hole, the rotating member is rotatably connected to the material holding plate, the rotating member comprises a first end and a second end opposite to each other, the first end is movably connected to the pushing block, the second end is movably connected to the pulling member, the first pair of connecting arms is rotatably connected to the pulling member, the second pair of connecting arms is rotatably connected to the pushing block, and each of the connecting arms is correspondingly connected to one of the clamping fingers; wherein, When the driving member drives the pushing block to move along the first direction, the pushing block drives the second pair of connecting arms to move along the first direction, and drives the rotating member to rotate at the same time. The rotating member drives the first pair of connecting arms to move in the opposite direction of the first direction through the traction member, so that the first pair of connecting arms and the second pair of connecting arms synchronously drive the multiple clamping fingers to move away from each other to resist the inner side wall of the workpiece, or drive the multiple clamping fingers to move towards each other to move away from the inner side wall of the workpiece, so as to position, grasp or detach from the workpiece.

2. The mechanical gripper according to claim 1, characterized in that: The support assembly also includes a connecting plate connected to the pressure plate, and an accommodating space is arranged between the connecting plate and the pressure plate, and the accommodating space is used to accommodate the rotating member, the traction member, the first pair of connecting arms and the second pair of connecting arms. The connecting plate is provided with a through groove, and the pushing block is slidably arranged in the through groove. The driving member is connected to the side of the connecting plate away from the pressure plate.

3. The mechanical gripper according to claim 2, characterized in that: A slide groove extending along the first direction is provided on one side of the pressing plate facing the connecting plate, and the traction member is slidably arranged in the slide groove, and the slide groove is used to limit the traction member.

4. The mechanical gripper according to claim 3, characterized in that: The pressing plate is also provided with a first strip hole extending along the first direction, the first strip hole is arranged at the bottom of the slide groove and is connected to the slide groove; The material picking assembly also includes a first connecting pin, and the traction member is rotatably connected to the first pair of connecting arms through the first connecting pin. One end of the first connecting pin extends out of the traction member and is slidably disposed in the first strip hole, thereby limiting the first connecting pin through the first strip hole.

5. The mechanical gripper according to claim 4, characterized in that: The pressing plate is also provided with a second strip-shaped hole extending along the first direction; The driving assembly also includes a second connecting pin, which is fixedly connected to the pushing block. The second pair of connecting arms is rotatably connected to the pushing block through the second connecting pin. One end of the second connecting pin extends out of the second pair of connecting arms and is slidably disposed in the second bar hole, thereby limiting the second connecting pin through the second bar hole.

6. The mechanical gripper according to claim 5, characterized in that: A protrusion is provided on each of the connecting arms, the protrusions on the two connecting arms in the first pair of connecting arms are both provided at an end away from the first connecting pin, and the two protrusions in the second pair of connecting arms are both provided at an end away from the second connecting pin, and the protrusions abut against the connecting plate and the pressing plate.

7. The robot gripper according to claim 1, characterized in that: The first end of the rotating member is provided with a first waist-shaped hole, and the second end is provided with a second waist-shaped hole; The material taking assembly further comprises a third connecting pin, which is fixedly connected to the traction member and inserted into the second waist-shaped hole so that the traction member is movably connected to the rotating member; The driving assembly further includes a fourth connecting pin, which is fixedly connected to the pushing block and inserted into the first waist-shaped hole so that the pushing block is movably connected to the rotating member.

8. The mechanical gripper according to claim 1, characterized in that: The material picking assembly also includes a flexible member, which is sleeved on one end of the clamping finger extending out of the pressure plate, and is used for flexibly abutting against the workpiece.

9. The mechanical gripper according to claim 1, characterized in that: The support assembly is further provided with a plurality of position sensors, and the plurality of position sensors are all arranged at positions corresponding to the workpiece when the pressing plate abuts against the workpiece, so as to detect the position of the workpiece.

10. The mechanical gripper according to claim 2, characterized in that: The support assembly further includes a plurality of pads, and the plurality of pads are disposed between the connecting plate and the pressing plate to connect the connecting plate and the pressing plate, thereby forming the accommodating space between the connecting plate and the pressing plate.

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