Parallel clamping jaw device

Abstract

The utility model discloses a parallel clamping jaw device, which comprises a clamping jaw body and a driving mechanism, the clamping jaw body comprises a clamping jaw connecting frame, a first clamping jaw main body and a second clamping jaw main body are arranged in the clamping jaw connecting frame in parallel, and the first clamping jaw main body and the second clamping jaw main body are respectively provided with travel chutes which are obliquely distributed; a plug pin is arranged in the stroke sliding groove and movably connects the first clamping jaw body and the second clamping jaw body to the two sides of the clamping jaw connecting frame, the middle section of the plug pin is transversely connected with a pushing pin in a penetrating mode, and the tail end of the pushing pin is connected with an output shaft of the driving mechanism. The driving mechanism pushes the push pin to move front and back, so that the plug pin slides along the stroke sliding groove, and the first clamping jaw body and the second clamping jaw body are driven to execute clamping action approaching each other or opening action leaving each other. Linear motion of the driving mechanism is converted into symmetrical translation of the clamping jaws through linkage of the plug pin and the push pin, and the first clamping jaw body and the second clamping jaw body execute clamping action close to each other or opening action far away from each other.

Description

Technical Field

[0001] This utility model relates to the field of mechanical gripper technology, specifically to a parallel gripper device. Background Technology

[0002] The most prominent feature of intelligent production lines is unmanned operation, typically using mechanical grippers in conjunction with industrial robots to handle objects. However, in the gripping process of objects located in confined spaces, the cylinder contraction drives the gripper to open and close. The large radius of motion during gripping makes it easy to collide with other surrounding equipment, making gripping inconvenient and potentially causing unnecessary losses.

[0003] In addition, the retraction force of the cylinder directly affects the clamping force of the fixture. When clamping the object without damaging it, it is difficult to adjust the retraction force of the cylinder. Moreover, the cylinder retraction process affects the clamping radius. The clamping force can only be controlled by adjusting the retraction force of the cylinder, which is difficult to control and has high research and development costs.

[0004] In summary, there is an urgent need to develop a parallel gripper device. Utility Model Content

[0005] To address the shortcomings of existing technologies, this utility model provides a parallel gripper device that can overcome the deficiencies in existing technologies. It is suitable for gripping objects in narrow spaces, can firmly grip various types of objects, and has the characteristics of simple structure and debugging process, easy control, and low research and development cost.

[0006] To achieve the above objectives, this utility model provides the following technical solution:

[0007] A parallel gripper device includes a gripper body and a drive mechanism. The gripper body includes a gripper connecting frame, inside which a first gripper body and a second gripper body are arranged in parallel. Inclined travel grooves are respectively formed on the first and second gripper bodies. A pin is disposed within each travel groove, movably connecting the first and second gripper bodies to both sides of the gripper connecting frame. A pusher is laterally connected through the middle section of the pin, and the end of the pusher is connected to the output shaft of the drive mechanism. The drive mechanism pushes the pusher back and forth, causing the pin to slide along the travel groove, thereby driving the first and second gripper bodies to perform a clamping action that brings them closer together or an opening action that moves them apart.

[0008] Furthermore, the first gripper body and the second gripper body include a main gripper and a secondary gripper disposed at the front end of the main gripper. The main gripper and the gripper connecting frame have mutually cooperating ball grooves on their opposite sides. A plurality of balls are disposed in the ball grooves and are axially limited by limiting pins passing through the side of the gripper connecting frame.

[0009] Furthermore, the gripper body also includes a gripper base plate and a pressure plate. The gripper base plate is disposed at the bottom of the gripper connecting frame, and the pressure plate is detachably disposed at the top of the gripper connecting frame by means of a bolt assembly.

[0010] Furthermore, the drive mechanism is a cylinder or a servo motor with a linear output shaft.

[0011] Furthermore, it also includes a moving module used in conjunction with the parallel gripper device. The moving module includes: a guide plate on which a linear guide rail is provided; a linear slider that slides in cooperation with the linear guide rail; a slider plate disposed on the linear slider; and a fine-tuning block disposed on the slider plate, the fine-tuning block being connected to the gripper base plate.

[0012] Compared with the prior art, the present invention has the following beneficial effects:

[0013] A parallel gripper device is provided, in which inclined travel grooves are formed on the parallel first and second gripper bodies. Through the linkage of a pin and a pusher, the linear motion of the drive mechanism is converted into the symmetrical translational motion of the grippers, enabling the first and second gripper bodies to perform clamping actions that bring them closer together or opening actions that move them apart. This parallel gripper device overcomes the shortcomings of existing technologies, is suitable for gripping objects in narrow spaces, can firmly grip various types of objects, and features a simple structure and debugging process, easy control, and low development cost. Attached Figure Description

[0014] Figure 1 The figure shown is a three-dimensional structural diagram of the parallel gripper device;

[0015] Figure 2 The diagram shown is a side view of the parallel gripper device.

[0016] Figure 3 The diagram shown is an exploded assembly structure diagram of the parallel gripper device.

[0017] Figure 4 The diagram shown is an exploded assembly structure of the gripper body.

[0018] Figure 5 The diagram shows the assembly structure of the parallel gripper device and the moving module.

[0019] Figure 6 The diagram shown is a 3D structural diagram of the mobile module.

[0020] In the diagram: 1. Gripper body; 2. Drive mechanism; 3. Pin; 4. Push pin; 5. Ball bearing groove; 6. Ball bearing; 7. Limit pin; 8. Moving module; Gripper connecting frame; 12. First gripper body; 12A. Stroke groove; 12B. Connecting pin; 13. Second gripper body; 13A. Stroke groove; 13B. Connecting pin; 14. Gripper base plate; 15. Pressure plate; 81. Guide rail plate; 82. Linear guide rail; 83. Linear slider; 84. Slider plate; 85. Fine-tuning block. Detailed Implementation

[0021] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0022] See Figure 1-6 As shown, this utility model provides a technical solution: a parallel gripper device, including a gripper body 1 and a drive mechanism 2. The gripper body 1 includes a gripper connecting frame 11. A first gripper body 12 and a second gripper body 13 are arranged parallel inside the gripper connecting frame 11. The first gripper body 12 and the second gripper body 13 are respectively provided with inclined travel grooves (12A, 13A). A pin 3 is provided in the travel groove (12A, 13A). The pin 3 movably connects the first gripper body 12 and the second gripper body 13 to both sides of the gripper connecting frame 11. A pusher 4 is transversely connected through the middle section of the pin 3. The end of the pusher 4 is connected to the output shaft of the drive mechanism 2. The drive mechanism 2 pushes the pusher 4 to move back and forth, so that the pin 3 slides along the travel groove (12A, 13A), causing the first gripper body 12 and the second gripper body 13 to perform a clamping action that moves closer to each other or an opening action that moves away from each other. By linking the pin 3 and the pusher 4, the linear motion of the drive mechanism 2 is converted into the symmetrical translation of the gripper, so that the first gripper body 12 and the second gripper body 13 can perform a clamping action that moves closer to each other or an opening action that moves further apart from each other. This can solve the shortcomings of the existing technology, is suitable for gripping objects in narrow spaces, can firmly grip various types of objects, and has the characteristics of simple structure and debugging process, easy control, and low R&D cost.

[0023] See Figure 3-4As shown, the first gripper body 12 and the second gripper body 13 include main grippers (121, 131) and secondary grippers (122, 132) disposed at the front end of the main grippers (121, 131). Specifically, the main grippers (121, 131) and the secondary grippers (122, 132) are connected as one unit by connecting pins (12B, 13B). The main grippers (121, 131) and the gripper connecting frame 11 have mutually cooperating ball grooves 5 on their opposite sides. A plurality of balls 6 are disposed in the ball grooves 5 and are axially limited by limiting pins 7 passing through the side of the gripper connecting frame 11. In this embodiment, the cross-section of the ball groove 5 can be triangular, square or semi-circular, and can be specifically designed according to actual use requirements. By setting a plurality of balls 6 in the ball grooves 5, the first gripper body 12 and the second gripper body 13 can move smoothly in the gripper connecting frame 11, while reducing the risk of friction with the gripper connecting frame 11.

[0024] The gripper body 1 also includes a gripper base plate 14 and a pressure plate 15. The gripper base plate 14 is located at the bottom of the gripper connecting frame 11, and the pressure plate 15 is detachably mounted on the top of the gripper connecting frame 11 via a bolt assembly. After removing the pressure plate 15, the key moving parts inside, such as the first gripper body 12, the second gripper body 13, the pin 3, and the ball bearing 6, can be directly exposed, shortening the disassembly and modular replacement time, while effectively protecting the key moving parts inside the gripper body 1.

[0025] The drive mechanism 2 is a cylinder or servo motor with a linear output shaft. A cylinder or servo motor can be selected according to actual usage requirements. The end of the push pin 4 is directly connected to the output shaft of the drive mechanism 2, eliminating transmission backlash and improving motion synchronization.

[0026] See Figure 5-6 As shown, the device also includes a moving module 8 used in conjunction with the parallel gripper device. The moving module 8 includes: a guide rail plate 81 with a linear guide rail 82 mounted on it; a linear slider 83 that slides in cooperation with the linear guide rail 82; a slider plate 84 mounted on the linear slider 83; and a fine-tuning block 85 mounted on the slider plate 84, which is connected to the gripper base plate 14. This enables the parallel gripper device to be used on an XYZ moving module and is widely used in various scenarios requiring precise control.

[0027] Working principle: When the output shaft of the drive mechanism 2 pushes the pusher 4 forward, the pin 3 slides along the travel groove (12A, 13A), driving the first gripper body 12 and the second gripper body 13 to perform opposing gripping movements, so that the first gripper body 12 and the second gripper body 13 jointly grip the object; when the output shaft of the drive mechanism 2 pulls the pusher 4 backward, the pin 3 slides along the travel groove (12A, 13A), driving the first gripper body 12 and the second gripper body 13 to perform opposing separating movements, so that the first gripper body 12 and the second gripper body 13 jointly release the object. This parallel gripper device is widely used in various scenarios requiring precise control, and is especially suitable for gripping objects in narrow spaces, capable of firmly gripping various types of objects.

Claims

1. A parallel gripper device, comprising a gripper body (1) and a drive mechanism (2), characterized in that, The gripper body (1) includes a gripper connecting frame (11). A first gripper body (12) and a second gripper body (13) are arranged in parallel inside the gripper connecting frame (11). The first gripper body (12) and the second gripper body (13) are respectively provided with inclined travel grooves (12A, 13A). A pin (3) is provided in the travel groove (12A, 13A). The pin (3) movably connects the first gripper body (12) and the second gripper body (13) to both sides of the gripper connecting frame (11). A pusher (4) is horizontally connected through the middle section of the pin (3). The end of the pusher (4) is connected to the output shaft of the drive mechanism (2). The drive mechanism (2) pushes the pusher (4) to move back and forth, so that the pin (3) slides along the travel groove (12A, 13A), driving the first gripper body (12) and the second gripper body (13) to perform a clamping action that moves closer to each other or an opening action that moves away from each other.

2. The parallel gripper device according to claim 1, characterized in that, The first gripper body (12) and the second gripper body (13) include a main gripper (121, 131) and a secondary gripper (122, 132) disposed at the front end of the main gripper (121, 131). The gripper (121, 131) and the gripper connecting frame (11) have ball grooves (5) that cooperate with each other on opposite sides. A number of balls (6) are disposed in the ball grooves (5) and are axially limited by limiting pins (7) passing through the side of the gripper connecting frame (11).

3. The parallel gripper device according to claim 1, characterized in that, The gripper body (1) also includes a gripper base plate (14) and a pressure plate (15). The gripper base plate (14) is disposed at the bottom of the gripper connecting frame (11), and the pressure plate (15) is detachably disposed at the top of the gripper connecting frame (11) by means of a bolt assembly.

4. The parallel gripper device according to claim 1, characterized in that, The drive mechanism (2) is a cylinder or servo motor with a linear output shaft.

5. The parallel gripper device according to any one of claims 1-4, characterized in that, It also includes a moving module (8) used in conjunction with the parallel gripper device. The moving module (8) includes: a guide plate (81) on which a linear guide rail (82) is provided; a linear slider (83) that slides in cooperation with the linear guide rail (82); a slider plate (84) on the linear slider (83); and a fine-tuning block (85) on the slider plate (84), the fine-tuning block (85) being connected to the gripper base plate (14).

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