Gripper capable of rapidly and accurately adjusting opening degree

Abstract

The utility model discloses a gripper capable of quickly and accurately adjusting the opening degree, which comprises a fixed plate, a bidirectional cylinder, a limiting piece, a movable plate, a plurality of clamping jaws and a plurality of groups of connecting rod mechanisms, a cylinder body of the bidirectional cylinder is vertically and fixedly arranged on the upper surface of the fixed plate, and the fixed plate is provided with an opening I for a piston rod to pass through; a piston rod of the two-way air cylinder moves up and down in the direction perpendicular to the fixing plate; the limiting piece is adjustably arranged on the stroke section of the piston rod above the cylinder body; and the movable plate, the plurality of clamping jaws and the plurality of groups of connecting rod mechanisms are arranged below the fixed plate. The bidirectional air cylinder is adopted for driving, the limiting piece is arranged on the upper portion of the piston rod of the bidirectional air cylinder, the lower portion of the piston rod is connected with the clamping jaw, and the downward moving distance of the piston rod is controlled by adjusting the position of the limiting piece on the upper portion of the piston rod, so that the opening degree of the clamping jaw is rapidly adjusted, and the problem that the opening degree is too large and influences a workbench is solved.

Description

Technical Field

[0001] This utility model belongs to the field of grippers and clamps, specifically relating to a gripper whose opening degree can be quickly and accurately adjusted. Background Technology

[0002] In industrial automation, pneumatic grippers play a crucial role as key actuators for grasping, handling, and assembling operations. Traditional pneumatic grippers typically consist of a one-way cylinder and grippers, with the cylinder controlling the opening and closing of the grippers to hold or release workpieces. We found the following patents for this type of pneumatic gripper:

[0003] 1. Patent No. 201822207061.1 discloses a pneumatic gripper, comprising a support plate, a cylinder at the upper end of the support plate, an air pipe at the upper end of the cylinder, a fixing block at one end of the support plate, a connecting arm at the lower end of the fixing block, a clamping block at the lower end of the connecting arm, a telescopic tube inside the support plate at the lower end of the cylinder, a limit plate below the support plate outside the telescopic tube, a connecting tube at the lower end of the telescopic tube, a corrugated pipe at the lower end of the connecting tube, a suction cup at the lower end of the corrugated pipe, and a rubber sleeve at one end of the clamping block, the outer surface of the rubber sleeve being provided with anti-slip texture.

[0004] 2. The barrel gripper disclosed in patent number 201820440809.X includes a gripper mounting plate, wherein a telescopic push rod is provided in the middle of the gripper mounting plate, the push rod is connected to a plurality of L-shaped grippers, the bent part of the gripper is fixed to the lower surface of the gripper mounting plate, and the gripper is provided with a widened part.

[0005] 3. Patent No. 201922297947.4 discloses a flexible gripper based on an industrial robot, comprising a quick-release connector, a mounting frame, a drive unit, a movable disk, several transmission rods, and several grippers. The upper end face of the quick-release connector is provided with a connecting surface for connecting with the industrial robot, and the mounting frame is mounted on the lower end face of the quick-release connector. The drive unit and the movable disk are both mounted inside the mounting frame. The drive unit is connected to the movable disk and drives the movable disk to move up and down. Several transmission rods are evenly distributed around the central axis of the movable disk, and the upper end of each transmission rod is hinged to the movable disk. Several grippers are also evenly distributed around the central axis of the movable disk. The upper part of each gripper is hinged to the lower end of the transmission rod and the lower end of the mounting frame, and the hinge point between the gripper and the movable disk is farther from the central axis of the movable disk than the hinge point between the gripper and the mounting frame. The gripping part of the gripper is made of a flexible material. This invention solves the problems of high cost, narrow application range, and difficulty in gripping workpieces of different sizes and shapes found in traditional grippers.

[0006] 4. A detachable gripper for a robot, patent number 202321176805.2, includes a mounting base. A mounting frame is fixedly mounted on one side of the mounting base. A telescopic cylinder is fixedly mounted in the middle of the mounting frame. A mounting shell is mounted on the side of the mounting frame away from the mounting base via a first fastening bolt. A movable rod is movably mounted in the middle of the mounting shell. Mounting plates are symmetrically mounted on the end of the mounting shell away from the mounting frame. Rotating shafts are mounted on both ends of the mounting plates via second fastening bolts. A gripper is rotatably mounted on the outer side of the rotating shaft. This utility model features a rectangular collar on the outer side of the gripper. The rotation of the gripper is achieved through the combined action of the connecting rod and the rotating shaft. During this process, the rectangular collar can limit the gripper's movement, ensuring stable gripping operation.

[0007] The pneumatic grippers of the four patents mentioned above limit the opening of their grippers by a preset fixed stroke of the cylinder piston rod. This leads to problems such as excessive gripper opening in some scenarios, such as compact automated production lines or situations where various equipment and tooling fixtures are densely arranged on the workbench. An excessively large gripper opening can easily interfere with other structures on the workbench (such as positioning fixtures and sensors), causing equipment damage or operational interruption. For such problems, the current conventional solution is limited to replacing the pneumatic gripper with one of a new opening size. This makes it impossible to flexibly adjust the pneumatic gripper according to different working conditions, which seriously restricts the development goal of efficient and low-cost operation of industrial automation production. Summary of the Invention

[0008] The purpose of this invention is to solve the above-mentioned technical problems and provide a gripper with a simple structure that can quickly and accurately adjust the opening.

[0009] To achieve the above objectives, the technical solution of this utility model is as follows:

[0010] A gripper with rapidly and precisely adjustable opening includes a fixed plate, a bidirectional cylinder, a limiting component, a movable plate, several grippers, and several sets of linkage mechanisms. The cylinder body of the bidirectional cylinder is vertically fixedly mounted on the upper surface of the fixed plate. The fixed plate has an opening I for the piston rod to pass through, thereby allowing the piston rod of the bidirectional cylinder to move up and down in a direction perpendicular to the fixed plate. The limiting component is adjustable for the piston rod stroke section located above the cylinder body. The movable plate, several grippers, and several sets of linkage mechanisms are located below the fixed plate, and the lower end of the piston rod can movably pass through the fixed plate and move with the movable plate. The plate is connected, causing the movable plate to move up and down below the fixed plate; the several grippers and several sets of linkage mechanisms are evenly distributed around the central axis of the movable plate. Each gripper has a connecting end and a clamping end at the top and bottom. The connecting end of each gripper is matched with a set of linkage mechanisms. Each set of linkage mechanisms includes a first link and a second link. The first link is set perpendicular to the fixed plate. One end of the first link is fixedly connected to the fixed plate, and the other end is hinged to the outer corner of the gripper connecting end. The second link is located inside the first link. One end of the second link is hinged to the movable plate, and the other end is hinged to the inner corner of the gripper connecting end.

[0011] As a further technical solution, the aforementioned limiting component is a limiting nut, and the surface of the piston rod stroke section above the cylinder body is provided with a threaded structure. The limiting nut is installed on the piston rod stroke section above the cylinder body in an adjustable manner through a threaded connection.

[0012] As a further technical solution, a flange is also provided parallel above the aforementioned fixing plate. The flange is fixedly connected to the upper surface of the cylinder body of the bidirectional cylinder, and an opening II is provided on the flange for the piston rod to pass through.

[0013] As a further technical solution, the flange described above is provided with several mounting holes.

[0014] As a further technical solution, the aforementioned limiting component is located above the flange.

[0015] As a further technical solution, the opening and closing degree between the grippers is minimized when the moving plate stops on the lower surface of the fixed plate.

[0016] As a further technical solution, the length of the first link is greater than that of the second link.

[0017] As a further technical solution, the gripper described above has an inverted triangular structure.

[0018] As a further technical solution, the clamping portion of the clamping end described above is provided with an anti-slip silicone layer.

[0019] Compared with the prior art, the beneficial effects of this utility model are as follows:

[0020] This invention allows for rapid adjustment of the gripper opening. It employs a bidirectional cylinder drive, with a limiting component positioned on the upper part of the piston rod. The gripper is connected to the lower part of the piston rod. By adjusting the position of the limiting component on the upper part of the piston rod, the downward movement distance of the piston rod is controlled, thereby achieving rapid adjustment of the gripper opening and solving the problem of excessive opening affecting the worktable.

[0021] This invention allows for precise adjustment of the gripper opening. The limiting component is threaded onto the upper part of the piston rod, and its position can be infinitely and precisely adjusted by rotating it according to actual working conditions. A single gripper can flexibly adapt to various working conditions, reducing the steps required for equipment adaptation and replacement, and achieving the goal of efficient assembly on the production line.

[0022] This utility model has a simple structure and low cost. It replaces the conventional one-way cylinder with a two-way cylinder and makes simple improvements to the upper part of the piston rod of the two-way cylinder, designing a detachable limiting component. Combined with the linkage mechanism, moving plate and gripper structure, the gripper opening can be quickly and accurately adjusted. The structure is simple, the modification cost is low, the modification is convenient, and it is easy for gripper manufacturers to upgrade their products.

[0023] This utility model uses a bidirectional cylinder, with a limiting component on the upper part of the piston rod and a gripper connected to the lower part of the piston rod. Together with the linkage mechanism, the moving plate and the gripper, it ensures that the gripping degree is not affected when the gripper is closed, while also achieving the purpose of quickly and accurately controlling the opening degree of the gripper. Attached Figure Description

[0024] Figure 1 This is a front view of a gripper with adjustable opening degree according to the present invention;

[0025] Figure 2 This is a first perspective view of a gripper with adjustable opening degree according to the present invention;

[0026] Figure 3 This is a second perspective view of a gripper of the present invention that can quickly and accurately adjust its opening.

[0027] 1-Fixed plate, 101-Opening I, 2-Two-way cylinder, 201-Cylinder body, 202-Piston rod, 3-Limiting component, 4-Moving plate, 5-Gripper, 501-Connecting end, 502-Clamping end, 503-Anti-slip silicone layer, 6-Linkage mechanism, 601-First link, 602-Second link, 7-Flange, 701-Mounting hole, 702-Opening II. Detailed Implementation

[0028] The present invention will be further described in detail below with reference to the embodiments, but the implementation of the present invention is not limited to the scope shown in the embodiments.

[0029] like Figures 1-3 As shown, a gripper with a fast and precise opening adjustment includes a fixed plate 1 and a flange 7, as well as a two-way cylinder 2, a limiting component 3, a moving plate 4, two grippers 5 and two sets of linkage mechanisms 6.

[0030] The cylinder body 201 of the bidirectional cylinder 2 is vertically fixedly mounted on the upper surface of the fixing plate 1. The fixing plate 1 is provided with an opening I101 for the piston rod 202 to pass through, so that the piston rod 202 of the bidirectional cylinder 2 moves up and down in a direction perpendicular to the fixing plate 1. The bidirectional cylinder 2 of this embodiment is a cylinder with the cylinder body 201 as the center and the piston rod 202 moves in extension and retraction at the upper and lower ends of the cylinder body 201. It can be purchased from the market, so no more detailed description of the internal structure is given.

[0031] Flange 7 is positioned parallel above the fixed plate 1 and is fixedly connected to the upper surface of the cylinder body 201 of the double-acting cylinder 2. Flange 7 has an opening II 702 for the piston rod to pass through, and the upper part of the piston rod 202 can movably pass through the opening II 702. Flange 7 has four mounting holes 701, mainly used for connecting to the positioning structure on the workbench, thereby fixing the position of the entire gripper device.

[0032] The limiting component 3 is adjustable and located on the upper surface of the piston rod 202 stroke section above the cylinder body 201. In this embodiment, the limiting component 3 is a limiting nut. The surface of the piston rod 202 stroke section above the cylinder body 201 is set with a threaded structure. The limiting nut is connected to the piston rod 202 stroke section above the cylinder body 201 through a threaded connection. Stepless adjustment can be achieved by rotating the limiting nut.

[0033] The movable plate 4, two grippers 5, and two sets of linkage mechanisms 6 are located below the fixed plate 1. The lower end of the piston rod 202 is movably connected to the movable plate 4 through the opening I101 of the fixed plate 1, driving the movable plate 4 to move up and down below the fixed plate 1. The two grippers 5 and the two sets of linkage mechanisms 6 are evenly distributed around the central axis of the movable plate 4. The grippers 5 have an inverted triangular structure, with a connecting end 501 and a clamping end 502 at the top and bottom of each gripper 5. The clamping part of the clamping end 502 is provided with an anti-slip silicone layer 503 to ensure flexible clamping. For stability and stability, each gripper 5's connecting end 501 is co-located with a set of linkage mechanisms 6. Each set of linkage mechanisms 6 includes a first linkage 601 and a second linkage 602. The first linkage 601 is perpendicular to the fixed plate 1, with one end fixedly connected to the fixed plate 1 and the other end hinged to the outer corner of the gripper 5's connecting end 501. The second linkage 602 is located inside the first linkage 601, with one end hinged to the moving plate 4 and the other end hinged to the inner corner of the gripper 5's connecting end 501. When the moving plate 4 stops on the lower surface of the fixed plate 1, the opening and closing degree between the grippers 5 is minimal. The length of the first linkage 601 is greater than that of the second linkage 602.

[0034] Mechanism of action:

[0035] Opening: Start the bidirectional cylinder 2, the piston rod 202 moves down to push the moving plate 4, the moving plate 4 moves down and pushes the second connecting rod 602, the second connecting rod 602 pushes the inner corner of the connecting end 501 of the gripper 5, so that the gripper 5 opens outward with the outer corner of the connecting end 501 as the axis.

[0036] Limiting: Rotating the limit nut up and down adjusts the downward movement distance of the piston rod 202. When the limit nut rotates upward, the downward movement distance of the piston rod 202 increases, and the opening angle of the gripper 5 increases. When the limit nut rotates downward, the downward movement distance of the piston rod 202 decreases, and the opening angle of the gripper 5 decreases. This achieves real-time adjustment of the opening degree.

[0037] Closing: Activating the bidirectional cylinder 2 causes the piston rod 202 to move upwards, pulling back the moving plate 4. Simultaneously, the moving plate 4 moves upwards, pulling back the second connecting rod 602. The second connecting rod 602 pulls back the inner angle of the connecting end 501 of the gripper 5, causing the gripper 5 to close inwards around the outer angle of the connecting end 501. Since the limiting nut does not restrict the upward movement distance of the piston rod 202, the closing size of the gripper 5 is unaffected, maintaining its original clamping degree.

[0038] In the description of this utility model, it should be understood that the terms "center," "longitudinal," "lateral," "front," "rear," "left," "right," "head," "tail," "vertical," "horizontal," "top," "bottom," "inner," and "outer," 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. They do not 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 limiting the scope of protection of this utility model. It should also be noted that, unless otherwise explicitly specified and limited, terms such as "connected" and "linked" should be interpreted broadly. For example, it can be a fixed connection; it can be a detachable connection; it can be a point connection; it can be a direct connection; it can be an indirect connection through an intermediate medium; it can be a connection between the internal parts of two elements. For those skilled in the art, the specific meaning of the above terms in this utility model can be understood according to the specific circumstances. The device connection methods not described in detail in this utility model are all understood according to the conventional connection methods in the art.

[0039] The above embodiments are merely specific examples to further illustrate the purpose, technical solution, and beneficial effects of this utility model, and this utility model is not limited thereto. Any modifications, equivalent substitutions, improvements, etc., made within the scope of this utility model are included within the protection scope of this utility model.

Claims

1. A gripper with adjustable opening degree that can be quickly and accurately adjusted, comprising a fixing plate, characterized in that, It also includes a bidirectional cylinder, a limiting component, a movable plate, several grippers, and several sets of linkage mechanisms. The cylinder body of the bidirectional cylinder is vertically fixedly mounted on the upper surface of the fixed plate. The fixed plate has an opening I for the piston rod to pass through, so that the piston rod of the bidirectional cylinder moves up and down in a direction perpendicular to the fixed plate. The limiting component is adjustable and located above the cylinder body for the piston rod stroke section. The movable plate, several grippers, and several sets of linkage mechanisms are located below the fixed plate. The lower end of the piston rod can movably pass through the fixed plate and connect to the movable plate, driving the movable plate to move in a fixed direction. The fixed plate moves up and down below; the several grippers and several sets of linkage mechanisms are evenly distributed around the central axis of the moving plate. Each gripper has a connecting end and a clamping end at the top and bottom. The connecting end of each gripper is matched with a set of linkage mechanisms. Each set of linkage mechanisms includes a first link and a second link. The first link is set perpendicular to the fixed plate. One end of the first link is fixedly connected to the fixed plate, and the other end is hinged to the outer corner of the gripper connecting end. The second link is located inside the first link. One end of the second link is hinged to the moving plate, and the other end is hinged to the inner corner of the gripper connecting end.

2. The gripper with rapidly and accurately adjustable opening as described in claim 1, characterized in that: The limiting component is a limiting nut, and the surface of the piston rod stroke section above the cylinder body is provided with a threaded structure. The limiting nut is installed on the piston rod stroke section above the cylinder body in an adjustable manner through a threaded connection.

3. The gripper with rapidly and accurately adjustable opening as described in claim 1, characterized in that: A flange is also provided parallel above the fixed plate. The flange is fixedly connected to the upper surface of the cylinder body of the bidirectional cylinder. An opening II is provided on the flange for the piston rod to pass through.

4. A gripper with rapidly and precisely adjustable opening as described in claim 3, characterized in that: The flange has several mounting holes.

5. A gripper with rapidly and precisely adjustable opening as described in claim 3, characterized in that: The limiting component is located above the flange.

6. A gripper with rapidly and accurately adjustable opening as described in claim 1, characterized in that: The opening and closing angle between the grippers is minimal when the moving plate stops at the lower surface of the fixed plate.

7. A gripper with rapidly and precisely adjustable opening as described in claim 1, characterized in that: The length of the first link is greater than that of the second link.

8. A gripper with rapidly and accurately adjustable opening as described in claim 1, characterized in that: The grippers have an inverted triangular structure.

9. A gripper with rapidly and precisely adjustable opening as described in claim 1, characterized in that: The clamping part of the clamping end is provided with an anti-slip silicone layer.

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