Clamping jaw device

Abstract

The utility model provides a clamping jaw device, relates to the field of clamping jaw devices, and adopts the technical scheme that the clamping jaw device comprises a shell, a first clamping jaw group and a second clamping jaw group are hinged on the shell, each of the first clamping jaw group and the second clamping jaw group comprises two clamping jaw components, the clamping surfaces of the two clamping jaw components in the same group are oppositely arranged, and the first clamping jaw group and the second clamping jaw group are hinged on the shell. The first clamping jaw set and the second clamping jaw set clamp different positions in the axial direction of a conical object correspondingly, a first driving motor and a second driving motor are arranged in the shell, and the first driving motor and the second driving motor are both connected with transmission assemblies. One transmission assembly is connected with the two clamping jaw assemblies in the first clamping jaw set, and the other transmission assembly is connected with the two clamping jaw assemblies in the second clamping jaw set. According to the utility model, the contact area with a conical object can be increased, and the reliability of grabbing the conical object is improved.

Description

Technical Field

[0001] This utility model relates to the field of gripper devices, and more particularly to a gripper device. Background Technology

[0002] Robotic grippers are key components in industrial robots used to grasp, hold, and release objects. They include types such as parallel grippers, V-shaped grippers, and rotary grippers. By using grippers of different shapes and sizes, they can simulate and perform the movements and functions of human hands to perform various tasks.

[0003] In the prior art, Chinese utility model patent CN216759924U discloses a high-precision electromechanical gripper with a firm grip, including a housing, a geared motor, a lead screw assembly, and two sets of gripper components. The geared motor is located inside and mounted on the housing, with its output shaft facing upwards. The lead screw assembly includes a lead screw and a lead screw nut mounted on the lead screw. The lead screw is coaxially connected to the output shaft of the geared motor. The outer side of the lead screw nut has two rows of external teeth, each row of teeth being vertically aligned. Furthermore, the two rows of external teeth are arranged symmetrically from left to right. Each set of gripper components includes a gripper, a rotating wheel, a first connecting rod, and a second connecting rod. The lower end of the first connecting rod is hinged to the housing via a third hinge shaft, and the lower end of the second connecting rod is hinged to the housing via a fourth hinge shaft. The rotating wheel is fixedly connected to the second connecting rod and coaxially arranged with the fourth hinge shaft. The external teeth on the outer side of the rotating wheel mesh with a row of external teeth on the outer side of the lead screw nut. The first to fourth hinge shafts are distributed at the four vertices of a parallelogram. The two rotating wheels are arranged symmetrically from left to right. This technical solution has the advantages of low motor drive noise, smooth opening and closing of the mechanical gripper, and rapid response.

[0004] When using the above technical solution to grip an object perpendicular to the lead screw, the gripper assembly maintains a firm grip through friction between itself and the object. However, for conical objects, especially when a large axial force needs to be applied, such as when using a robotic arm to plug or unplug cables, some types of cable plugs have a conical structure. When using this gripping method, there is a certain gap between the gripper assembly and the conical shaft. Due to insufficient lateral friction, slippage occurs, making it impossible to guarantee that the gripper can reliably apply axial force based on the object, thus reducing the reliability of the robotic arm's operation. Utility Model Content

[0005] In order to solve the technical problems of the existing gripper devices and conical shafts, the present invention provides a gripper device that can increase the contact area with conical objects and increase the reliability of gripping conical objects.

[0006] The technical solution adopted by this utility model to solve the above-mentioned technical problems is as follows: a gripper device, including a housing, on which a first gripper group and a second gripper group are hinged. The first gripper group and the second gripper group each include two gripper assemblies. The gripping surfaces of the two gripper assemblies in the same group are arranged opposite to each other. The first gripper group and the second gripper group respectively grip different positions along the axial direction of a conical object. A first drive motor and a second drive motor are arranged inside the housing. The first drive motor and the second drive motor are both connected to a transmission assembly. One transmission assembly is connected to two gripper assemblies in the first gripper group, and the other transmission assembly is connected to two gripper assemblies in the second gripper group.

[0007] This invention, by setting up a first gripper group and a second gripper group that are driven separately by a single motor, can, on the one hand, increase the contact area between the gripping device and the outer surface of the conical object, thereby increasing the friction. On the other hand, the two gripper assemblies can independently adjust the gripping space according to the different diameters of the object, making them fit the conical structure more closely. Compared with a single motor driving multiple gripper assemblies, the gaps are reduced, further increasing the contact area and the reliability of the grip, making it easier for the robot to apply axial force to the conical object without slipping.

[0008] Furthermore, the gripper assembly includes rod one, rod two, and rod three. Rod one and rod three are respectively hinged to both ends of rod two. Rod one is hinged to the housing. A connecting rod one is also hinged to the upper end of rod one. A connecting rod two is hinged to the upper end of rod two. A connecting rod three is hinged to the upper end of rod three. The upper end of connecting rod three and the middle part of connecting rod two are respectively hinged to both ends of connecting rod four. The ends of connecting rod two and connecting rod one are both hinged to connecting rod five. The upper end of connecting rod five is hinged to the transmission assembly.

[0009] By setting up rod one, rod two, and rod three, this utility model can increase the degree of deformation of the gripper assembly during gripping, making the gripper assembly fit more closely to the surface of the conical object and further increasing the contact area.

[0010] Furthermore, both the first drive motor and the second drive motor are servo motors. The transmission assembly includes lead screws, each of which is provided with a lead screw nut. Two transmission rods are arranged opposite each other on the lead screw nut. Both transmission rods are hinged to the lead screw nut. One end of each transmission rod extends out of the housing and is hinged to the corresponding connecting rod. The housing is provided with a clearance groove.

[0011] This invention uses a servo motor and a lead screw to accurately adjust the position of the gripper assembly, thereby improving clamping precision.

[0012] Furthermore, clamping pads are provided on the clamping surfaces of rod two and rod three. The clamping pads can adhere to the outer surface of the conical object, and the clamping pads are made of rubber.

[0013] This invention further increases the friction between the gripper assembly and the object by setting a clamping pad.

[0014] Furthermore, the surface of the clamping pad that contacts the outer surface of the conical article is provided with anti-slip texture.

[0015] Furthermore, a mounting plate is provided on one side of the clamping pad, and the mounting plate is rotatably connected to a pivot at a corresponding position of the second or third rod, the axis of the pivot being perpendicular to the axis of the conical object.

[0016] This invention enables the rotatable installation of the clamping pad through the mounting plate and the rotating shaft. During clamping, the clamping pad swings under the action of the item and the gripper assembly, thus better conforming to the item and increasing the contact area.

[0017] Furthermore, the clamping pad has an airbag structure.

[0018] This invention sets the clamping pad as an airbag structure, which can generate elastic deformation when subjected to the action of an object and the gripper assembly, thus achieving flexible clamping.

[0019] Furthermore, the clamping surface of the clamping pad protrudes in the direction of the conical object when clamped.

[0020] This invention makes the clamping pad more easily deformable during clamping by protruding the clamping side of the clamping pad towards the object, thereby increasing the contact area with the object.

[0021] Furthermore, the clamping pad is detachably connected to the mounting plate.

[0022] Furthermore, both the first drive motor and the second drive motor are torque motors.

[0023] This invention uses the torque of a torque motor to determine whether the gripper assembly is in position, ensuring reliable and accurate clamping.

[0024] As can be seen from the above technical solutions, this utility model has the following advantages:

[0025] This invention provides a gripper device. By setting up a first gripper group and a second gripper group driven by separate motors, on the one hand, the contact area between the gripper and the outer surface of the conical object can be increased, thus increasing friction. On the other hand, the two gripper assemblies can independently adjust the gripping space according to the different diameters of the object, resulting in a closer fit to the conical structure. Compared to a single motor driving multiple gripper assemblies, the gaps are reduced, further increasing the contact area and improving the reliability of the grip. This allows the robotic arm to apply axial force to the conical object without slippage. By setting up rods one, two, and three, the deformation degree of the gripper assembly during gripping can be increased, allowing the gripper assembly to maintain a closer fit with the conical object. The gripper assembly fits the surface of the object more closely, further increasing the contact area. The servo motor and lead screw work together to accurately adjust the position of the gripper assembly, improving clamping precision. A gripping pad further increases the friction between the gripper assembly and the object. The mounting plate and shaft allow for rotatable installation of the gripping pad, enabling it to swing under the influence of the object and gripper assembly during clamping, resulting in better contact with the object and increased contact area. The gripping pad is designed as an airbag structure, allowing for elastic deformation under the influence of the object and gripper assembly, achieving flexible clamping. The torque of the torque motor determines whether the gripper assembly is in position, ensuring reliable and accurate clamping. Attached Figure Description

[0026] To more clearly illustrate the technical solution of this utility model, the drawings used in the description will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0027] Figure 1 This is a structural diagram illustrating a specific embodiment of the present invention. Figure 1 .

[0028] Figure 2 This is a structural diagram illustrating a specific embodiment of the present invention. Figure 2 .

[0029] Figure 3 This is a schematic diagram of the assembly structure of the first drive motor and the first gripper group in a specific embodiment of this utility model.

[0030] Figure 4 This is a schematic diagram of the assembly structure of rod one and clamping pad in a specific embodiment of this utility model.

[0031] Figure 5 This is a diagram showing the state of clamping a conical item according to a specific embodiment of this utility model.

[0032] Figure 6This is a schematic diagram of the structure of rod one in a specific embodiment of this utility model.

[0033] In the diagram, 1. First drive motor; 2. Housing; 3. Second drive motor; 4. Clearance groove; 5. Second gripper assembly; 501. Connecting rod five; 502. Connecting rod one; 503. Rod one; 504. Connecting rod two; 505. Connecting rod four; 506. Rod two; 507. Connecting rod three; 508. Rod three; 509. Pin six; 510. Pin seven; 511. Pin eight; 512. Pin nine; 513. Pin ten; 6. First gripper assembly; 7. Clamping pad; 8. Transmission assembly; 801. Nut; 802. Lead screw; 803. Transmission rod; 9. Mounting plate; 10. Rotating shaft. Detailed Implementation

[0034] To make the objectives, features, and advantages of this utility model more apparent and understandable, the technical solutions of this utility model will be clearly and completely described below with reference to the accompanying drawings of the specific embodiments. Obviously, the embodiments described below are only some embodiments of this utility model, and not all embodiments. Based on the embodiments of this patent, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this patent.

[0035] like Figure 1 , Figure 2 and Figure 5 As shown in the figure, this specific embodiment provides a gripper device, including a housing 2, a first gripper group 6, a second gripper group 5, a first drive motor 1, and a second drive motor 3. The first gripper group 6 and the second gripper group 5 are hinged to the lower surface of the housing 2 via a hinge seat. The first gripper group 6 and the second gripper group 5 each include two gripper assemblies. The gripping surfaces of the two gripper assemblies in the same group are arranged opposite to each other. The first gripper group 6 and the second gripper group 5 respectively grip different positions along the axial direction of a conical object. The first drive motor 1 and the second drive motor 3 are disposed inside the housing 2. The first drive motor 1 and the second drive motor 3 are both connected to a transmission assembly 8. One transmission assembly 8 is connected to two gripper assemblies in the first gripper group 6, and the other transmission assembly 8 is connected to two gripper assemblies in the second gripper group 5.

[0036] This specific embodiment, by setting up a first gripper group 6 and a second gripper group 5 driven by a single motor, can, on the one hand, increase the contact area between the gripping device and the outer surface of the conical object, thereby increasing the friction. On the other hand, the two gripper assemblies can independently adjust the gripping space according to the different diameters of the object, making them fit the conical structure more closely. Compared with a single motor driving multiple gripper assemblies, the gaps are reduced, further increasing the contact area and the reliability of the grip, making it easier for the robot to apply axial force to the conical object without slipping.

[0037] like Figure 3 As shown, to make the gripper assembly deform more closely resemble the gripping effect of a human hand during grasping, in this specific embodiment, the gripper assembly can adopt the following specific structure: The gripper assembly includes rod one 503, rod two 506, and rod three 508. Rod one 503 and rod three 508 are respectively hinged to both ends of rod two 506 via pin one and pin two. The upper end of rod one 503 is hinged to the housing 2 via a hinge seat on the housing 2. The upper end of rod one 503 is also hinged to connecting rod one 502 via pin three. The upper end of rod two 506 is hinged to connecting rod two 504 via pin four. The upper end of rod three 508 is hinged to connecting rod three 507 via pin five. The end of connecting rod 3 507 is hinged to the middle of connecting rod 2 504 via pins 6 509 and 7 510, and is located below pin 7 510. The end of connecting rod 2 504 is hinged to connecting rod 1 502 and connecting rod 501 via pins 8 511 and 9 512, respectively. Connecting rod 501 is hinged to the transmission assembly 8 via pin 10 513. On connecting rod 501, from top to bottom, the pins are 10 513, 9 512, and 8 511. This arrangement increases the deformation of the gripper assembly during gripping, making the gripper assembly fit more closely to the surface of the conical object and further increasing the contact area.

[0038] like Figure 3 As shown in this specific embodiment, both the first drive motor 1 and the second drive motor 3 are servo motors. The transmission assembly 8 includes a lead screw 802, and each of the two lead screws 802 is provided with a lead screw nut 801. Two transmission rods 803 are arranged opposite to each other on the lead screw nut 801. Both transmission rods 803 are hinged to the lead screw nut 801. One end of the transmission rod 803 extends out of the housing 2 and is hinged to the corresponding connecting rod 501. The housing 2 is provided with a clearance groove 4. Through the cooperation of the servo motor and the lead screw 802, the position of the gripper assembly can be accurately adjusted, thereby improving the gripping accuracy.

[0039] like Figure 2 , Figure 4 , Figure 5 and Figure 6As shown, to increase the friction between the gripper and the object, in this specific embodiment, gripping pads 7 are provided on the gripping surfaces of both rod 2 506 and rod 3 508. The gripping pads 7 can adhere to the outer surface of the conical object. In this specific embodiment, the gripping pads 7 are made of rubber, and the surface of the gripping pads 7 that adheres to the outer surface of the conical object has anti-slip textures. Furthermore, since the diameters corresponding to different positions on the two gripper assemblies in the same group are different, to make the gripping pads 7 fit the object more closely, a mounting plate 9 is provided on one side of the gripping pads 7. The mounting plate 9 is rotatably connected to the rotating shaft 10 at the corresponding position of rod 2 or rod 3. The axis of the rotating shaft 10 is perpendicular to the axis of the conical object. In this specific embodiment... In the middle, rod 2 506 and rod 3 508 are provided with mounting grooves 11, and rod 2 506 and rod 3 508 are also provided with two mounting holes 12 coaxially. The mounting holes 12 are connected to the corresponding ends of the mounting grooves 11. One end of the rotating shaft 10 is fitted with a spring cap to facilitate the installation of the rotating shaft 10. One end of the rotating shaft 10 and the spring cap are set in the corresponding mounting holes 12. The mounting grooves 11 are set along the length of the rod. The mounting grooves 11 are wide enough to meet the rotation range requirements of the mounting plate 9. The clamping pad 7 adopts a plate-shaped structure. After this setting, under the action of the gripper assembly and the object, the clamping pad 7 can swing with the inclined contact surface, so that the clamping surface of the clamping pad 7 is closer to the outer surface of the object, further increasing the contact area with the object and increasing the friction.

[0040] like Figure 4As shown, due to positioning errors, the axis of the item cannot be guaranteed to be aligned with the centerline of the clamping pad 7, resulting in a clamping gap. Therefore, in this specific embodiment, the clamping pad 7 is an airbag structure filled with gas, maintaining a set shape when not subjected to external force. In this specific embodiment, the clamping pad 7 is made of natural rubber, which has high elasticity and has deformed under clamping force. After the clamping pad 7 adopts an airbag structure, it can tightly fit the surfaces of areas with different diameters after being deformed under pressure, avoiding gaps between the clamping pad 7 and the conical surface that could cause poor contact. When axial force is applied, the gripper assembly and the item may slide relative to each other, making it impossible to reliably apply axial force to achieve insertion and extraction operations. Furthermore, the airbag structure can buffer the force, and the airbag adjusts the contact through internal pressure. The area is designed to ensure that the clamping force is evenly distributed on the conical surface, reducing local stress concentration and preventing structural deformation (e.g., thin-walled conical parts) caused by uneven force during clamping. Furthermore, the airbag structure continuously adjusts the contact state with pressure changes during clamping, maintaining effective friction even if the conical item is tilted relative to the gripper device through real-time deformation. Further, to increase the degree of deformation, the clamping surface of the clamping pad 7 protrudes in the direction of the conical item during clamping. To facilitate the clamping of the pad 7, in this specific embodiment, the clamping pad 7 is detachably connected to the mounting plate 9. In this specific embodiment, the two are detachably connected by magnets; specifically, two magnets with opposite magnetic properties are respectively embedded in the mounting plate 9 and the clamping pad 7 at corresponding positions.

[0041] To ensure that the first drive motor 1 and the second drive motor 3 can work independently and sensitively, in this specific embodiment, the first drive motor 1 and the second drive motor are torque motors. When the corresponding clamping group clamps the item at the corresponding position, the torque of the first drive motor 1 and the second drive motor 3 reaches the set threshold, and it is determined that the gripper assembly has moved into place, and then the rotation stops to maintain the corresponding output torque. The torque motor is a product purchased from the market, and its structure and working principle will not be described in detail.

[0042] The working process of this gripper device is as follows:

[0043] When a conical object needs to be gripped, the first drive motor 1 and the second drive motor 3 control the first gripper assembly 6 and the second gripper assembly 5 to open, respectively. Then, the first drive motor 1 and the second drive motor 3 rotate in opposite directions, and the two gripper assemblies of the first gripper assembly 6 and the second gripper assembly 5 rotate towards each other. The gripper assemblies bend and deform, surrounding the conical object. As the gripper assemblies get closer to the surface of the object, the gripping pad 7 is blocked by the object and swings. Finally, the tilt direction of the gripping pad 7 is consistent with the extension direction of the object's generatrix. With the continuous gripping of the gripping assembly, the gripping pad 7 undergoes elastic deformation and fits more closely to the surface of the object. When the torque of the first drive motor 1 and the second drive motor 3 reaches the set torque, the rotation stops, thus achieving reliable gripping of the object.

[0044] As can be seen from the above specific embodiments, this utility model has the following beneficial effects:

[0045] 1. By setting up a first gripper group 6 and a second gripper group 5 driven by separate motors, on the one hand, the contact area between the gripping device and the outer surface of the conical object can be increased, thus increasing the friction. On the other hand, the two gripper groups can independently adjust the gripping space according to the different diameters of the object, making it fit the conical structure more closely. Compared with one motor driving multiple gripper groups, the gap is reduced, further increasing the contact area and the reliability of gripping. This makes it easier for the robot to apply axial force to the conical object without slipping.

[0046] 2. By setting up rod one, rod two, and rod three, the deformation degree of the gripper assembly during gripping can be increased, making the gripper assembly fit more closely to the surface of the conical object and further increasing the contact area;

[0047] 3. The position of the gripper assembly can be accurately adjusted by the cooperation of the servo motor and the lead screw 802, thereby improving the gripping accuracy;

[0048] 4. The friction between the gripper assembly and the item is further increased by setting the clamping pad 7;

[0049] 5. The clamping pad 7 is rotatably mounted by the mounting plate 9 and the rotating shaft 10. When clamping, the clamping pad 7 swings under the action of the item and the gripper assembly, so as to better fit the item and increase the contact area.

[0050] 6. The torque of the torque motor is used to determine whether the gripper assembly is in place, ensuring reliable and accurate clamping;

[0051] 7. By setting the clamping pad 7 as an airbag structure, it can generate elastic deformation when subjected to the action of the object and the gripper assembly, thus achieving flexible clamping.

[0052] The above description of the disclosed embodiments enables those skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A gripper device, comprising a housing (2), characterized in that, The housing (2) is hinged with a first gripper group (6) and a second gripper group (5). Both the first gripper group (6) and the second gripper group (5) include two gripper assemblies. The gripping surfaces of the two gripper assemblies in the same group are arranged opposite to each other. The first gripper group (6) and the second gripper group (5) respectively grip different positions of the conical object in the axial direction. The housing (2) is provided with a first drive motor (1) and a second drive motor (3). Both the first drive motor (1) and the second drive motor (3) are connected to a transmission assembly (8). One transmission assembly (8) is connected to two gripper assemblies in the first gripper group (6), and the other transmission assembly (8) is connected to two gripper assemblies in the second gripper group (5).

2. The gripper device as described in claim 1, characterized in that, The gripper assembly includes rod one (503), rod two (506), and rod three (508). Rod one (503) and rod three (508) are respectively hinged to both ends of rod two (506). Rod one (503) is hinged to the housing (2). A connecting rod one (502) is also hinged to the upper end of rod one (503). A connecting rod two (504) is hinged to the upper end of rod two (506). A connecting rod three (507) is hinged to the upper end of rod three (508). The upper end of connecting rod three (507) and the middle part of connecting rod two (504) are respectively hinged to both ends of connecting rod four (505). The ends of connecting rod two (504) and connecting rod one (502) are both hinged to connecting rod five (501). The upper end of connecting rod five (501) is hinged to the transmission assembly (8).

3. The gripper device as described in claim 2, characterized in that, Both the first drive motor (1) and the second drive motor (3) are servo motors. The transmission assembly (8) includes a lead screw (802). Each of the two lead screws (802) is provided with a lead screw nut (801). Two transmission rods (803) are arranged opposite to each other on the lead screw nut (801). Both transmission rods (803) are hinged to the lead screw nut (801). One end of the transmission rod (803) extends out of the housing (2) and is hinged to the corresponding connecting rod five (501). The housing (2) is provided with a clearance groove (4).

4. The gripper device as described in claim 2, characterized in that, Clamping pads (7) are provided on the clamping surfaces of rod two (506) and rod three (508). The clamping pads (7) can be attached to the outer surface of the conical object. The clamping pads (7) are made of rubber.

5. The gripper device as described in claim 4, characterized in that, The surface of the clamping pad (7) that is in contact with the outer surface of the conical article is provided with anti-slip texture.

6. The gripper device as described in claim 5, characterized in that, The clamping pad (7) is provided with a mounting plate (9) on one side. The mounting plate (9) is rotatably connected to the pivot (10) at the corresponding position of the second rod (506) or the third rod (508). The axis of the pivot (10) is perpendicular to the axis of the conical article.

7. The gripper device as described in claim 6, characterized in that, The clamping pad (7) is an airbag structure.

8. The gripper device as described in claim 7, characterized in that, The clamping surface of the clamping pad (7) protrudes in the direction of the conical object when it is clamped.

9. The gripper device as described in claim 8, characterized in that, The clamping pad (7) is detachably connected to the mounting plate (9).

10. The gripper device according to any one of claims 1-9, characterized in that, The first drive motor (1) and the second drive motor (3) are torque motors.

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