Mechanical gripper device

Abstract

The utility model relates to a mechanical gripper device, which comprises a parallel clamping jaw air cylinder, a first clamping jaw, a second clamping jaw, a third clamping jaw, a fourth clamping jaw and a fifth clamping jaw, the first clamping jaw assembly is detachably mounted on the first pneumatic jaw; and the second clamping jaw assembly is detachably mounted on the second pneumatic jaw. The induction part assembly comprises a sensor and a trigger part, one of the sensor and the trigger part is installed on the first clamping jaw assembly, and the other one of the sensor and the trigger part is installed on the second clamping jaw assembly. The first clamping jaw assembly and the second clamping jaw assembly are folded to form a clamping space, and the sensor outputs an electric signal when the trigger piece is touched or separated. The sensor and the triggering piece are installed on the first clamping jaw assembly and the second clamping jaw assembly correspondingly, the sensor can output electric signals when the first clamping jaw assembly and the second clamping jaw assembly are closed and separated, and therefore precise secondary induction of the first clamping jaw assembly and the second clamping jaw assembly is achieved, and the clamping control of workpieces of different specifications can be adapted.

Description

TECHNICAL FIELD

[0001] The utility model relates to the technical field of chuck, especially relates to a mechanical hand claw device. BACKGROUND

[0002] When the mechanical hand grabs the workpiece, with the change of the shape of the workpiece, the mechanical hand has different structure clamping structures to adapt to the shape change of the workpiece. Such as the public file with the announcement number CN117245683A provides a universal joint mechanical hand device control method. And such as the public file with the announcement number CN212947892U provides an automatic line mechanical hand claw opening and closing position state detection device.

[0003] However, the existing mechanical hand device adopts complex logic algorithm or adopts pressure sensor to carry out analog operation when judging whether the clamping positioning workpiece is completed, which not only has complex structure, but also needs processor to process the operation part, greatly improves the production cost, and the opening and closing angle of the mechanical hand device needs to be adjusted every time, which needs complex debugging, and the technical problem of low debugging efficiency, therefore, improvement is needed. UTILITY MODEL CONTENT

[0004] In order to overcome the problems in the related art, the utility model embodiment provides a mechanical hand claw device to solve the technical problems of high production cost and low debugging efficiency.

[0005] According to the first aspect of the utility model embodiment, a mechanical hand claw device is provided, which comprises:

[0006] Parallel clamping claw cylinder, comprising first air claw and second air claw sliding relative to each other;

[0007] First clamping claw assembly, which can be detachably installed on the first air claw;

[0008] Second clamping claw assembly, which can be detachably installed on the second air claw;

[0009] Induction piece assembly, comprising sensor and trigger, one of which is installed on the first clamping claw assembly, and the other is installed on the second clamping claw assembly;

[0010] The first clamping claw assembly and the second clamping claw assembly are folded to form a clamping space, and the sensor outputs an electrical signal when the trigger is touched or separated.

[0011] In an embodiment, the sensor comprises a trigger end protruding towards the trigger.

[0012] In an embodiment, the trigger is movably connected to the second clamping claw assembly to adjust the trigger distance between the trigger and the sensor.

[0013] In an embodiment, the sensing component assembly further comprises an adjusting component fixed to the second jaw assembly, and the trigger component and the adjusting component are screw-connected.

[0014] In an embodiment, the first jaw assembly comprises an adapter and a clamping jaw detachably connected to the adapter, and part of the first air jaw is inserted into the adapter, and a fastener is lock-connected to the first air jaw and the adapter.

[0015] In an embodiment, the adapter is provided with an inwardly recessed positioning groove in the lateral direction, and the first air jaw is deeply defined in the positioning groove.

[0016] In an embodiment, the adapter further comprises an inwardly recessed mounting groove, and the inwardly recessed direction of the mounting groove is perpendicular to the positioning groove, and the clamping jaw is clamped and defined in the mounting groove.

[0017] In an embodiment, the clamping jaw comprises a clamping groove in the direction of the second jaw assembly, and the clamping groove is used to adapt to the complementary groove structure of the workpiece to be clamped.

[0018] In an embodiment, the first jaw assembly and the second jaw assembly are symmetrically arranged.

[0019] In an embodiment, the mechanical gripper device further comprises a mechanical arm, and the mechanical arm is detachably connected to the parallel jaw air cylinder.

[0020] The technical scheme provided by the embodiment of the utility model can have the following beneficial effects: the parallel jaw air cylinder controls the first air jaw and the second air jaw to be actively unfolded or folded, and the preliminary active clamping position control is realized. The first jaw assembly and the second jaw assembly are replaceable jaw mechanisms, which can adapt to different requirements of workpiece clamping and greatly improve the universality. The sensor and the trigger component are respectively installed on the first jaw assembly and the second jaw assembly, and the sensor will output an electric signal when the first jaw assembly and the second jaw assembly are folded and separated, so that the accurate secondary sensing of the first jaw assembly and the second jaw assembly is realized, and the risk of excessive clamping of the workpiece is further reduced. Moreover, the sensor and the trigger component can be adjusted together to realize clamping of workpieces of different specifications and realize one jaw for multiple uses. BRIEF DESCRIPTION OF DRAWINGS

[0021] The drawings incorporated into the specification and forming a part thereof show embodiments consistent with the utility model and together with the specification serve to explain the principles of the utility model.

[0022] Figure 1 is a structural schematic view of a mechanical gripper device according to an embodiment.

[0023] Figure 2It is an exploded structural schematic view showing a mechanical gripper device according to an embodiment.

[0024] Figure 3 It is a front view schematic view showing a mechanical gripper device according to an embodiment.

[0025] Figure 4 It is a schematic view showing a first gripper assembly according to an embodiment.

[0026] Figure 5 It is a schematic view showing an adapter according to an embodiment.

[0027] In the figure, parallel gripper cylinder 10; first air gripper 11; second air gripper 12; air cylinder assembly 13; sliding seat 14; first gripper assembly 20; adapter 21; positioning groove 211; mounting groove 212; clamping gripper 22; clamping groove 221; second gripper assembly 30; assembly groove 31; sensing component assembly 40; sensor 41; trigger end 411; rotating rod 412; trigger component 42; stud 421; contact end 422; height adjustment component 43; mechanical arm 50. DETAILED DESCRIPTION

[0028] In the drawings of the embodiments of the present application, the same or similar reference numerals correspond to the same or similar components; in the description of the present application, it is understood that if the terms "upper", "lower", "left", "right", "inner", "outer" and the like indicate the orientation or positional relationship shown in the drawings, they are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, therefore the terms describing the positional relationship in the drawings are only used for exemplary illustration, and cannot be understood as a limitation on the present application, for those skilled in the art, the specific meanings of the above terms can be understood according to the specific circumstances.

[0029] As shown in Figures 1 to 3 The present application provides a mechanical gripper device, which comprises a parallel gripper cylinder 10, a first gripper assembly 20, a second gripper assembly 30 and a sensing component assembly 40, and the parallel gripper cylinder 10 is connected to a gas source.

[0030] The parallel gripper cylinder 10 comprises an air cylinder assembly 13, a sliding seat 14 at the front end, a first air gripper 11 and a second air gripper 12 that slide relative to each other. The first air gripper 11 and the second air gripper 12 slide in the sliding seat 14 and are connected to the air cylinder assembly 13, and the air cylinder assembly 13 moves to drive the first air gripper 11 and the second air gripper 12 to fold or unfold relative to each other.

[0031] The air cylinder assembly 13 drives the first air gripper 11 and the second air gripper 12 to slide, and the sliding stroke can be controlled, thereby realizing control of the clamping range of the first air gripper 11 and the second air gripper 12.

[0032] The first clamping jaw assembly 20 is detachably mounted on the first air jaw 11, and the second clamping jaw assembly 30 is detachably mounted on the second air jaw 12. During the sliding of the first air jaw 11 and the second air jaw 12, the first clamping jaw assembly 20 and the second clamping jaw assembly 30 are synchronously folded or unfolded, so as to realize the grabbing or dropping of the workpiece. Among them, the first clamping jaw assembly 20 and the second clamping jaw assembly 30 can be provided with a clamping structure adapted to the shape of the workpiece clamping part to adapt to the clamping requirements of different workpieces.

[0033] Further, the first clamping jaw assembly 20 and the second clamping jaw assembly 30 are replaceable structures, so that the first clamping jaw assembly 20 and the second clamping jaw assembly 30 of different structures can be assembled to the parallel clamping jaw cylinder 10, and one machine can be used for multiple purposes. The parallel clamping jaw cylinder 10 controls the first air jaw 11 and the second air jaw 12 to be actively unfolded or folded, so as to realize the preliminary active clamping position control. The first clamping jaw assembly 20 and the second clamping jaw assembly 30 as replaceable clamping mechanisms can adapt to different requirements of workpiece clamping, greatly improving the versatility.

[0034] In order to further control the workpiece clamping precision of the mechanical hand claw device, the sensing element assembly 40 includes a sensor 41 and a trigger 42, one of which is mounted on the first clamping jaw assembly 20, and the other is mounted on the second clamping jaw assembly 30.

[0035] The first clamping jaw assembly 20 and the second clamping jaw assembly 30 are folded to form a clamping space, and the sensor 41 outputs an electrical signal when the trigger 42 touches or separates.

[0036] The sensor 41 and the trigger 42 are respectively mounted on the first clamping jaw assembly 20 and the second clamping jaw assembly 30, and the sensor 41 will output corresponding electrical signals when the first clamping jaw assembly 20 and the second clamping jaw assembly 30 are folded and separated, so as to realize the accurate secondary sensing of the first clamping jaw assembly 20 and the second clamping jaw assembly 30, and further reduce the risk of excessive clamping of the workpiece.

[0037] In an embodiment, the sensor 41 includes a trigger end 411 protruding towards the trigger 42. The trigger end 411 is the contact sensing part of the sensor 41, and the trigger end 411 is a contact trigger structure that can respond in time and improve the triggering efficiency.

[0038] Further, the sensor 41 is provided with a rotating rod 412, and the rotating rod 412 elastically abuts against the trigger end 411. The trigger 42 actively abuts against the rotating rod 412, and a lever structure is formed between the rotating rod 412 and the trigger end 411, thereby improving the response sensitivity of the sensor 41.

[0039] In an embodiment, the trigger 42 is movably connected to the second jaw assembly 30 to adjust the trigger distance between the trigger 42 and the sensor 41. The trigger 42 is a cantilevered protrusion structure, and the sensor 41 is mounted on the first jaw assembly 20, and the trigger 42 protrudes towards the sensor 41.

[0040] In an embodiment, the length of the trigger 42 protruding from the second jaw assembly 30 is adjustable, so that different trigger stroke positions of the sensor 41 can be adapted, greatly improving the control accuracy of the stroke. As a preferred embodiment, the trigger 42 and the second jaw assembly 30 are screw connected, so that the size adjustment of any length can be adapted.

[0041] Optionally, the trigger 42 includes a contact end 422 and a stud 421 protruding from the contact end 422, and the stud 421 is screw connected with the second jaw assembly 30 to realize length adjustment.

[0042] In an embodiment, the sensor assembly 40 further includes a height adjustment member 43 fixedly connected to the second jaw assembly 30, and the trigger 42 is screw connected with the height adjustment member 43. The height adjustment member 43 is fixedly connected with the second jaw assembly 30, such as being locked connected by a fastener, or being fixedly connected by welding. The height adjustment member 43 can adjust the height position of the trigger 42 to adapt the trigger position of the trigger end 411.

[0043] Optionally, the height adjustment member 43 is a fixed block provided with a threaded hole, and the trigger 42 is screw connected with the threaded hole. The second jaw assembly 30 is provided with an assembly groove 31, and the fixed block is embedded and mounted in the assembly groove 31 to adjust the centerline height of the threaded hole.

[0044] The first jaw assembly 20 and the second jaw assembly 30 are folded to jointly clamp the workpiece, wherein the first jaw assembly 20 and the second jaw assembly 30 can adopt an asymmetric structure to clamp special-shaped workpieces. Preferably, the first jaw assembly 20 and the second jaw assembly 30 are symmetrically arranged to clamp circular products.

[0045] The first jaw assembly 20 is exemplarily described, and the second jaw assembly 30 can be understood by reference, which will not be described here.

[0046] As shown in Figures 2 to 5 In an embodiment, the first jaw assembly 20 includes an adapter 21 and a clamping jaw 22 detachably connected to the adapter 21, and part of the first air jaw 11 is inserted into the adapter 21, and the first air jaw 11 and the adapter 21 are locked connected by a fastener.

[0047] The shape of the clamping jaw 22 is adapted to the shape of the workpiece, and can be adjusted according to the shape of the workpiece. The clamping jaw 22 and the adapter 21 are detachably connected, and the clamping jaw 22 can be adjusted according to the change of the workpiece.

[0048] The first gas claw 11 and the adapter 21 are inserted and fitted, and the assembly positioning precision is high. The fastener is locked perpendicular to the insertion direction of the first gas claw 11 and the adapter 21, thereby avoiding the adapter 21 from being pulled out.

[0049] Optionally, the adapter 21 is provided with an inwardly recessed positioning groove 211 on the side, and the first gas claw 11 is deeply defined in the positioning groove 211. The positioning groove 211 is recessed from the side of the adapter 21 to form a notch structure, and the adapter 21 is buckled from the side to define the first gas claw 11, thereby realizing the positioning connection of the two. Moreover, the positioning groove 211 is located on the outside of the adapter 21, and the spacing of the first jaw assembly 20 and the second jaw assembly 30 can be conveniently adjusted.

[0050] In an embodiment, the adapter 21 further comprises an inwardly recessed mounting groove 212, the inwardly recessed direction of the mounting groove 212 is perpendicular to the positioning groove 211, and the clamping claw 22 is clamped and defined in the mounting groove 212. The mounting groove 212 is an inwardly recessed groove structure, and preferably, the mounting groove 212 is a stepped groove-shaped inwardly recessed structure to adapt to different mounting angles.

[0051] Further, the positioning groove 211 is recessed on one side of the adapter 21 towards the second jaw assembly 30, and the mounting groove 212 is recessed from the top surface or the bottom surface of the adapter 21. The clamping claw 22 is defined in the positioning groove 211 to constitute mounting positioning.

[0052] In an embodiment, the clamping claw 22 comprises a clamping groove 221 towards the second jaw assembly 30, and the clamping groove 221 is used to adapt to the complementary groove structure of the workpiece to be clamped. The clamping groove 221 is an arc-shaped groove or a curved arm mechanism to form an inwardly recessed clamping space, which is adapted to accommodate a part of the workpiece, thereby being capable of positioning the workpiece.

[0053] Preferably, the clamping claw 22 is an arc-shaped curved convex arm.

[0054] In an embodiment, the mechanical hand claw device further comprises a mechanical arm 50, which is detachably connected with the parallel jaw gas cylinder 10. The mechanical arm 50 is used to connect the mechanical hand claw device with a robot or a sliding rail, thereby being capable of clamping the workpiece to move between different positions.

[0055] It should be understood that the present application is not limited to the precise construction which has been described above and illustrated in the drawings, and that various modifications and changes can be made without departing from the scope thereof. The present application is intended to cover any variations, uses, or adaptations of the application following, in general, the principles of the application and including such departures from the present disclosure as come within known or customary practice within the art to which the application pertains or the patents by analogy.

Claims

1. A mechanical gripper device, characterized in that, The mechanical gripper device comprises: a parallel gripper cylinder comprising a first gripper and a second gripper sliding relative to each other; a first gripper assembly detachably mounted on the first gripper; a second gripper assembly detachably mounted on the second gripper; a sensing component assembly comprising a sensor and a trigger, one of which is mounted on the first gripper assembly and the other of which is mounted on the second gripper assembly; the first gripper assembly and the second gripper assembly are folded to form a clamping space, and the sensor outputs an electrical signal when the trigger is touched or separated.

2. The mechanical gripper device according to claim 1, characterized in that The sensor comprises a trigger end protruding towards the trigger.

3. The mechanical gripper device of claim 1, wherein, The trigger is movably connected to the second gripper assembly to adjust the trigger distance between the trigger and the sensor.

4. The mechanical gripper device according to claim 3, characterized in that The sensing component assembly further comprises a height adjustment component fixed to the second gripper assembly, and the trigger and the height adjustment component are screw-connected.

5. The mechanical gripper device of claim 1, wherein, The first gripper assembly comprises an adapter and a clamping jaw detachably connected to the adapter, part of the first gripper is inserted into the adapter, and a fastener is used to lock the first gripper and the adapter.

6. The mechanical gripper device according to claim 5, characterized in that The adapter is provided with an inwardly recessed positioning groove on the side, and the first gripper is deeply defined in the positioning groove.

7. The mechanical gripper device according to claim 6, characterized in that The adapter further comprises an inwardly recessed mounting groove, the inwardly recessed direction of the mounting groove is perpendicular to the positioning groove, and the clamping jaw is clamped in the mounting groove.

8. The mechanical gripper device of claim 5, wherein, The clamping jaw comprises a clamping groove facing the second gripper assembly, and the clamping groove is used to adapt to the complementary groove structure of the workpiece to be clamped.

9. The mechanical gripper device according to any of claims 5-8, characterized in that, The first gripper assembly and the second gripper assembly are symmetrically arranged.

10. The mechanical gripper device of claim 1, wherein, The mechanical gripper device further comprises a mechanical arm, and the mechanical arm is detachably connected with the parallel gripper cylinder.

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