Double-gripper multifunctional gripping apparatus

Abstract

The utility model discloses a double-gripper multifunctional gripping apparatus which comprises a rack, sliding rails are installed on the two sides of the bottom of the rack, two sliding seats are connected to the sliding rails in a sliding and clamping mode, a same sliding rod is installed between the two corresponding sliding seats on the two sliding rails, two gripping apparatuses are connected to the sliding rod in a sliding and clamping mode, and a two-way threaded rod is rotatably installed on the rack. The two sliding seats on one sliding rail are both connected with the two-way threaded rod, and a rotary driving device is installed on the rack. Through cooperative arrangement of the bidirectional threaded rod and the linear actuator, two boxes of goods can be loaded at a time after the two sets of symmetrically-arranged grabbing tools grab objects correspondingly, double grabbing and single releasing are achieved, and therefore the production efficiency is improved, and the workload of the mechanical arm is reduced; the two-way threaded rod drives the two suction cup bases adsorbing the box bodies to move oppositely, so that the distance between the two adsorbed box bodies can be adjusted, stacking is carried out, the purpose of stacking two box bodies at a time is achieved, and the production efficiency is further improved.

Description

Technical Field

[0001] This utility model relates to the field of dual-grip gripper technology, and in particular to a dual-grip multi-functional gripper. Background Technology

[0002] Grippers come in various designs, typically employing a clamping method to hold workpieces or materials. Some grippers use suction cups or electromagnetic chucks for gripping. When gripping workpieces or materials with relatively flat upper surfaces, such as cylinders, suction cups or electromagnetic chucks are usually used. For gripping workpieces with uneven surfaces, a clamping method is typically used. Grippers generally consist of a connecting base that connects to structures such as robotic arms, and the gripping component that performs the gripping function.

[0003] In existing technologies, two robots are used to complete the tasks of packing and palletizing. However, due to the high cost of robots and the large amount of repetitive work, they are prone to damage. Therefore, in order to improve production efficiency and reduce costs, a dual-grip multi-functional gripper is designed. Utility Model Content

[0004] Therefore, it is necessary to provide a dual-grip, multi-functional gripper to address the aforementioned technical problems.

[0005] To achieve the above objectives, this utility model provides a dual-grip multi-functional gripper, including a frame. Slide rails are installed on both sides of the bottom of the frame. Two slide blocks are slidably engaged on the slide rails. A common slide rod is installed between corresponding slide blocks on the two slide rails. Two grippers are slidably engaged on the slide rod. A bidirectional threaded rod is rotatably mounted on the frame. Both slide blocks on one slide rail are connected to the bidirectional threaded rod. A rotary drive device is installed on the frame. The output end of the rotary drive device is connected to the bidirectional threaded rod. A connecting rod is installed on the slide rod. A suction cup seat is installed at the bottom of the connecting rod. A linear actuator is installed on the connecting rod. The two output ends of the linear actuator are respectively connected to the two grippers on the same slide rod.

[0006] Preferably, a load-bearing rail is installed on the suction cup base, and a load-bearing block is installed on the gripper, with the load-bearing block slidably engaged with the load-bearing rail.

[0007] Preferably, the gripper is equipped with wear-resistant blocks.

[0008] Preferably, a mounting base is installed on the frame, and the rotary drive device is mounted on the mounting base.

[0009] Preferably, a mounting plate is installed on the connecting rod, and the linear actuator is mounted on the mounting plate.

[0010] Preferably, a robotic arm control axis is mounted on the top of the frame.

[0011] Compared with existing technologies, this technical solution has at least one of the following beneficial effects:

[0012] By combining a bidirectional threaded rod and a linear actuator, two boxes of goods can be loaded at once after the two sets of symmetrically arranged grippers grab the objects respectively, thus realizing dual gripping and single placement, thereby improving production efficiency and reducing the workload of the robotic arm.

[0013] The suction cup seats behind the two adsorption boxes are driven by a bidirectional threaded rod to move in opposite directions, thereby adjusting the distance between the two boxes after adsorption and stacking them, thus achieving the purpose of stacking two boxes at once and further improving production efficiency. Attached Figure Description

[0014] Figure 1 This is a perspective view of an embodiment of the present utility model;

[0015] Figure 2 This is an internal perspective view of an embodiment of the present utility model;

[0016] In the diagram, 1 is the frame; 2 is the slide rail; 3 is the slide block; 4 is the slide rod; 5 is the gripper; 6 is the bidirectional threaded rod; 7 is the rotary drive device; 8 is the connecting rod; 9 is the suction cup seat; 10 is the linear actuator; 11 is the load-bearing rail; 12 is the load-bearing block; 13 is the wear-resistant block; 14 is the mounting base; 15 is the mounting plate; and 16 is the robotic arm control axis. Detailed Implementation

[0017] To make the above-mentioned objects, features, and advantages of this utility model more apparent and understandable, the specific embodiments of this utility model will be described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a full understanding of this utility model. However, this utility model can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this utility model. Therefore, this utility model is not limited to the specific embodiments disclosed below.

[0018] Please see Figures 1 to 2This application provides a dual-grip multi-functional gripper, including a frame 1. Slide rails 2 are mounted on both sides of the bottom of the frame 1. Two slide blocks 3 are slidably engaged on the slide rails 2. A common slide rod 4 is installed between corresponding slide blocks 3 on the two slide rails 2. Two grippers 5 are slidably engaged on the slide rod 4. The two grippers 5 are symmetrically arranged. A bidirectional threaded rod 6 is rotatably mounted on the frame 1. Both slide blocks 3 on one slide rail 2 are threadedly connected to the bidirectional threaded rod 6. A rotary drive device 7, which can be a servo motor, is mounted on the frame 1. The output end of the rotary drive device 7 is connected to the bidirectional threaded rod 6. The threaded rod 6 is connected to the transmission, and a connecting rod 8 is installed on the slide rod 4. A suction cup seat 9 is installed at the bottom of the connecting rod 8. The suction cup seat 9 is existing technology. It has several air inlets at the bottom and its output end is connected to a negative pressure device to achieve the adsorption effect. A linear actuator 10 is installed on the connecting rod 8. The linear actuator 10 can be a double-headed electric cylinder with two output ends that extend and retract synchronously. The two output ends of the linear actuator 10 are respectively connected to two grippers 5 on the same slide rod 4. When using this device, it needs to be used in conjunction with an external positioning device and a moving device that drives the frame 1 to move.

[0019] In this embodiment, the external robotic arm controls the frame 1 to turn and move to a suitable position. When it is necessary to grab and pack an object, the robotic arm controls the frame 1 to move, and the linear actuator 10 controls the two grippers 5 to slide on the slide bar 4, so that the two grippers 5 move away from each other, move to the sides of the object and then move closer together, so that the two grippers 5 can clamp the object to be packed. Then the robotic arm controls the frame 1 to rotate 180°, and another set of grippers 5 controls the clamping of the object. After both sets of grippers 5 have clamped the object, the rotary drive device 7 drives the bidirectional threaded rod 6 to rotate, thereby driving the slide 3. The two grippers 5 slide on the slide rail 2, allowing the distance between them to be adjusted so that the objects held by the grippers 5 can be accurately placed into the box. When the boxes need to be stacked, the linear actuator 10 controls the two grippers 5 to move away from each other. After the frame 1 descends, the suction cup seat 9 can come into contact with and adsorb the box surface. After adsorbing one box, the frame 1 rotates 180° to adsorb another box. Then, the bidirectional threaded rod 6 controls the distance between the two boxes to a suitable distance. Finally, the robotic arm controls the movement of the two boxes for placement and stacking, realizing dual gripping and single placement, which improves production efficiency.

[0020] In some embodiments, to prevent the slide rod 4 from being easily broken due to excessive force at one point, a load-bearing rail 11 is installed on the suction cup base 9, and a load-bearing block 12 is installed on the gripper 5. The load-bearing block 12 is slidably engaged with the load-bearing rail 11. Thus, the weight of the suction cup base 9 is distributed by the load-bearing block 12 and the load-bearing rail 11, so that the weight of the suction cup base 9 and the weight of the box after suction are borne by multiple points on the slide rod 4. The sliding engagement of the load-bearing block 12 and the load-bearing rail 11 does not affect the opposite movement of the two grippers 5.

[0021] In some embodiments, to improve the durability of the gripper 5, wear-resistant blocks 13 are installed on the gripper 5. The service life of the gripper 5 is increased by replacing the wear-resistant blocks 13.

[0022] In some embodiments, to facilitate the installation of the rotary drive device 14, a mounting base 14 is provided on the frame 1, and the rotary drive device 7 is mounted on the mounting base 14.

[0023] In some embodiments, to facilitate the installation of the linear actuator 10, a mounting plate 15 is provided on the connecting rod 8, and the linear actuator 10 is mounted on the mounting plate 15.

[0024] In some embodiments, to facilitate the connection and installation of the frame 1 with an external robotic arm, a robotic arm control axis 16 is installed on the top of the frame 1.

[0025] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0026] The above embodiments only illustrate several implementation methods of this utility model, and their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of the utility model patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this utility model, and these all fall within the protection scope of this utility model. Therefore, the protection scope of this utility model patent should be determined by the appended claims.

[0027] In the description of this utility model, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this utility model and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model.

[0028] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this utility model, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0029] In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

Claims

1. A dual-grip multi-functional gripper, comprising a frame (1), characterized in that, The frame (1) has slide rails (2) installed on both sides of the bottom. Two slide blocks (3) are slidably engaged on the slide rails (2). The same slide rod (4) is installed between the two corresponding slide blocks (3) on the two slide rails (2). Two grippers (5) are slidably engaged on the slide rod (4). A bidirectional threaded rod (6) is rotatably installed on the frame (1). The two slide blocks (3) on one slide rail (2) are threadedly connected to the bidirectional threaded rod (6). A rotary drive device (7) is installed on the frame (1). The output end of the rotary drive device (7) is connected to the bidirectional threaded rod (6). A connecting rod (8) is installed on the slide rod (4). A suction cup seat (9) is installed at the bottom of the connecting rod (8). A linear actuator (10) is installed on the connecting rod (8). The two output ends of the linear actuator (10) are respectively connected to the two grippers (5) on the same slide rod (4).

2. The dual-grip multi-functional gripper according to claim 1, characterized in that, The suction cup seat (9) is equipped with a load-bearing rail (11), and the gripper (5) is equipped with a load-bearing block (12). The load-bearing block (12) is slidably engaged with the load-bearing rail (11).

3. The dual-grip multi-functional gripper according to claim 1, characterized in that, The gripper (5) is equipped with wear-resistant blocks (13).

4. The dual-grip multi-functional gripper according to claim 1, characterized in that, A mounting base (14) is installed on the frame (1), and a rotary drive device (7) is installed on the mounting base (14).

5. The dual-grip multi-functional gripper according to claim 1, characterized in that, A mounting plate (15) is installed on the connecting rod (8), and the linear actuator (10) is installed on the mounting plate (15).

6. The dual-grip multi-functional gripper according to claim 1, characterized in that, The top of the frame (1) is equipped with a robotic arm control axis (16).

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