Clamping jaw capable of adjusting direction in self-adaptive mode and grabbing equipment

Abstract

The utility model discloses a clamping jaw capable of adjusting the direction in a self-adaptive mode and grabbing equipment. The clamping jaw capable of adjusting the direction in the self-adaptive mode comprises a movable platform and a displacement compensation part movably connected with the movable platform. And one end of the angle compensation part is connected with the displacement compensation part, and the other end of the angle compensation part is connected with a grabbing part. Compensation adjustment is carried out in the vertical direction through the displacement compensation part; angle compensation adjustment is carried out on the angle through the angle compensation part, linkage complementation is carried out on the grabbing part and the angle compensation part through the displacement compensation part, and even under the complex working condition, a grabbed object can be effectively grabbed through the clamping jaw capable of adjusting the direction in a self-adaptive mode. The grabbing efficiency is high, the structure is simple, operation is easy, and therefore the cost can be effectively reduced.

Description

Technical Field

[0001] The utility model belongs to the technical field of mechanical manufacturing, and in particular relates to a clamping claw capable of adaptively adjusting direction and a grasping device. Background Art

[0002] As an important component of industrial automation and robotics, mechanical grippers have a wide range of application scenarios and far-reaching industry impacts. With the continuous advancement of science and technology and the transformation and upgrading of the manufacturing industry, mechanical grippers are playing an increasingly important role in improving production efficiency, reducing labor costs, and achieving high-precision operations. Most existing grippers are of the linear rising extraction type, which can only be used for distance differences in the straight direction and cannot adapt to the grasping of inclined workpieces under complex working conditions. Even if flexible grippers are used, they can only adapt to small angles, small gripping forces, or more stringent gripping conditions, and cannot meet the low-cost use under complex working conditions. However, with the rapid development of the manufacturing industry, traditional mechanical grippers can no longer meet the complex and changing production needs. Utility Model Content

[0003] In order to overcome the deficiencies of the prior art, the utility model provides a clamping claw and a grasping device which have a simple structure and can adaptively adjust the direction.

[0004] The technical solution adopted by the utility model to solve its technical problems is:

[0005] A gripper capable of adaptively adjusting direction, comprising:

[0006] A mobile platform and a displacement compensation portion movably connected to the mobile platform;

[0007] An angle compensation portion, one end of which is connected to the displacement compensation portion, and the other end of which is connected to a grabbing portion.

[0008] Furthermore, the displacement compensation part includes: a guide rod and an elastic member;

[0009] One end of the guide rod passes through the movable platform for movability connection, and the other end is fixedly connected to the angle compensation part;

[0010] The elastic member is supported between the movable platform and the angle compensation portion;

[0011] A mounting plate is provided between the guide rod and the angle compensation portion. The guide rod has at least one and is fixedly connected to the mounting plate. The angle compensation portion is fixedly connected to the mounting plate.

[0012] Furthermore, the guide rod and the movable platform are slidably connected via a linear bearing, and the elastic member is sleeved on the guide rod and abuts against the movable platform and the angle compensation portion.

[0013] Furthermore, the elastic member is a spring sleeved on the guide rod, and both ends of the spring are respectively in contact with the movable platform and the angle compensation portion, and the spring provides a force to move the angle compensation portion away from the movable platform;

[0014] A limiting portion is provided on one end of the guide rod away from the angle compensation portion. The limiting portion is provided to prevent the guide rod from being separated from the moving platform under the action of the spring.

[0015] Furthermore, the angle compensation portion includes a first adjustment end connected to the displacement compensation portion, and a second adjustment end connected to the gripping portion, and the first adjustment end and the second adjustment end are movably connected via a universal adjustment member.

[0016] Furthermore, the first adjustment end has a first mounting seat, the second adjustment end has a second mounting seat, the universal adjustment member is a "cross" shaft, and the opposite ends of the "cross" shaft are slidably mounted with the first mounting seat and the second mounting seat respectively.

[0017] Furthermore, the gripping portion includes a negative pressure chamber and a suction cup connected to the negative pressure chamber.

[0018] Furthermore, it also includes a sealing gasket arranged between the negative pressure chamber and the suction cup.

[0019] Furthermore, a plurality of adsorption holes are arranged on the suction cup, and the material of the suction cup is sponge.

[0020] A gripping device comprises the above-mentioned clamping claw capable of adaptively adjusting direction.

[0021] The beneficial effects of the utility model are:

[0022] This utility model provides a self-adaptive directional gripper and gripping device. A displacement compensation unit provides vertical compensation and an angle compensation unit provides angular compensation. The gripping unit, through the displacement compensation unit and the angle compensation unit, works in tandem with each other to achieve effective gripping of objects, even under complex working conditions. This solution not only achieves high gripping efficiency but also offers a simple structure and ease of operation, effectively reducing costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0024] Figure 1 It is a front view schematic diagram of the utility model;

[0025] Figure 2 yes Figure 1 Schematic diagram of the cross section at AA in the middle;

[0026] Figure 3 It is a cross-sectional schematic diagram of part of the structure;

[0027] Figure 4 It is a three-dimensional schematic diagram of the angle compensation part of the utility model.

[0028] in,

[0029] 100. Mobile platform;

[0030] 200, displacement compensation unit; 210, guide rod; 2101, limit unit; 220, linear bearing;

[0031] 300, mounting plate;

[0032] 400, angle compensation portion; 410, first adjustment end; 411, first mounting seat; 420, second adjustment end; 421, second mounting seat; 430, universal adjustment member;

[0033] 500, gripping portion; 510, negative pressure chamber; 520, suction cup; 521, adsorption hole; 530, sealing gasket. DETAILED DESCRIPTION

[0034] The following will clearly and completely describe the concept, specific structure and technical effects of the present invention in combination with the embodiments and drawings, so as to fully understand the purpose, characteristics and effects of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, other embodiments obtained by technical personnel in this field without creative work are within the scope of protection of the present invention. In addition, all the connection / connection relationships involved in the patent do not refer to the direct connection of components, but refer to the fact that a better connection structure can be formed by adding or reducing connection accessories according to the specific implementation situation. The various technical features in the creation of the present invention can be combined interactively without conflicting with each other.

[0035] In the prior art, most of the clamps are of the straight-line rising extraction type, which can only be used for distance differences in a straight line direction and cannot adapt to the grasping of inclined workpieces under complex working conditions. Flexible clamps also have the problem of being able to adapt to small angles, small grasping forces or more stringent grasping conditions, and cannot meet the low-cost use requirements under complex working conditions. Even if flexible clamps are used, it is still necessary to create suitable grasping conditions. The working conditions must be tested first, and the workpiece angle must be confirmed through a 3D camera, etc., and then the clamp angle must be adjusted. This process is costly and inefficient. Therefore, the present invention proposes a clamp that can adaptively adjust the direction. Even under complex working conditions, the object can be effectively grasped by the clamp that can adaptively adjust the direction. Not only is the grasping efficiency high, but the structure of this solution is simple and easy to operate, which can effectively reduce costs.

[0036] Reference Figure 1 A clamping claw that can adaptively adjust its direction includes: a mobile platform 100 and a displacement compensation part 200 movably connected to the mobile platform 100; an angle compensation part 400, one end of the angle compensation part 400 is connected to the displacement compensation part 200, and the other end of the angle compensation part 400 is connected to a grasping part 500.

[0037] The mobile platform 100 can be moved arbitrarily. It can be understood that in some embodiments, the mobile platform 100 is set on a robotic arm and is moved by the robotic arm. Of course, the mobile platform 100 can also be set on other mechanical structures that can provide displacement, which will not be described here.

[0038] The gripping portion 500 may be a variety of gripping structures, such as a suction cup 520, pneumatic, electric gripping, etc. In this embodiment, the suction cup 520 is preferred. Figure 2 In some embodiments, the gripping portion 500 includes a negative pressure chamber 510 and a suction cup 520 connected to the negative pressure chamber 510, and the material is adsorbed and gripped by the suction cup 520. In order to ensure the adsorption force of the suction cup 520, a sealing gasket 530 is further provided between the negative pressure chamber 510 and the suction cup 520. The sealing gasket 530 can provide better air tightness, ensuring that no air leakage occurs between the negative pressure chamber 510 and the suction cup 520, so that the negative pressure chamber 510 can maintain sufficient negative pressure. The good sealing performance can enable the suction cup 520 to generate a stronger adsorption force when adsorbing objects, thereby improving the grasping stability.

[0039] Furthermore, for achieving a good gripping effect on materials with rough surfaces, the suction cup 520 is provided with a plurality of adsorption holes 521. The suction cup 520 is made of sponge. The sponge suction cup 520 can completely adhere to the surface of the material, that is, even under conditions where the surface of the material is rough, the material can still be gripped efficiently.

[0040] The mobile platform 100 moves to the location of the object to be grasped, and grasps the object through the grasping part 500. In this case, the object to be grasped is the top plate of a graphitized box furnace. The gap between the top plate and the box plate is small, and the height and angle of the top plate are uncertain due to the volatilization of the material during the heating process. It is understandable that the state of the top plate can be placed at any tilt angle. Therefore, it is difficult for traditional grippers to perform efficient grasping work under such a complex working condition. Figure 2 When the clamping claw of this solution can adaptively adjust the direction, it adjusts the height through the displacement compensation part 200 and adjusts the angle through the angle compensation part 400 when grabbing the top plate, so that the grabbing part 500 can be in full contact with and fit together with the top plate, thereby stably grabbing the material, and after the top plate is grabbed, it is straightened by the angle compensation part 400 under the action of the top plate's own gravity, and will not rotate in the horizontal direction.

[0041] In some embodiments, the displacement compensating portion 200 includes a guide rod 210 and an elastic member. One end of the guide rod 210 is movably connected to the mobile platform 100 and the other end is fixedly connected to the angle compensating portion 400. The elastic member is supported between the mobile platform 100 and the angle compensating portion 400. It will be understood that under normal conditions, the distance between the mobile platform 100 and the angle compensating portion 400 is at its maximum due to the support of the elastic member. When grasping a material, when the grasped surface of the material is tilted, the distance between the material and the mobile platform 100 decreases. As a result, the guide rod 210 moves relative to the mobile platform 100, compressing the elastic member and adjusting the distance between the material and the mobile platform 100. This allows the grasping portion 500 to maintain contact with the material.

[0042] In some embodiments, the elastic member is a spring sleeved on the guide rod 210, with the two ends of the spring respectively abutting the mobile platform 100 and the angle compensation part 400, and the spring provides a force to move the angle compensation part away from the mobile platform 100; a limit portion 2101 is provided on the end of the guide rod 210 away from the angle compensation part 400, and the limit portion 2101 is provided to prevent the guide rod from detaching from the mobile platform under the action of the spring. Similarly, after grasping the object, the guide rod acts on the mobile platform through the limit portion 2101, thereby providing sufficient load-bearing capacity. In some specific embodiments, the limit portion 2101 can be a nut threadedly connected to the guide rod, or a clamping block, etc.

[0043] Further, refer to Figure 3The guide rod 210 and the mobile platform 100 are slidably connected via a linear bearing 220. The elastic member is sleeved on the guide rod 210 and abuts against the mobile platform 100 and the angle compensation portion 400. Providing the linear bearing 220 between the guide rod 210 and the mobile platform 100 reduces friction, thereby improving the accuracy of adjustment during displacement adjustment. Specifically, the elastic member is preferably a compression spring sleeved on the outside of the guide rod 210 and abuts against the mobile platform 100 and the angle compensation portion 400, respectively.

[0044] Furthermore, a mounting plate 300 is provided between the guide rod 210 and the angle compensation portion 400. The guide rod 210 has at least one fixedly connected to the mounting plate 300, and the angle compensation portion 400 is fixedly connected to the mounting plate 300. It is understandable that multiple guide rods 210 can be provided according to the requirements of the grasping task, and four are preferably provided in this case. One end of the guide rod 210 is slidably connected to the mobile platform 100, and the other end is fixedly connected to the mounting plate 300. When height adjustment compensation is required, the four guide rods 210 can be moved simultaneously for adjustment, thereby achieving height compensation adjustment in the height direction. The scope of application is greatly improved.

[0045] In some embodiments, reference Figure 1 、 4 The angle compensation portion 400 includes a first adjustment end 410 connected to the displacement compensation portion 200 and a second adjustment end 420 connected to the gripping portion 500. The first adjustment end 410 and the second adjustment end 420 are movably connected via a universal adjustment member 430. It is understood that the first and second adjustment ends 410, 420 can be adjusted to any angle via the universal adjustment member 430. Specifically, the universal adjustment member 430 is a sphere or a cross, although other shapes and structures with the same function are also possible. Furthermore, the first adjustment end 410 has a first mounting seat 411, and the second adjustment end 420 has a second mounting seat 421. In this case, the universal adjustment member 430 is preferably a cross, with opposite ends of the cross slidably mounted to the first and second mounting seats 411, 421, respectively. It is understood that the first and second adjustment ends 410, 420 can be adjusted to multiple angles via the cross. It also complements the compensation adjustment of the displacement compensation part 200 in the vertical displacement direction, so that the grasping part 500 can achieve adaptive adjustment direction. As a result, the clamping jaws of the utility model can still have high precision and high stability under complex working conditions, and have extremely strong adaptability and flexibility, and can be customized and optimized according to different production needs.

[0046] A gripping device includes the above-mentioned clamping claws that can adaptively adjust the direction. Specifically, the above-mentioned clamping claws can be arranged and combined in different ways according to different production requirements. Figure 1 As shown, two parallel connections are made to cope with specific working conditions and improve work production efficiency.

[0047] The above is a specific description of the preferred implementation of the present invention, but the invention of the present invention is not limited to the embodiments. Those skilled in the art can make various equivalent modifications or substitutions without violating the spirit of the present invention. These equivalent modifications or substitutions are all included in the scope defined by the claims of this application.

Claims

1. A clamping jaw capable of adaptively adjusting direction, characterized in that: include: A mobile platform and a displacement compensation portion movably connected to the mobile platform; an angle compensation portion, one end of which is connected to the displacement compensation portion, and the other end of which is connected to a gripping portion; The displacement compensation part includes: a guide rod and an elastic member; The angle compensation portion includes a first adjustment end connected to the displacement compensation portion, and a second adjustment end connected to the gripping portion, wherein the first adjustment end and the second adjustment end are movably connected via a universal adjustment member; One end of the guide rod passes through the movable platform for movability connection, and the other end is fixedly connected to the angle compensation part; The elastic member is supported between the movable platform and the angle compensation portion; A mounting plate is provided between the guide rod and the angle compensation portion. There is at least one guide rod and each guide rod is fixedly connected to the mounting plate. The angle compensation portion is fixedly connected to the mounting plate.

2. The self-adaptable direction-adjustable gripper according to claim 1, characterized in that: The guide rod is slidably connected to the movable platform via a linear bearing. The elastic member is sleeved on the guide rod and abuts against the movable platform and the angle compensation portion respectively.

3. The clamping jaw capable of adaptively adjusting direction according to claim 1, characterized in that: The elastic member is a spring sleeved on the guide rod, with both ends of the spring respectively contacting the movable platform and the angle compensation portion, and the spring provides a force to move the angle compensation portion away from the movable platform; A limiting portion is provided on one end of the guide rod away from the angle compensation portion. The limiting portion is provided to prevent the guide rod from being separated from the moving platform under the action of the spring.

4. The clamping jaw capable of adaptively adjusting direction according to claim 1, characterized in that: The first adjustment end has a first mounting seat, the second adjustment end has a second mounting seat, the universal adjustment member is a "cross" shaft, and the opposite ends of the "cross" shaft are slidably mounted with the first mounting seat and the second mounting seat respectively.

5. The clamping jaw capable of adaptively adjusting direction according to any one of claims 1 to 4, characterized in that: The grasping portion includes a negative pressure chamber and a suction cup connected to the negative pressure chamber.

6. The clamping jaw capable of adaptively adjusting direction according to claim 5, characterized in that: It also includes a sealing pad arranged between the negative pressure chamber and the suction cup.

7. The clamping jaw capable of adaptively adjusting direction according to claim 5, characterized in that: A plurality of adsorption holes are arranged on the suction cup, and the material of the suction cup is sponge.

8. A gripping device, characterized in that: The invention comprises a clamping jaw capable of adaptively adjusting direction according to any one of claims 1-7.

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