Multifunctional circle drawing type clamping jaw mechanism

Abstract

The utility model provides a multifunctional circle drawing type clamping jaw mechanism. The multifunctional circle drawing type clamping jaw mechanism comprises a sensor assembly, a clamping jaw assembly, a driving source and a friction assembly. The clamping jaw assembly is composed of a clamping jaw driving cylinder and a plurality of independent clamping jaws, and the output end of the driving source is connected with the clamping jaw driving cylinder to drive the independent clamping jaws to do inward contraction or outward expansion motion. The sensor assembly is used for collecting position information of a workpiece and clamping force information. The friction assembly is composed of a plurality of anti-skid gaskets, and the anti-skid gaskets are arranged on the inner edge and the outer wall of each independent clamping jaw respectively. By means of the bidirectional clamping jaw mechanical movement design, inward-retracting type clamping can be achieved, and outward-expanding type clamping can also be achieved; the sensor is arranged in the hole in the clamping jaw, positioning and clamping of the workpiece are achieved at the same time, the device can actively adjust the clamping force according to the friction coefficient of the workpiece, and self-adaption of clamping is achieved.

Description

Technical Field

[0001] The present application relates to the field of mechanical structure design, and in particular, to a multifunctional circular gripper mechanism. Background Art

[0002] A robot gripping structure refers to a device or mechanism used to grip, grasp and manipulate objects in a robot system. It is usually composed of a manipulator, a gripper, a finger claw or other similar devices. The purpose of the robot gripping structure is to provide a stable and reliable gripping capability so that the robot can accurately manipulate and handle various objects. These gripping structures are usually made of durable materials and easy to operate and adjust parts. They can achieve gripping actions through electric, pneumatic or hydraulic mechanical systems. Robot gripping structures can be widely used in the industrial field for automated production lines, assembly, handling, packaging and other tasks.

[0003] The existing Chinese patent with publication number CN220660863U discloses a robot clamping mechanism, including a clamping claw, a fixing frame and a robot body, wherein a fixing frame is arranged at the top of the robot body, a hydraulic cylinder is arranged inside the fixing frame, a connecting block is arranged at the bottom of the hydraulic cylinder, connecting rods are arranged on both sides of the connecting block, and front and rear ends are arranged, and clamping claws are arranged on both sides of the bottom of the fixing frame, and front and rear ends are arranged, and an arc-shaped plug rod is passed through the bottom end of the clamping claw, and a plurality of fixing holes are evenly opened inside the arc-shaped plug rod. The existing technology can drive the connecting arm to rotate by pushing the movement of the arc-shaped plug rod, and can drive the bottom end of the clamping plate to move by the rotation of the connecting arm, which can be used to adjust the clamping distance between each clamping plate, thereby meeting the clamping of objects of different sizes and improving the practicality of the structure.

[0004] The disadvantages of this existing technology are that it has a single usage scenario, poor equipment versatility, limitations in handling objects of different shapes and materials, and often requires customization of specific grippers to match specific tasks; at the same time, it is easy to cause surface damage to objects when grasping fragile or soft objects. Summary of the invention

[0005] In view of the defects in the prior art, the purpose of this application is to provide a multifunctional circular clamping claw mechanism and a manufacturing method thereof, aiming to achieve multi-angle dynamic lighting effects through arc patterns on thin-walled parts and laser-engraved leather patterns, thereby overcoming the shortcomings of the prior art.

[0006] A multifunctional circular gripper mechanism provided in the present application includes: a sensor component, a gripper component, a driving source, and a friction component;

[0007] The clamping jaw assembly includes a clamping jaw driving cylinder and a separate clamping jaw, wherein at least three separate clamping jaws are arranged on the clamping jaw driving cylinder, and the driving source is connected to the clamping jaw driving cylinder to drive the separate clamping jaw to perform inward or outward movement;

[0008] The sensor assembly is configured on the clamp assembly to collect position information or force information of a single clamp;

[0009] The friction assembly includes an anti-skid pad, and the inner edge and outer wall of each of the individual clamping jaws are respectively provided with an anti-skid pad.

[0010] Preferably, it also includes a clamping mechanism mounting plate, the clamping mechanism assembly is mounted on the clamping mechanism mounting plate, and the clamping mechanism mounting plate is connected to the robot mechanical arm.

[0011] Preferably, a flange mounting interface is provided on the clamping mechanism mounting plate, and the clamping mechanism mounting plate is connected to the robot arm via the flange mounting interface.

[0012] Preferably, the sensor assembly comprises: a positioning sensor and a pressure sensor;

[0013] The positioning sensor is installed in a separate clamping jaw;

[0014] The pressure sensor is installed on the clamping jaw driving cylinder.

[0015] Preferably, the anti-slip pad is provided with geometric patterns and / or grooves, and the anti-slip pad is connected to the separate clamping jaw via a geometric contoured groove provided on the separate clamping jaw.

[0016] Preferably, the driving source includes a power source, an air source or a hydraulic oil system.

[0017] Preferably, two groups of clamping jaw assemblies are installed on the clamping jaw mechanism mounting plate, and the two groups of clamping jaw assemblies are symmetrically arranged on the mounting plate with the flange connection interface as the center.

[0018] Preferably, a wiring hole is provided on the clamping mechanism mounting plate.

[0019] Preferably, a clamping slot is provided at the output end of the clamping jaw driving cylinder, and the individual clamping jaw is clamped in the clamping slot.

[0020] Preferably, the separate clamping jaw is a three-dimensional geometric structure, the separate clamping jaw has an opening, and the positioning sensor and the pressure sensor are respectively installed inside the opening of the separate clamping jaw.

[0021] Compared with the prior art, this application has the following beneficial effects:

[0022] 1. This application uses a bidirectional clamping mechanical motion design to achieve both inward-retracting clamping and outward-expanding clamping, with rich application scenarios and strong equipment versatility.

[0023] 2. This application adopts a simple structural design to set the sensor in the opening on the clamping jaw, thereby improving the space utilization of the equipment and realizing the positioning and clamping of the workpiece; at the same time, the equipment can actively adjust the clamping force according to the friction coefficient of the workpiece to achieve adaptive clamping. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Other features, objects and advantages of the present application will become more apparent by reading the detailed description of non-limiting embodiments with reference to the following drawings:

[0025] Figure 1 This is a schematic diagram of the structure of the multifunctional circular gripper mechanism and the robot connection mainly embodied in this application;

[0026] Figure 2 This is a schematic diagram of the overall structure of the multifunctional circular clamping mechanism mainly embodied in this application;

[0027] Figure 3 This application mainly embodies a schematic diagram of a single clamping jaw structure of a multifunctional circular clamping jaw mechanism;

[0028] Figure 4 This is a schematic diagram of the anti-slip pad of the clamping jaws mainly embodied in this application.

[0029] As shown in the figure: 1. Gripper mechanism mounting plate; 2. Through hole; 3. Positioning sensor wiring path; 4. Pressure sensor wiring path; 5. Gripper drive cylinder; 6. Separate gripper; 7. Anti-slip gasket; 8. Wiring hole; 9. Flange mounting interface; 10. Positioning sensor; 11. Pressure sensor. DETAILED DESCRIPTION

[0030] The present application is described in detail below in conjunction with specific embodiments. The following embodiments will help those skilled in the art to further understand the present application, but do not limit the present application in any form. It should be noted that, for those of ordinary skill in the art, several changes and improvements can also be made without departing from the concept of the present application. These all belong to the protection scope of the present application.

[0031] The multifunctional circular clamp mechanism provided by the present application includes: a sensor component, a clamp component, a driving source, and a friction component; the clamp component is composed of a clamp driving cylinder 5 and a plurality of individual clamps 6, and the output end of the driving source is connected to the clamp driving cylinder 5, and the clamp driving cylinder 5 drives the individual clamps 6 to perform inward or outward movement at the same time; the sensor component is used to collect the position information and force information of the workpiece; the friction component is composed of an anti-slip gasket 7, and the inner edge and outer wall of each individual clamp 6 are respectively provided with an anti-slip gasket 7.

[0032] The multifunctional circular clamp mechanism provided by the present application also includes a clamp mechanism mounting plate 1, on which the clamp assembly is mounted, and the clamp mechanism mounting plate 1 is connected to the robot mechanical arm. A flange mounting interface 9 is provided on the clamp mechanism mounting plate 1, and the clamp mechanism mounting plate 1 is connected to the robot mechanical arm through the flange mounting interface 9. The sensor assembly includes: a positioning sensor 10 and a pressure sensor 11; the positioning sensor 10 is installed in the individual clamp 6; the pressure sensor 11 is installed on the clamp driving cylinder 5. A geometric pattern groove is provided on the anti-slip gasket 7, and the anti-slip gasket 7 is connected to the individual clamp 6 through a geometric profiling groove provided on the individual clamp 6. The driving source includes a power supply, an air source or a hydraulic oil system. Two groups of clamp assemblies are installed on the clamp mechanism mounting plate 1, and the two groups of clamp assemblies are symmetrically arranged on the mounting plate 1 with the flange connection interface 9 as the center. A wiring hole 8 is provided on the clamp mechanism mounting plate 1. A card slot is provided at the output end of the clamp driving cylinder 5, and the individual clamp 6 is clamped on the card slot. The individual clamping jaw 6 is a three-dimensional geometric structure, the individual clamping jaw 6 has a hole, and the positioning sensor 10 and the pressure sensor 11 are respectively installed inside the hole of the individual clamping jaw 6.

[0033] The following is a feasible embodiment of the present application. Figure 2 As shown in FIG. 1 , it is a schematic diagram of the structure of the multifunctional circular clamp mechanism involved in the present application, including a clamp mechanism mounting plate 1, a wiring hole 8, a flange mounting interface 9, a driving source, a clamp assembly, a sensor assembly, and a friction assembly. This embodiment adopts a three-claw clamping structure, the clamp drive cylinder 5 adopts a cylinder drive, and the friction assembly adopts a groove pattern anti-slip pad 7, such as Figure 4 As shown. The flange mounting interface 9 is used for connecting the multifunctional circular-striking jaw mechanism provided in the present application with the robot arm, so that the multifunctional circular-striking jaw mechanism is driven by the robot arm to move synchronously with the robot arm. The robot command is transmitted to the jaw mechanism through a connecting line, and the connecting line passes through the wiring hole 8. The jaw drive cylinder 5 is fixedly connected to the jaw mechanism mounting plate 1, and each jaw drive cylinder 5 is connected to a separate jaw 6 at the output end. When the jaw drive cylinder 5 performs reciprocating telescopic motion, it drives the separate jaw 6 to tighten and expand. The anti-slip gasket 7 is installed on the contact surface between the separate jaw 6 and the workpiece to increase the friction coefficient of the separate jaw 6. Holes for installing a positioning sensor 10 and a pressure sensor 11 are provided on the separate jaw 6 to adjust the timing and strength of opening or clamping the separate jaw 6. Through the feedback from the sensor, the robot can identify whether the clamping mechanism has reached the preset workstation; during the process of the clamping mechanism executing the clamping instruction, the clamping mechanism and the workpiece generate an interaction force. Through the signal feedback from the pressure sensor 11, the robot can adjust the clamping force of its clamping mechanism in real time to achieve the release and clamping of the workpiece by the equipment.

[0034] The clamping jaw of the present application is a three-dimensional geometric structure, and the anti-slip pads 7 are installed on both sides of the individual clamping jaws 6, which can realize the bidirectional clamping of the clamping jaw mechanism. The application scenarios are more abundant.

[0035] In the description of the present application, it should be understood that the terms "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0036] The above describes the specific embodiments of the present application. It should be understood that the present application is not limited to the above specific embodiments, and those skilled in the art can make various changes or modifications within the scope of the claims, which does not affect the substantive content of the present application. In the absence of conflict, the embodiments of the present application and the features in the embodiments can be arbitrarily combined with each other.

Claims

1. A multifunctional circular gripper mechanism, characterized in that: include: Sensor assembly, gripper assembly, drive source, friction assembly; The clamping jaw assembly comprises a clamping jaw driving cylinder (5) and individual clamping jaws (6), at least three of the individual clamping jaws (6) are arranged on the clamping jaw driving cylinder (5), and the driving source is connected to the clamping jaw driving cylinder (5) and can drive the individual clamping jaws (6) to perform inward or outward movement; The sensor assembly is arranged on the clamping jaw assembly and is used to collect position information or force information of a single clamping jaw (6); The friction assembly comprises an anti-skid pad (7), and the inner edge and the outer wall of each of the individual clamping jaws (6) are respectively provided with an anti-skid pad (7).

2. The multifunctional circular gripping jaw mechanism according to claim 1, characterized in that: It also comprises a clamping mechanism mounting plate (1), the clamping mechanism assembly is mounted on the clamping mechanism mounting plate (1), and the clamping mechanism mounting plate (1) is connected to the robot mechanical arm.

3. The multifunctional circular gripping jaw mechanism according to claim 2, characterized in that: The clamping mechanism mounting plate (1) is provided with a flange mounting interface (9), and the clamping mechanism mounting plate (1) is connected to the robot arm via the flange mounting interface (9).

4. The multifunctional circular gripping jaw mechanism according to claim 1, characterized in that: The sensor assembly comprises: a positioning sensor (10) and a pressure sensor (11); The positioning sensor (10) is installed in the individual clamping jaws (6); The pressure sensor (11) is mounted on the clamping jaw drive cylinder (5).

5. The multifunctional circular gripping jaw mechanism according to claim 1, characterized in that: The anti-slip pad (7) is provided with geometric patterns and / or grooves, and the anti-slip pad (7) is connected to the separate clamping jaw (6) via a geometric profiling groove provided on the separate clamping jaw (6).

6. The multifunctional circular gripping jaw mechanism according to claim 1, characterized in that: The driving source includes a power source, an air source or a hydraulic oil system.

7. The multifunctional circular gripping jaw mechanism according to claim 2, characterized in that: Two groups of clamping jaw assemblies are installed on the clamping jaw mechanism mounting plate (1), and the two groups of clamping jaw assemblies are symmetrically arranged on the mounting plate (1) with the flange connection interface (9) as the center.

8. The multifunctional circular gripping jaw mechanism according to claim 2, characterized in that: The clamp mechanism mounting plate (1) is provided with a wiring hole (8).

9. The multifunctional circular gripping jaw mechanism according to claim 4, characterized in that: The output end of the clamping jaw driving cylinder (5) is provided with a clamping slot, and the separate clamping jaw (6) is clamped in the clamping slot.

10. The multifunctional circular gripping jaw mechanism according to claim 4, characterized in that: The separate clamping jaw (6) is a three-dimensional geometric structure. The separate clamping jaw (6) has an opening. The positioning sensor (10) and the pressure sensor (11) are respectively installed inside the opening of the separate clamping jaw (6).

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