Flexible clamping jaw for grabbing small objects

Abstract

The flexible clamping jaw used for grabbing the small objects is good in compatibility and position accuracy, capable of meeting the requirements of different working postures, capable of effectively clamping products and capable of preventing the products from being damaged. The device comprises a mounting plate, a dip angle adjusting platform is arranged on the mounting plate, a DD motor is arranged at the action end of the dip angle adjusting platform, an electric cylinder is arranged at the action end of the DD motor, an auxiliary chuck is arranged at the action end of the electric cylinder, a main chuck is arranged at the fixed end of the electric cylinder, and a pressure sensor is arranged at the mounting end of the electric cylinder. The main clamping head and the auxiliary clamping head are arranged on the left side and the right side, under driving of the electric cylinder, the main clamping head is matched with the auxiliary clamping head in a clamping mode, and the electric cylinder is matched with the pressure sensor in a jacking mode. The clamp is applied to the technical field of clamps.

Description

Technical Field

[0001] The utility model is applied to the technical field of clamps, and particularly relates to a flexible clamping claw for grasping small objects. Background Art

[0002] At present, most of the automatic grippers on the market are pneumatic fingers driven by cylinders, electric slide fingers and manipulators. Among them, the control accuracy of the gripping force of pneumatic fingers is poor, and it is difficult to ensure the position accuracy; the position accuracy of electric slide fingers is greater than ±0.04mm, which is difficult to meet the position accuracy requirements of small objects; the manipulator has the disadvantage of occupying a large space and is not conducive to the performance of activities. The existing gripper modules have the disadvantages of poor compatibility, low position accuracy, unreliable gripping, and non-adjustable posture. For example, the Chinese patent with publication number CN211924619U discloses a pneumatic finger cylinder. When the piston rod drives the bracket to move downward, the two ends of the first arm are pulled by the bracket and the first finger respectively, and the two ends of the second arm are pulled by the bracket and the second finger respectively. When the piston rod moves in the vertical direction, the first finger and the second finger are open at an angle. Both fingers are action ends, and the impact force is large, which is prone to excessive gripping, resulting in damage to the product. Therefore, it is necessary to provide a flexible clamp for grasping small objects, which has good compatibility, good positioning accuracy, can meet different working posture requirements, can effectively clamp the product and prevent the product from being damaged. Utility Model Content

[0003] The technical problem to be solved by the utility model is to overcome the deficiencies of the prior art and provide a flexible clamp for grasping small objects which has good compatibility and good positioning accuracy, can meet different working posture requirements, can effectively clamp products and prevent damage to the products.

[0004] The technical solution adopted by the utility model is: the utility model includes a mounting plate, the mounting plate is provided with an inclination adjustment platform, the action end of the inclination adjustment platform is provided with a DD motor, the action end of the DD motor is provided with an electric cylinder, the action end of the electric cylinder is provided with a secondary chuck, the fixed end of the electric cylinder is provided with a main chuck, the mounting end of the electric cylinder is provided with a pressure sensor, the main chuck and the secondary chuck are arranged on the left and right, under the drive of the electric cylinder, the main chuck and the secondary chuck are clamped and matched, and the electric cylinder and the pressure sensor are pressed and matched.

[0005] It can be seen from the above scheme that the auxiliary chuck is driven by the electric cylinder to approach the main chuck, and the pressure sensor can detect the clamping force of the auxiliary chuck and the main chuck, which can not only effectively clamp the product but also prevent the product from being damaged, thereby improving the reliability of clamping, and can accurately and flexibly clamp small objects of 0.01mm-5mm. Even when the space occupancy is small, the product can be accurately grasped. The inclination adjustment platform and the DD motor can continuously fine-tune the compensation error position to improve the final use accuracy, which can reach ±0.005mm. The inclination adjustment platform and the DD motor can adjust the product posture at will to meet the different working posture requirements of the product; the clamping claw has a force control effect, which can well control the clamping force and increase reliability and safety.

[0006] A preferred solution is that the flexible clamp for grasping small objects also includes an industrial camera, the mounting plate is provided with a first connecting block, the industrial camera is arranged on the first connecting block, the lens of the industrial camera is arranged downward, and the industrial camera and the inclination adjustment platform are arranged on the left and right.

[0007] A preferred solution is that the flexible gripper for grasping small objects further comprises a height sensor, wherein the height sensor is arranged on the first connecting block, and the height sensor is arranged on one side of the industrial camera.

[0008] A preferred solution is that a second connecting block placed horizontally is arranged along the vertically placed mounting plate, the length direction of the mounting plate is the X direction, the width direction of the mounting plate is the Y direction, and the height direction of the mounting plate is the Z direction, the inclination adjustment platform includes a first driving mechanism along the Y direction and a second driving mechanism along the X direction, the second driving mechanism is arranged at the lower end of the first driving mechanism, the second driving mechanism is arranged at the movable end of the first driving mechanism, the first driving mechanism and the second driving mechanism both include a driving motor, a mounting block is arranged at the bottom of the second connecting block, the driving motor is arranged on the mounting block along the Y direction, the output shaft of the driving motor is transmission-connected with a lead screw, the lead screw thread is provided with a transmission block, parallel guide rails are arranged on both sides of the lead screw, the guide rails are arcuate structures, a slider is arranged at the lower end of the mounting block, the slider is slidingly arranged with the guide rail, and the slider is connected to the transmission block.

[0009] A preferred solution is that the DD motor is arranged at the lower end of the second driving mechanism.

[0010] A preferred solution is that the flexible clamp for grasping small objects also includes a T-shaped block and a third connecting block, the T-shaped block is arranged at the lower end of the DD motor, the T-shaped block is provided with a guide block, the top of the third connecting block is provided with a first linear guide rail sliding along the X direction, the first linear guide rail is slidably matched with the guide block, the electric cylinder is arranged at the bottom end of the third connecting block along the X direction, the action end of the electric cylinder is provided with a fourth connecting block, the T-shaped block is provided with a second linear guide rail sliding along the X direction, the fourth connecting block is slidably matched with the second linear guide rail, the auxiliary chuck is arranged at the bottom end of the fourth connecting block, and the main chuck is arranged at the bottom end of the T-shaped block. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 It is a three-dimensional structural diagram of the utility model;

[0012] Figure 2 is a three-dimensional structural diagram of the tilt angle adjustment platform;

[0013] Figure 3 It is a partial three-dimensional structural diagram of the utility model. DETAILED DESCRIPTION

[0014] like Figures 1 to 3 As shown, in this embodiment, the utility model includes a mounting plate 1, the mounting plate 1 is provided with a tilt adjustment platform 2, the actuating end of the tilt adjustment platform 2 is provided with a DD motor 3, the actuating end of the DD motor 3 is provided with an electric cylinder 4, the actuating end of the electric cylinder 4 is provided with a secondary chuck 5, the fixed end of the electric cylinder 4 is provided with a main chuck 6, the mounting end of the electric cylinder 4 is provided with a pressure sensor 7, the main chuck 6 and the secondary chuck 5 are arranged on the left and right, and under the drive of the electric cylinder 4, the main chuck 6 and the secondary chuck 5 are clamped and matched, and the electric cylinder 4 and the pressure sensor 7 are pressed and matched.

[0015] The mounting plate 1 is connected to the action end of the external manipulator. When the target product needs to be clamped, the mounting plate 1 drives the mounting plate 1 to move above the product, the inclination adjustment platform 2 and the DD motor 3 return to zero to the ready state, and the electric cylinder 4 controls the auxiliary chuck 5 to move and clamp. The auxiliary chuck 5 and the main chuck 6 clamp the target product. During the clamping process, the clamping force is controlled by the pressure sensor 7, which can effectively clamp the product and prevent damage to the product. Finally, the external manipulator places the product in the specified position.

[0016] like Figure 1As shown, in this embodiment, the flexible gripper for grasping small objects further includes an industrial camera 8, the mounting plate 1 is provided with a first connecting block 9, the industrial camera 8 is arranged on the first connecting block 9, the lens of the industrial camera 8 is arranged downward, and the industrial camera 8 and the inclination adjustment platform 2 are arranged left and right. The industrial camera 8 can identify the XY two-axis position of the target to ensure the basic accuracy requirements.

[0017] like Figure 1 As shown, in this embodiment, the flexible gripper for grasping small objects further includes a height sensor 10, which is arranged on the first connecting block 9 and is arranged on one side of the industrial camera 8. The height sensor 10 can identify the Z-axis position of the target to ensure basic accuracy requirements.

[0018] like Figure 2 As shown, in this embodiment, a second connecting block 11 placed in a horizontal direction is arranged along the vertically placed mounting plate 1, the length direction of the mounting plate 1 is the X direction, the width direction of the mounting plate 1 is the Y direction, and the height direction of the mounting plate 1 is the Z direction. The tilt adjustment platform 2 includes a first driving mechanism 12 along the Y direction and a second driving mechanism 13 along the X direction. The second driving mechanism 13 is arranged at the lower end of the first driving mechanism 12, and the second driving mechanism 13 is arranged at the active end of the first driving mechanism 12. The first driving mechanism 12 The first and second driving mechanisms 13 each include a driving motor 14. A mounting block 15 is provided at the bottom of the second connecting block 11. The driving motor 14 is arranged on the mounting block 15 along the Y direction. The output shaft of the driving motor 14 is transmission-connected with a screw rod 16. The screw rod 16 is threadedly provided with a transmission block 17. Parallel guide rails 18 are provided on both sides of the screw rod 16. The guide rails 18 are of an arc surface structure. A slider 19 is provided at the lower end of the mounting block 15. The slider 19 is slidably arranged with the guide rail 18, and the slider 19 is connected to the transmission block 17.

[0019] The driving motor 14 drives the lead screw 16 to rotate, drives the transmission block 17 to move in a straight line, and drives the slider 19 to slide along the guide rail 18. Since the guide rail 18 is a curved surface structure, the slider 19 slides along the curved surface. The first driving mechanism 12 drives along the Y direction, and the second driving mechanism 13 drives along the X direction, which is beneficial for the inclination adjustment platform 2 to continuously fine-tune the compensation error position and improve the final use accuracy.

[0020] like Figures 1 to 3As shown, in this embodiment, the DD motor 3 is arranged at the lower end of the second driving mechanism 13. The DD motor 3 drives the electric cylinder 4 to rotate, and can continuously fine-tune the compensation error position to improve the final use accuracy.

[0021] like Figures 1 to 3 As shown, in this embodiment, the flexible clamp for grasping small objects further includes a T-shaped block 20 and a third connecting block 21, wherein the T-shaped block 20 is arranged at the lower end of the DD motor 3, the T-shaped block 20 is provided with a guide block 22, the top end of the third connecting block 21 is provided with a first linear guide rail 23 sliding along the X direction, the first linear guide rail 23 and the guide block 22 are slidably matched, the electric cylinder 4 is arranged at the bottom end of the third connecting block 21 along the X direction, the action end of the electric cylinder 4 is provided with a fourth connecting block 24, the T-shaped block 20 is provided with a second linear guide rail 25 sliding along the X direction, the fourth connecting block 24 and the second linear guide rail 25 are slidably matched, the auxiliary chuck 5 is arranged at the bottom end of the fourth connecting block 24, and the main chuck 6 is arranged at the bottom end of the T-shaped block 20. The first linear guide rail 23 provides guide support for the movement of the electric cylinder 4, and the second linear guide rail 25 provides guide support for the movement of the auxiliary chuck 5.

Claims

1. A flexible gripper for grasping small objects, comprising a mounting plate (1), characterized in that: The mounting plate (1) is provided with an inclination adjustment platform (2), the action end of the inclination adjustment platform (2) is provided with a DD motor (3), the action end of the DD motor (3) is provided with an electric cylinder (4), the action end of the electric cylinder (4) is provided with an auxiliary chuck (5), the fixed end of the electric cylinder (4) is provided with a main chuck (6), the mounting end of the electric cylinder (4) is provided with a pressure sensor (7), the main chuck (6) and the auxiliary chuck (5) are arranged on the left and right, and under the drive of the electric cylinder (4), the main chuck (6) and the auxiliary chuck (5) are clamped and matched, and the electric cylinder (4) and the pressure sensor (7) are pressed and matched.

2. A flexible gripper for grasping small objects according to claim 1, characterized in that: The flexible gripper for grasping small objects further comprises an industrial camera (8), the mounting plate (1) is provided with a first connecting block (9), the industrial camera (8) is arranged on the first connecting block (9), the lens of the industrial camera (8) is arranged facing downward, and the industrial camera (8) and the inclination adjustment platform (2) are arranged on the left and right.

3. A flexible gripper for grasping small objects according to claim 2, characterized in that: The flexible gripper for grasping small objects further comprises a height sensor (10), wherein the height sensor (10) is arranged on the first connecting block (9), and the height sensor (10) is arranged on one side of the industrial camera (8).

4. A flexible gripper for grasping small objects according to claim 1, characterized in that: A second connecting block (11) arranged in a transverse direction is arranged along the vertically placed mounting plate (1), the length direction of the mounting plate (1) is taken as the X direction, the width direction of the mounting plate (1) is taken as the Y direction, and the height direction of the mounting plate (1) is taken as the Z direction. The tilt adjustment platform (2) comprises a first driving mechanism (12) in the Y direction and a second driving mechanism (13) in the X direction. The second driving mechanism (13) is arranged at the lower end of the first driving mechanism (12). The second driving mechanism (13) is arranged at the active end of the first driving mechanism (12). The first driving mechanism (12) and the second driving mechanism (13) are arranged at the movable end of the first driving mechanism (12). 3) both comprise a driving motor (14); a mounting block (15) is arranged at the bottom of the second connecting block (11); the driving motor (14) is arranged on the mounting block (15) along the Y direction; the output shaft of the driving motor (14) is drivingly connected to a lead screw (16); the lead screw (16) is threadedly provided with a transmission block (17); guide rails (18) are arranged in parallel on both sides of the lead screw (16); the guide rails (18) are of an arc surface structure; a slider (19) is arranged at the lower end of the mounting block (15); the slider (19) is slidably arranged with the guide rail (18); and the slider (19) is connected to the transmission block (17).

5. A flexible gripper for grasping small objects according to claim 4, characterized in that: The DD motor (3) is arranged at the lower end of the second driving mechanism (13).

6. A flexible gripper for grasping small objects according to claim 5, characterized in that: The flexible clamp for grasping small objects further comprises a T-shaped block (20) and a third connecting block (21), wherein the T-shaped block (20) is arranged at the lower end of the DD motor (3), the T-shaped block (20) is provided with a guide block (22), the top end of the third connecting block (21) is provided with a first linear guide rail (23) sliding along the X direction, the first linear guide rail (23) and the guide block (22) are slidably matched, the electric cylinder (4) is arranged at the bottom end of the third connecting block (21) along the X direction, the action end of the electric cylinder (4) is provided with a fourth connecting block (24), the T-shaped block (20) is provided with a second linear guide rail (25) sliding along the X direction, the fourth connecting block (24) and the second linear guide rail (25) are slidably matched, the auxiliary clamp (5) is arranged at the bottom end of the fourth connecting block (24), and the main clamp (6) is arranged at the bottom end of the T-shaped block (20).

Images