Clamping jaw device and feeding and discharging robot

Abstract

The utility model relates to the technical field of automatic feeding and discharging, and provides a clamping jaw device and a feeding and discharging robot, the clamping jaw device comprises a power assembly, a transmission mechanism, a limiting clamping jaw assembly and a free clamping jaw assembly, the power assembly is in transmission connection with the transmission mechanism, and the limiting clamping jaw assembly and the free clamping jaw assembly are respectively in transmission connection with the transmission mechanism. In the process that the clamping jaw device clamps a target object, the limiting clamping jaw assembly and the free clamping jaw assembly move oppositely along a straight line, and the moving stroke of the free clamping jaw assembly is larger than that of the limiting clamping jaw assembly. According to the clamping jaw device, in the process of clamping a target object, the limiting clamping jaw assembly and the free clamping jaw assembly walk by different strokes, the limiting clamping jaw assembly on one side moves by a preset stroke and then stops as a reference, and the free clamping jaw assembly continues to move towards the limiting clamping jaw assembly to clamp the target object; therefore, the effect of clamping articles by taking one side as a reference is achieved.

Description

TECHNICAL FIELD

[0001] The utility model relates to automatic feeding and discharging technical field more specifically, it is a kind of clamping jaw device and feeding and discharging robot. BACKGROUND

[0002] In the field of automatic feeding and discharging, the automatic clamping jaw is generally a structure that two sides of the clamping jaw are synchronously operated and centrally positioned to clamp; or a structure that one end of the clamping jaw is fixed, and the other end of the clamping jaw is driven to clamp. It is found in practical application that the automatic clamping jaw of this structure cannot clamp the article by relying on the same boundary positioning. UTILITY MODEL CONTENTS

[0003] The utility model aims at providing a kind of clamping jaw device and feeding and discharging robot to solve the technical problem of how to make the automatic clamping jaw clamp the article by relying on the same boundary positioning.

[0004] To achieve the above-mentioned purpose, the utility model adopts the following technical solutions:

[0005] In the first aspect, the utility model provides a kind of clamping jaw device, including power assembly, transmission mechanism, limit line clamping jaw assembly and free clamping jaw assembly, power assembly is connected with transmission mechanism transmission, limit line clamping jaw assembly and free clamping jaw assembly are respectively connected with transmission mechanism transmission, in the process that the clamping jaw device clamps target article, limit line clamping jaw assembly and free clamping jaw assembly move along straight line and move towards each other, and the moving stroke of free clamping jaw assembly is greater than the moving stroke of limit line clamping jaw assembly.

[0006] The above-mentioned clamping jaw device clamps the article by the movement of limit line clamping jaw assembly and free clamping jaw assembly along straight line, and the moving stroke of limit line clamping jaw assembly is different from that of free clamping jaw assembly in the process of clamping target article, limit line clamping jaw assembly stops before free clamping jaw assembly, which is used as boundary positioning, and at the same time, free clamping jaw assembly will continue to move until clamping target article, so that the clamping jaw device can clamp target article by relying on the same boundary positioning.

[0007] Preferably, limit line clamping jaw assembly includes first clamping jaw and limiting part, limiting part is fixed on the moving path of first clamping jaw;Free clamping jaw assembly includes second clamping jaw, in the process that the clamping jaw device clamps target article, first clamping jaw moves to the position of limiting part and stops, second clamping jaw continues to move to first clamping jaw direction and stops after clamping target article.

[0008] Preferably, the transmission mechanism comprises a fixed assembly, a transmission belt assembly and a sliding rail assembly, the fixed assembly comprises a fixed plate, the fixed plate is provided with a mounting seat connected with the power assembly, the transmission belt assembly comprises a transmission belt, the transmission belt is rotationally connected to the fixed plate and is in transmission connection with the power assembly, the sliding assembly comprises a linear guide rail and a sliding block, the linear guide rail is in transmission connection with the fixed plate, the sliding block is in sliding connection with the linear guide rail, and the number of the sliding blocks is at least two groups, each group comprises at least one sliding block; the row-limiting clamp jaw assembly further comprises a buffer component, the buffer component is movably connected to the transmission belt in the same direction or in the opposite direction with the second clamp jaw, the first clamp jaw is connected to the buffer component, and the first clamp jaw is connected with a group of sliding blocks on the linear guide rail, and the second clamp jaw is connected with another group of sliding blocks on the linear guide rail.

[0009] Preferably, the transmission belt assembly further comprises a driving wheel and a driven wheel, the driving wheel and the driven wheel are connected to the fixed plate in a spaced manner, the transmission belt is connected to the driving wheel and the driven wheel, and the driving wheel is in transmission connection with the power assembly.

[0010] Preferably, the transmission belt comprises a synchronous belt or a belt.

[0011] Preferably, the buffer component comprises a guide rod, a compression spring and a support, the guide rod is fixedly connected to the support, the compression spring is sleeved on the guide rod, one end of the compression spring is connected to the support, and the other end of the compression spring is connected to the transmission belt; in the case that the first clamp jaw moves to the position of the limiting component and the second clamp jaw continues to move in the direction of the first clamp jaw, the compression spring is in a compressed state.

[0012] Preferably, the power assembly comprises a single driving device.

[0013] Preferably, the driving device comprises a servo motor and a speed reducer, a power output end of the servo motor is connected with an input shaft of the speed reducer, and an output shaft of the speed reducer is connected with the driving wheel through a shaft coupling.

[0014] Preferably, the clamp jaw device further comprises a force sensor and a controller, the force sensor is arranged on the row-limiting clamp jaw assembly or / and the free clamp jaw assembly, the controller is connected with the force sensor and the power assembly respectively, and in the case that the force sensor detects that the clamp jaw clamps the target object, the controller controls the power assembly to stop working.

[0015] In the second aspect, the utility model further provides a feeding and discharging robot, which comprises the clamp jaw device.

[0016] Since the feeding and discharging robot comprises all the technical solutions of the clamp jaw device, the technical effects are similar to those of the clamp jaw device, and details are not repeated here for the sake of brevity. BRIEF DESCRIPTION OF DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained from these drawings without creative labor.

[0018] Figure 1 A power transmission principle diagram of a clamping jaw device provided for the embodiments of the present application is provided.

[0019] Figure 2 A structure diagram of a power assembly provided for the embodiments of the present application is provided.

[0020] Figure 3 A structure diagram of a fixing assembly provided for the embodiments of the present application is provided.

[0021] Figure 4 A connection structure diagram of a transmission belt assembly and a fixing plate provided for the embodiments of the present application is provided.

[0022] Figure 5 A structure diagram of a slide rail assembly provided for the embodiments of the present application is provided.

[0023] Figure 6 A connection structure diagram of a traffic-limiting clamping jaw assembly and a transmission belt provided for the embodiments of the present application is provided.

[0024] Figure 7 A connection structure diagram of a free clamping jaw assembly and a transmission belt provided for the embodiments of the present application is provided.

[0025] Figure 8 A state diagram of the traffic-limiting clamping jaw assembly and the free clamping jaw assembly moving towards each other to grab a target object provided for the embodiments of the present application is provided.

[0026] Figure 9 A front state diagram of the traffic-limiting clamping jaw assembly moving to a position of a limiting part provided for the embodiments of the present application is provided.

[0027] Figure 10 A back state diagram of the traffic-limiting clamping jaw assembly moving to a position of a limiting part provided for the embodiments of the present application is provided.

[0028] Figure 11 A state diagram of the traffic-limiting clamping jaw assembly and the free clamping jaw assembly clamping a target object provided for the embodiments of the present application is provided.

[0029] Wherein, the reference signs in the drawings: 1, power assembly; 11, servo motor; 12, speed reducer; 13, shaft coupling; 2, transmission mechanism; 21, fixed plate; 211, mounting seat; 22, transmission belt; 23, driving wheel; 231, driving shaft; 24, driven wheel; 241, driven shaft; 25, tension plate; 26, top screw; 27, screw fixed plate; 28, linear guide rail; 29, sliding block; 3, limit jaw assembly; 31, first jaw; 32, limiting part; 33, buffer part; 331, guide rod; 332, compression spring; 333, bracket; 34, first jaw connecting piece; 35, 44, transmission belt pressing plate; 4, free jaw assembly; 41, second jaw; 42, second jaw connecting piece; 43, pressing plate connecting piece; 5, target object. DETAILED DESCRIPTION

[0030] In order to make the technical problems, technical solutions and beneficial effects of the present application more clear, the following will be further described in detail in combination with the drawings and examples. It should be understood that the specific examples described herein are only used to explain the present application, and are not used to limit the present application.

[0031] It should be noted that when a component is referred to as "fixed to" or "provided on" another component, it can be directly or indirectly on the other component. When a component is referred to as "connected to" another component, it can be directly or indirectly connected to the other component. The terms "up", "down", "left", "right", "front", "back", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate the orientation or position based on the orientation or position shown in the drawings, and are only for convenience of description, and cannot be understood as a limitation on the technical solutions. The terms "first", "second" are only for the purpose of convenience of description, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features. The meaning of "a plurality of" is two or more, unless otherwise specifically limited.

[0032] In the prior art, the automatic clamping jaw is mostly synchronous operation of the two side clamping jaws, which is centrally positioned and clamped; or it relies on a fixed clamping jaw at one end to drive the other end clamping jaw to clamp. This kind of automatic clamping jaw can clamp different width objects, but cannot clamp objects relying on one side as a reference.

[0033] In view of the above problems, some embodiments of the utility model provide a kind of clamping jaw device, by power component drive limit line clamping jaw assembly and free clamping jaw assembly along linearly synchronous movement to clamp target article, during clamping target article, limit line clamping jaw assembly and free clamping jaw assembly walk different stroke, rely on the limit line clamping jaw assembly of one side moves preset stroke and stops to be used as reference, while free clamping jaw assembly continues to move to limit line clamping jaw assembly direction to clamp target article, to realize the effect of clamping article by one side as reference.

[0034] Further, referring to Figures 1 to 7 Some embodiments of the utility model also provide a kind of clamping jaw device, including power component 1, transmission mechanism 2, limit line clamping jaw assembly 3 and free clamping jaw assembly 4, power component 1 is connected with transmission mechanism 2, limit line clamping jaw assembly 3 and free clamping jaw assembly 4 are respectively connected with transmission mechanism 2, during clamping jaw device clamps target article 5, limit line clamping jaw assembly 3 and free clamping jaw assembly 4 move along linearly to each other, and the moving stroke of free clamping jaw assembly 4 is greater than the moving stroke of limit line clamping jaw assembly 3.

[0035] During clamping jaw device clamps target article 5, limit line clamping jaw assembly 3 and free clamping jaw assembly 4 are driven by power component 1 through transmission mechanism 2 and move along linearly to each other, limit line clamping jaw assembly 3 moves preset stroke and stops, while free clamping jaw assembly 4 continues to move, so as to clamp target article 5 by one side of limit line clamping jaw assembly 3 as reference, after clamping target article 5, power component 1 stops power output, limit line clamping jaw assembly 3 and free clamping jaw assembly 4 stop moving, complete target article 5 clamping work. After needing clamping jaw device to release target article 5, limit line clamping jaw assembly 3 and free clamping jaw assembly 4 are driven by power component 1 through transmission mechanism 2 and move along linearly to each other, so that limit line clamping jaw assembly 3 and free clamping jaw assembly 4 are separated from target article 5, and target article 5 is released.

[0036] The embodiment drives limit line clamping jaw assembly 3 and free clamping jaw assembly 4 along linearly to each other by power component 1 to grab target article 5, the moving stroke of free clamping jaw assembly 4 is greater than limit line clamping jaw assembly 3, after limit line clamping jaw assembly 3 and free clamping jaw assembly 4 move preset stroke, limit line clamping jaw assembly 3 is prevented to move to be used as reference, play the role of clamping positioning, then let free clamping jaw assembly 4 continue to move, until clamping target article 5 stops, to realize the effect that two sides of clamping jaw walk different stroke to clamp target article 5 by one side of clamping jaw as reference.

[0037] Target article 5 in the above clamping jaw device, limit line clamping jaw assembly 3 and free clamping jaw assembly 4 move synchronously on linearly to each other, and the moving stroke of free clamping jaw assembly 4 is greater than limit line clamping jaw assembly 3, and the specific embodiment is not unique.

[0038] In some alternative embodiments, the first clamping jaw 31 and the limiting component 32 of the limited travel clamping jaw assembly 3 constitute a pair of clamping jaws for clamping the target object 5, and the limiting component 32 is fixed on the moving path of the limited travel clamping jaw assembly 3. During the clamping of the target object 5, the limited travel clamping jaw assembly 3 and the free travel clamping jaw assembly 4 move towards each other by a preset stroke, and then the first clamping jaw 31 is prevented from continuing to move, serving as a reference, while the free travel clamping jaw assembly 4 continues to move until it stops moving after clamping the target object 5.

[0039] Specifically, in combination with the above-mentioned structure of the limited travel clamping jaw assembly 3 and the free travel clamping jaw assembly 4, the first clamping jaw 31 of the limited travel clamping jaw assembly 3 and the second clamping jaw 41 of the free travel clamping jaw assembly 4 constitute a pair of clamping jaws for clamping the target object 5, and the limiting component 32 is fixed on the moving path of the limited travel clamping jaw assembly 3. During the clamping of the target object 5, the limited travel clamping jaw assembly 3 and the free travel clamping jaw assembly 4 move towards each other by a preset stroke, and then the first clamping jaw 31 is prevented from continuing to move, serving as a reference, while the free travel clamping jaw assembly 4 continues to move until it stops moving after clamping the target object 5. Figures 4 to 7

[0040] The present embodiment prevents the first clamping jaw 31 from continuing to move by providing the limiting component 32 on the moving path of the first clamping jaw 31 for clamping the target object 5, so as to achieve the effect that the limited travel clamping jaw assembly 3 and the free travel clamping jaw assembly 4 travel different strokes to clamp the target object 5.

[0041] The clamping jaw device is powered by the power assembly 1, and the transmission mechanism 2 transmits power to the limited travel clamping jaw assembly 3 and the free travel clamping jaw assembly 4 to achieve the function of clamping the target object 5.

[0042] In some alternative embodiments, in combination with the above-mentioned structure of the limited travel clamping jaw assembly 3 and the free travel clamping jaw assembly 4, the transmission mechanism 2 comprises a fixed assembly, a transmission belt assembly, and a sliding rail assembly. The fixed assembly comprises a fixed plate 21, and the fixed plate 21 is provided with a mounting seat 211 connected to the power assembly 1, and provides a mounting position for the cooperation of the transmission belt assembly and the sliding rail assembly. The transmission belt assembly comprises a transmission belt 22, and the transmission belt 22 is rotatably connected to the fixed plate 21 and is in transmission connection with the power assembly 1. The sliding rail assembly comprises a linear guide rail 28 and a sliding block 29, and the linear guide rail 28 is fixedly connected to the fixed plate 21 in parallel with the transmission belt 22. The sliding block 29 is slidably connected to the linear guide rail 28, and the number of sliding blocks 29 is at least two groups, each group comprising at least one sliding block 29. The limited travel clamping jaw assembly 3 further comprises a buffer component 33, and the buffer component 33 is movably connected to the transmission belt 22 in the direction of the second clamping jaw 41. The first clamping jaw 31 is connected to the buffer component 33, and the first clamping jaw 31 is connected to one group of sliding blocks 29 on the linear guide rail 28. The second clamping jaw 41 is connected to another group of sliding blocks 29 on the linear guide rail 28.

[0043] Specifically, in combination with the above-mentioned structure of the limited travel clamping jaw assembly 3 and the free travel clamping jaw assembly 4, the first clamping jaw 31 of the limited travel clamping jaw assembly 3 and the second clamping jaw 41 of the free travel clamping jaw assembly 4 constitute a pair of clamping jaws for clamping the target object 5, and the limiting component 32 is fixed on the moving path of the limited travel clamping jaw assembly 3. During the clamping of the target object 5, the limited travel clamping jaw assembly 3 and the free travel clamping jaw assembly 4 move towards each other by a preset stroke, and then the first clamping jaw 31 is prevented from continuing to move, serving as a reference, while the free travel clamping jaw assembly 4 continues to move until it stops moving after clamping the target object 5. Figure 4 ​In one embodiment, the transmission belt 22 is a synchronous belt. In another embodiment, the transmission belt 22 is a belt. In one embodiment, the transmission belt 22 is arranged below the fixed plate 21 and is in transmission connection with the power assembly 1. In the case that the power assembly 1 outputs power, the power assembly 1 drives the transmission belt 22 to rotate. The transmission belt 22 can rotate in two directions, thereby driving the first clamping jaw 31 and the second clamping jaw 41 to move towards each other or move away from each other synchronously. In the process of grabbing the target object 5, the transmission belt 22 drives the first clamping jaw 31 and the second clamping jaw 41 to move towards each other by rotating. After the first clamping jaw 31 and the second clamping jaw 41 move synchronously by a preset stroke, the first clamping jaw 31 reaches the position of the limiting part 32 and is stopped from moving. Since the first clamping jaw 31 is connected to the buffer part 33, after the first clamping jaw 31 stops moving, the buffer part 33 connected to the transmission belt 22 allows the transmission belt 22 to continue rotating, thereby driving the second clamping jaw 41 to continue moving. The moving stroke of the second clamping jaw 41 is greater than that of the first clamping jaw 31, so as to realize the effect that the two clamping jaws walk different strokes based on the first clamping jaw 31 to grab the target object 5.

[0044] Further, the transmission belt 22 can be a synchronous belt or a belt. If the transmission belt 22 is a synchronous belt, the synchronous belt is provided with a tooth shape, which transmits power by precisely matching with the tooth groove on the pulley. If the transmission belt 22 is a belt, the belt is not provided with a tooth shape, which transmits rotating power by friction between the belt and the pulley. In actual application, the transmission belt 22 is preferably a synchronous belt, which can bear larger torque and has higher transmission precision.

[0045] Preferably, in one embodiment, the transmission belt assembly further comprises a driving pulley 23 and a driven pulley 24, which are connected to the fixed plate 21 at intervals, the transmission belt 22 is connected to the driving pulley 23 and the driven pulley 24, and the driving pulley 23 is in transmission connection with the power assembly 1.

[0046] Specifically, the driving pulley 23 and the driven pulley 24 work as pulleys together with the transmission belt 22 to transmit the power output by the power assembly 1. In combination with the above description of the power assembly 1, the power output by the power assembly 1 is transmitted to the transmission belt 22 through the driving pulley 23, and then transmitted to the first clamping jaw 31 and the second clamping jaw 41 through the driven pulley 24. Figure 4Said fixed plate 21 is provided with an axle hole at each end, the driving wheel 23 and the driven wheel 24 are located below the fixed plate 21, wherein the driving wheel 23 is rotatably connected to the axle hole at one end of the fixed plate 21 through the driving axle 231, the driven wheel 24 is rotatably connected to the axle hole at the other end of the fixed plate 21 through the driven axle 241, and the fixed plate 21 above the driven wheel 24 is provided with a tensioning adjusting assembly for adjusting the position of the driven wheel 24, which comprises a tensioning plate 25, a jacking screw 26 and a screw fixing plate 27, the driven wheel 24 is connected to the tensioning plate 25, the jacking screw 26 is threadedly connected to the screw fixing plate 27, and one end of the jacking screw 26 is connected to the tensioning plate 25, when it is necessary to tension the transmission belt 22, the jacking screw 26 is rotated to push the tensioning plate 25 to move to the left (i.e. to move away from the driving wheel 23), so that the transmission belt 22 becomes tensioned; when it is necessary to loosen the transmission belt 22, the jacking screw is rotated to push the tensioning plate 25 to move to the right (i.e. to move close to the driving wheel 23), so that the transmission belt 22 becomes loosened, so as to achieve the purpose of adjusting the tension of the transmission belt 22.

[0047] The buffer component 33 and the second clamping jaw 41 are connected to the transmission belt 22 on both sides of the driving wheel 23, the buffer component 33 is connected to the first clamping jaw 31, and when the driving wheel 23 rotates, the first clamping jaw 31 and the second clamping jaw 41 are driven to move towards or away from each other. When the first clamping jaw 31 moves to the position of the limiting component 32, the buffer component 33 can provide a buffer, allowing the transmission belt 22 to continue to rotate and drive the second clamping jaw 41 to move, so as to realize the effect of different travel distances of the limiting clamping jaw assembly 3 and the free clamping jaw assembly 4.

[0048] In some optional embodiments, the buffer component 33 comprises a guide rod 331, a compression spring 332 and a bracket 333, the guide rod 331 is fixedly connected to the bracket 333, the compression spring 332 is sleeved on the guide rod 331, one end of the compression spring 332 is connected to the bracket 333, and the other end of the compression spring 332 is connected to the transmission belt 22, in the case that the first clamping jaw 31 moves to the position of the limiting component 32 and the second clamping jaw 41 continues to move towards the first clamping jaw 31, the compression spring 332 is in a compressed state.

[0049] Specifically, in combination with Figure 6In one embodiment, the buffer component 33 is composed of a guide rod 331, a compression spring 332 and a bracket 333. One end of the guide rod 331 is fastened to the bracket 333, the compression spring 332 is sleeved on the guide rod 331, one end of the compression spring 332 is fixedly connected to the bracket 333 or the guide rail, the other end of the compression spring 332 is fastened to the transmission belt 22 through the transmission belt pressing plate 35, the first jaw 31 is connected to the bracket 333, and during the clamping of the target object 5, after the first jaw 31 moves to the position of the limiting component 32, the transmission belt 22 continues to rotate, drives the compression spring 332 to move, and makes the compression spring 332 in a compressed state; during the release of the target object 5, the transmission belt reversely rotates, drives the compression spring 332 to move in the opposite direction, and makes the compression spring 332 return to the initial state.

[0050] The buffer component 33 composed of the guide rod 331, the compression spring 332 and the bracket 333 provides a buffer space for the movement of the first jaw 31, allows the transmission belt 22 to drive the second jaw 41 to continue to move after the first jaw 31 moves to the position of the limiting component 32, and realizes the effect that the travel of the travel-limiting jaw assembly 3 and the free jaw assembly 4 is different to clamp the target object 5.

[0051] In one embodiment, the travel-limiting jaw assembly 3 includes the first jaw 31, a first jaw connecting piece 34, the buffer component 33 and the limiting component 32. Figure 6 The first jaw 31 is connected below the first jaw connecting piece 34, the buffer component 33 is connected to the first jaw connecting piece 34 through a screw, the buffer component 33 is connected to the transmission belt through a transmission belt pressing plate 35, the first jaw connecting piece 34 is connected to a group of sliding blocks 29 on the linear guide rail 28, and the limiting component 32 is arranged on the movement path of the first jaw 31 or the first jaw connecting piece 34, for example, the limiting component 32 is connected below the fixed plate and is used to limit the movement travel of the first jaw 31.

[0052] In one embodiment, the free jaw assembly 4 includes the second jaw 41, a second jaw connecting piece 42 and a pressing plate connecting piece 43. Figure 7 The second jaw 41 is connected below the second jaw connecting piece 42, the pressing plate connecting piece 43 is connected to the second jaw connecting piece 42 and is connected to another transmission belt pressing plate 44 through a screw, the first jaw connecting piece 34 is connected to the transmission belt 22, and the second jaw connecting piece 42 is connected to another group of sliding blocks 29 on the linear guide rail 28.

[0053] Specifically, the buffer component 33 and the second jaw connecting piece 42 are respectively connected to the transmission belt 22 on both sides of the driving wheel 23 (or the driven wheel 24), when the transmission belt 22 rotates, the first jaw 31 and the second jaw 41 move towards or away from each other along the linear guide rail 28 to adjust the clamping travel.

[0054] Further, the number of linear guides 28 is at least one. For example, in combination Figure 5 In one embodiment, the number of linear guides 28 is two, and each set of sliders 29 includes two sliders, which are respectively connected to the two linear guides 28. In this way, each linear guide 28 is provided with two sliders 29, which are respectively connected to the first jaw connecting member 34 and the second jaw connecting member 42. The two linear guides 28 are fixedly connected below the fixed plate and are arranged in parallel with the transmission belt 22. The two linear guides 28 guide the first jaw 31 and the second jaw 41 to move, which can improve the stability of the movement of the first jaw 31 and the second jaw 41.

[0055] The power assembly 1 is used to output power, which drives the transmission belt 22 to rotate, so as to drive the first jaw 31 and the second jaw 41 to move towards or away from each other.

[0056] In some alternative embodiments, the power assembly 1 includes a single driving device. Specifically, the single driving device outputs a single power, and the jaw device drives the limited travel jaw assembly 3 and the free jaw assembly 4 to travel different distances to clamp the target object 5, so that the jaw device has the function of clamping the target object 5 by traveling different distances at both ends of the limited travel jaw assembly 3 and the free jaw assembly 4 based on one side of the limited travel jaw assembly 3 as a reference under the single power. In this embodiment, the single driving device is used as the power assembly 1 of the jaw device, and cooperates with the transmission mechanism 2 to achieve the effect of adjusting the limited travel jaw assembly 3 and the free jaw assembly 4 to travel different distances under the single power, thereby saving power.

[0057] Preferably, in one embodiment, the driving device includes a servo motor 11 and a speed reducer 12. The power output end of the servo motor 11 is connected to the input shaft of the speed reducer 12, and the output shaft of the speed reducer 12 is connected to the driving wheel 23 through the shaft coupling 13.

[0058] Specifically, the speed reducer 12 and the servo motor 11 have the effect of reducing the rotation speed and increasing the torque. In combination Figure 2 Specifically, the servo motor 11, the speed reducer 12, and the shaft coupling 13 are connected in sequence and connected as a whole at the position of the mounting seat 211 of the fixed plate. The shaft coupling 13 is connected to the driving wheel 23 to transmit the rotary power output by the servo motor 11 to the driving wheel 23, so as to drive the transmission belt 22 to rotate, thereby driving the first jaw 31 and the second jaw 41 to move towards or away from each other.

[0059] In actual application, in combination Figures 1 to 11In the process of clamping the target object 5, the servo motor 11 outputs a torque (i.e. a rotating power) which is transmitted to the coupling 13 through the speed reducer 12 to drive the driving wheel 23 to rotate. The rotation is converted into a horizontal movement of the transmission belt 22 (e.g. a synchronous belt) through the engagement of the driving wheel 23 and the transmission belt 22. The first clamping jaw 31 and the second clamping jaw 41 are driven to move towards each other to clamp the target object 5 through the engagement of the transmission belt 22 and the pressure plate. When the first clamping jaw 31 reaches the position of the fixed limiting part 32, the first clamping jaw 31 stops moving. The pressure plate connecting piece 43 connected to the buffer part 33 continues to move under the traction of the transmission belt 22 to drive the buffer part 33 to compress, while the position of the first clamping jaw 31 remains unchanged. The second clamping jaw continues to move towards the first clamping jaw 31 under the traction of the transmission belt 22. When the second clamping jaw 41 clamps the target object 5, the servo motor 11 stops moving to complete the clamping of the target object 5. In addition, when it is necessary to release the target object 5, the servo motor 11 outputs a reverse torque which is transmitted to the coupling 13 through the speed reducer 12 to drive the driving wheel 23 to rotate. The rotation is converted into a horizontal movement of the transmission belt 22 through the engagement of the driving wheel 23 and the transmission belt 22 to drive the first clamping jaw 31 and the second clamping jaw 41 to open and close in the horizontal direction along the guide of the linear guide rail 28. The different clamping strokes of the clamping jaws are adjusted by the servo motor 11 to meet the grasping of objects of various specifications, and the applicability is strong.

[0060] In some optional embodiments, the clamping jaw device further comprises a force sensor and a controller. The force sensor is arranged on the limiting clamping jaw assembly 3 or / and the free clamping jaw assembly 4. The controller is connected with the force sensor and the power assembly 1 respectively. When the force sensor detects that the clamping jaw clamps the target object 5, the controller controls the power assembly 1 to stop working.

[0061] Specifically, in combination with Figures 8 to 11In some embodiments, a force sensor is installed on the limiting jaw assembly 3 or the free jaw assembly 4, or both. During the process of clamping the target object 5, the free jaw assembly 4 continues to move to clamp the target object 5 after the limiting jaw assembly 3 is stopped by the target object 5. After the target object 5 is clamped, the force sensor can detect the reaction force of the target object 5 on the limiting jaw assembly 3 or the free jaw assembly 4, and the transmission mechanism 2 does not stop transmitting the power output by the power assembly 1. Therefore, the reaction force of the target object 5 on the limiting jaw assembly 3 or the free jaw assembly 4 increases. When the reaction force detected by the force sensor reaches a pre-set threshold, the controller controls the servo motor 11 to stop outputting power, so that the limiting jaw assembly 3 or the free jaw assembly 4 keeps clamping the target object 5. In addition, when the target object 5 needs to be released, the controller controls the servo motor 11 to output opposite power to drive the limiting jaw assembly 3 and the free jaw assembly 4 to move away from each other to separate from the target object 5, thereby realizing the function of automatically clamping the target object 5.

[0062] In addition, the utility model provides a loading and unloading robot which comprises the jaw device provided in any of the above embodiments.

[0063] The servo motor 11 outputs a torsion force, which is transmitted to the coupling 13 through the speed reducer 12 to drive the driving wheel 23 to rotate. The rotation is converted into horizontal movement of the synchronous belt through the engagement of the driving wheel 23 and the synchronous belt. The fixed-end jaw and the movable-end jaw are engaged with the synchronous belt through the pressing plate, and the horizontal clamping and opening and closing are realized along the guide of the linear guide rail 28.

[0064] The above is only a preferred embodiment of the utility model, and is not used to limit the utility model. Any modification, equivalent replacement and improvement within the spirit and principle of the utility model should be included in the protection scope of the utility model.

Claims

1. A gripper device, characterized in that The device comprises a power assembly, a transmission mechanism, a limited travel jaw assembly and a free jaw assembly. The power assembly is in transmission connection with the transmission mechanism. The limited travel jaw assembly and the free jaw assembly are in transmission connection with the transmission mechanism. During the process of clamping target objects by the jaw device, the limited travel jaw assembly and the free jaw assembly move towards each other along a straight line, and the moving stroke of the free jaw assembly is greater than that of the limited travel jaw assembly. The limited travel jaw assembly comprises a first jaw and a limiting component. The limiting component is fixed on the moving path of the first jaw. The free jaw assembly comprises a second jaw. During the process of clamping target objects by the jaw device, the first jaw stops at the position of the limiting component, and the second jaw continues to move towards the first jaw to clamp the target objects. The jaw device is powered by the power assembly. The transmission mechanism is used to transmit power to the limited travel jaw assembly and the free jaw assembly to realize the function of clamping target objects.

2. The jaw device of claim 1, wherein The transmission mechanism comprises a fixed assembly, a transmission belt assembly and a sliding rail assembly. The fixed assembly comprises a fixed plate. The fixed plate is provided with a mounting seat connected with the power assembly. The transmission belt assembly comprises a transmission belt. The transmission belt is in rotational connection with the fixed plate and in transmission connection with the power assembly. The sliding rail assembly comprises a linear guide rail and a sliding block. The linear guide rail is in transmission connection with the fixed plate. The sliding block is in sliding connection with the linear guide rail. The number of the sliding blocks is at least two groups. Each group comprises at least one sliding block. The limited travel jaw assembly further comprises a buffer component. The buffer component is in opposite or opposite moving connection with the second jaw on the transmission belt. The first jaw is connected with the buffer component. The first jaw is connected with a group of sliding blocks on the linear guide rail. The second jaw is connected with another group of sliding blocks on the linear guide rail.

3. The jaw device of claim 2, wherein The transmission belt assembly further comprises a driving wheel and a driven wheel. The driving wheel and the driven wheel are spaced apart and connected with the fixed plate. The transmission belt is connected with the driving wheel and the driven wheel. The driving wheel is in transmission connection with the power assembly.

4. The jaw device of claim 3, wherein The transmission belt comprises a synchronous belt or a belt.

5. The jaw assembly of claim 2, wherein, The buffer component comprises a guide rod, a compression spring and a bracket. The guide rod is fixedly connected with the bracket. The compression spring is sleeved on the guide rod. One end of the compression spring is connected with the bracket. The other end of the compression spring is connected with the transmission belt. In the case that the first jaw moves to the position of the limiting component and the second jaw continues to move towards the first jaw, the compression spring is in a compressed state.

6. The jaw assembly of claim 3, wherein, The power assembly comprises a single driving device.

7. The jaw device of claim 6, wherein The driving device comprises a servo motor and a speed reducer. The power output end of the servo motor is connected with the input shaft of the speed reducer. The output shaft of the speed reducer is connected with the driving wheel through a shaft coupling.

8. The jaw device according to any one of claims 1-7, characterized in that Further comprising a force sensor and a controller. The force sensor is arranged on the limited travel jaw assembly or / and the free jaw assembly. The controller is connected with the force sensor and the power assembly. In the case that the force sensor detects that the jaw clamps the target objects, the controller controls the power assembly to stop working.

9. A loading and unloading robot, characterized in that, The jaw device of any one of claims 1-8.

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