High-flexibility clamping jaw device and system

Abstract

The embodiment of the utility model provides a high-flexibility clamping jaw device and system, and belongs to the technical field of clamping jaws. The high-flexibility clamping jaw device comprises a rotating disc (1); the clamping jaw modules (2) are distributed on the edge of the rotating disc (1) so as to be driven by the rotating disc (1) to be switched to the corresponding parts to obtain the parts; and the industrial camera module (3) is arranged on the edge of the rotating disc (1) so as to photograph the parts before the clamping jaw modules (2) suck the parts, so that the positions of the parts are determined, and the clamping jaw modules (2) are conveniently switched. According to the high-flexibility clamping jaw device, the clamping jaw devices can be switched so as to suck different types of parts.

Description

Technical Field

[0001] This utility model relates to the field of gripper technology, and specifically to a highly flexible gripper device and system. Background Technology

[0002] With economic and technological development, the application of automated equipment in industrial production is becoming increasingly widespread. The use of gripper devices for automated assembly of parts is also becoming more prevalent. However, existing gripper devices tend to pick up only a limited range of parts. When switching products, manual replacement of the gripper device is required, which necessitates manual disassembly and wastes human and material resources. Therefore, a highly flexible gripper is needed that can automatically switch gripper devices to pick up different types of parts. Utility Model Content

[0003] The purpose of this utility model embodiment is to provide a highly flexible gripper device and system, which can switch gripper devices to pick up different types of parts.

[0004] To achieve the above objectives, this utility model provides a highly flexible gripper device, the highly flexible gripper device comprising:

[0005] Rotating disk;

[0006] Multiple gripper modules are distributed on the edge of the rotating disk, so that they can be driven by the rotating disk to switch to the corresponding parts to pick up the parts;

[0007] An industrial camera module is positioned on the edge of the rotary table to photograph the parts before the gripper module picks them up, thereby determining the position of the parts and facilitating the switching of the gripper module.

[0008] Optionally, the gripper module includes:

[0009] A cylinder mounting plate is disposed on the edge of the rotary disk;

[0010] A slide cylinder is mounted on the cylinder mounting plate.

[0011] Multiple gripping units, each with a different number and position of suction nozzles, are respectively set at the bottom of the corresponding slide cylinder, so that they are moved by the slide cylinder to the position of the corresponding component to obtain the corresponding component.

[0012] Optionally, the plurality of gripping units include:

[0013] The first suction nozzle mounting plate is located at the bottom of the slide cylinder so that it can be moved by the slide cylinder to the top of the component.

[0014] The suction nozzle is located in the middle of the first suction nozzle mounting plate, and is moved by the first suction nozzle mounting plate to the top of the component to pick up the corresponding component.

[0015] Optionally, the plurality of gripping units include:

[0016] The second suction nozzle mounting plate is disposed at the bottom of the slide cylinder so that it can be moved above the component by the slide cylinder, and the second suction nozzle mounting plate is provided with a first through groove.

[0017] The suction nozzles are respectively disposed at both ends of the first through groove, and are moved above the component by the second suction nozzle mounting plate to pick up the corresponding component.

[0018] Optionally, the plurality of gripping units include:

[0019] The third suction nozzle mounting plate is located at the bottom of the slide cylinder so that it can be moved above the component by the slide cylinder. The part of the third suction nozzle mounting plate that extends beyond the slide cylinder is L-shaped.

[0020] The suction nozzles are respectively located at the three ends of the L-shaped portion of the third suction nozzle mounting plate, so as to be moved by the third suction nozzle mounting plate to move above the component to pick up the corresponding component.

[0021] Optionally, the plurality of gripping units include:

[0022] A fourth suction nozzle mounting plate is disposed at the bottom of the slide cylinder so that it can be moved to the top of the component by the slide cylinder. The fourth suction nozzle mounting plate is provided with a second through groove, the length of which is less than the length of the first through groove.

[0023] The suction nozzles are respectively disposed at both ends of the second through groove, and are moved above the component by the fourth suction nozzle mounting plate to pick up the corresponding component.

[0024] Optionally, the industrial camera module includes:

[0025] The mounting base is disposed on the edge of the rotating disk so that it can be driven to rotate by the rotating disk;

[0026] A camera mounting plate is mounted on the mounting base so that it can be moved by the mounting base;

[0027] A camera is mounted on the camera mounting plate and is moved by the camera mounting plate to move above the component in order to take pictures of the component.

[0028] Optionally, the industrial camera module includes:

[0029] A light source mounting plate is disposed at the bottom of the mounting base;

[0030] The light source is located at the bottom of the light source mounting plate and below the camera.

[0031] On the other hand, the present invention also provides a highly flexible gripper system, the highly flexible gripper system comprising:

[0032] The highly flexible gripper device described above;

[0033] The control module is used to determine the position of the component based on the photo taken by the industrial camera module in the highly flexible gripper device, so as to control the gripper module in the highly flexible gripper device to rotate to the corresponding position and grip the component.

[0034] Through the above technical solution, the highly flexible gripper device and system provided by this utility model can include a rotating disk. The rotating disk can accommodate multiple gripper modules, each positioned on the edge of the rotating disk, allowing them to be switched onto the corresponding component by the rotating disk for gripping. An industrial camera module can be positioned on the edge of the rotating disk, enabling the gripper module to take a picture of the component before it is gripped. The position of the component can be determined based on the picture, allowing the rotating disk to rotate and switch the gripper module to the corresponding component for gripping. This highly flexible gripper device can switch gripper devices to grip different types of components.

[0035] Other features and advantages of this utility model embodiment will be described in detail in the following detailed description section. Attached Figure Description

[0036] The accompanying drawings are provided to further illustrate the embodiments of the present invention and form part of the specification. They are used together with the following detailed description to explain the embodiments of the present invention, but do not constitute a limitation thereof. In the drawings:

[0037] Figure 1 This is a first side three-dimensional view of a highly flexible gripper device according to one embodiment of the present invention;

[0038] Figure 2 This is a three-dimensional view of the second side of a highly flexible gripper device according to one embodiment of the present invention;

[0039] Figure 3 This is a three-dimensional view of an industrial camera module of a highly flexible gripper device according to one embodiment of the present invention.

[0040] Explanation of reference numerals in the attached figures

[0041] 1. Rotary disk 2. Gripper module

[0042] 3. Industrial camera module; 4. Cylinder mounting plate

[0043] 5. Slide table cylinder 6. Clamping unit

[0044] 7. First suction nozzle mounting plate 8. Suction nozzle

[0045] 9. Second suction nozzle mounting plate; 10. First through groove

[0046] 11. Third suction nozzle mounting plate 12. Fourth suction nozzle mounting plate

[0047] 13. Second through slot 14. Mounting base

[0048] 15. Camera mounting plate 16. Camera

[0049] 17. Light source mounting plate 18. Light source Detailed Implementation

[0050] The specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for illustration and explanation only and are not intended to limit the scope of the present invention.

[0051] Figure 1 This is a first side three-dimensional view of a highly flexible gripper device according to one embodiment of the present invention. In this invention, the highly flexible gripper device may include: a rotating disk 1, gripper modules 2, and an industrial camera module 3. The rotating disk 1 is rotatable. There may be multiple gripper modules 2, which can be distributed along the edge of the rotating disk 1, allowing them to be switched onto corresponding parts by the rotating disk 1 to acquire those parts. It is understood that in this application, the gripper modules acquire the corresponding parts through mechanical gripping or vacuum suction. The industrial camera module 3 can be located along the edge of the rotating disk 1, allowing it to photograph the part before the gripper modules 2 pick it up, thus determining the part's position. After determining the part's position, the rotating disk 1 can be rotated to switch gripper modules 1, thereby switching the gripper modules 1 onto the corresponding parts to acquire them. This highly flexible gripper device can switch gripper devices to acquire different types of parts.

[0052] In one embodiment of this utility model, such as Figure 1As shown, the gripper module 1 may include: a cylinder mounting plate 4, a slide cylinder 5, and a gripping unit 6. The cylinder mounting plate 4 can be disposed on the edge of the rotating disk 1, so that it can be rotated by the rotating disk 1. The slide cylinder 5 can be disposed on the cylinder mounting plate 4. There can be multiple gripping units 6, and each gripping unit 6 can grip parts of different sizes. The multiple gripping units 6 can be disposed at the bottom of the corresponding slide cylinder 5, so that they can be moved by the slide cylinder 5 to the position of the corresponding part to pick up the corresponding part. When picking up a part, the slide cylinder 5 operates, which can extend and retract the gripping unit 6 to the height of the part to be picked up, and an external vacuum is drawn, so that the suction nozzle 8 can generate suction force, and then the suction nozzle 8 can pick up the part. The difference between each gripping unit 6 is that the number and position of the suction nozzle 8 can be configured according to the shape of the part, so that it can be switched to pick up different parts, thereby realizing highly flexible automated assembly work.

[0053] In one embodiment of this utility model, such as Figure 1 As shown, the gripping unit 6 may include a first suction nozzle mounting plate 7 and a suction nozzle 8. The first suction nozzle mounting plate 7 may be disposed at the bottom of the slide cylinder 5, so that it can be moved by the slide cylinder 5 to above the part to be gripped. The suction nozzle 8 may be disposed in the middle of the first suction nozzle mounting plate 7, so that it can be moved by the first suction nozzle mounting plate 7 to above the part, and then the corresponding part can be gripped.

[0054] In one embodiment of this utility model, such as Figure 1 As shown, the clamping unit 6 may include a second suction nozzle mounting plate 9 and a suction nozzle 8. The second suction nozzle mounting plate 9 may be disposed at the bottom of the slide cylinder 5, so that it can be moved above the part by the slide cylinder 5. The second suction nozzle mounting plate 9 may be provided with a first through groove 10. The number of suction nozzles on the second suction nozzle mounting plate 9 may be two, and they may be respectively disposed at both ends of the first through groove 10. The suction nozzle 8 can be moved above the part by the second suction nozzle mounting plate 9, so as to pick up the corresponding part.

[0055] In one embodiment of this utility model, such as Figure 2As shown, the gripping unit 6 may include a third suction nozzle mounting plate 11 and a suction nozzle 8. The third suction nozzle mounting plate 11 may be disposed at the bottom of the slide cylinder 5, so that it can be moved above the component by the slide cylinder 5. The portion of the third suction nozzle mounting plate 11 extending beyond the slide cylinder 5 may be L-shaped. The suction nozzle 8 may be disposed at the three ends of the L-shaped portion of the third suction nozzle mounting plate 11, thus also being L-shaped. The suction nozzle 8 can be moved above the component by the third suction nozzle mounting plate 11, thereby picking up the corresponding component.

[0056] In one embodiment of this utility model, such as Figure 2 As shown, the clamping unit 6 may include a fourth suction nozzle mounting plate 12 and suction nozzles 8. The fourth suction nozzle mounting plate 12 may be disposed at the bottom of the slide cylinder 5, and thus can be moved above the component by the slide cylinder 5. The fourth suction nozzle mounting plate 12 may be provided with a second through groove 13. The length of the second through groove 13 may be less than the length of the first through groove 10. The number of suction nozzles 8 on the fourth suction nozzle mounting plate 12 may be two, and they may be disposed at opposite ends of the second through groove 13. The suction nozzles 8 may be moved above the component by the fourth suction nozzle mounting plate 12, thereby picking up the corresponding component. The size of the component picked up by the suction nozzle 8 on the fourth suction nozzle mounting plate 12 and the size of the component picked up by the suction nozzle 8 on the second suction nozzle mounting plate 9 may be different.

[0057] In one embodiment of this utility model, such as Figure 3 As shown, the industrial camera module 3 may include: a mounting base 14, a camera mounting plate 15, and a camera 16. The mounting base 14 can be disposed on the edge of the rotating disk 1, and thus can be rotated by the rotating disk 1. The camera mounting plate 15 can be disposed on the mounting base 14, and thus can be moved by the mounting base 14. The camera 16 can be disposed on the camera mounting plate 15, and thus can be moved by the camera mounting plate 15 to move above the component, thereby taking a picture of the component. The position of the component can then be determined based on the photograph, allowing the gripping unit 6 to pick up the component.

[0058] In one embodiment of this utility model, such as Figure 3 As shown, the industrial camera module 3 may include a light source mounting plate 17 and a light source 18. The light source mounting plate 17 may be disposed at the bottom of the mounting base 14. The light source 18 may be disposed at the bottom of the light source mounting plate 17 and below the camera 16, so as to provide supplemental lighting to the parts when the camera 16 takes pictures of the parts.

[0059] On the other hand, this utility model also provides a highly flexible gripper system, which may include: a highly flexible gripper device as described above and a control module. The control module can be used to determine the position of a component based on a photograph taken by an industrial camera module in the highly flexible gripper device, so as to control the gripper module in the highly flexible gripper device to rotate to the corresponding position and grip the component.

[0060] Through the above technical solution, the highly flexible gripper device and system provided by this utility model can include a rotating disk. The rotating disk can accommodate multiple gripper modules, each positioned on the edge of the rotating disk, allowing them to be switched onto the corresponding component by the rotating disk for gripping. An industrial camera module can be positioned on the edge of the rotating disk, enabling the gripper module to take a picture of the component before it is gripped. The position of the component can be determined based on the picture, allowing the rotating disk to rotate and switch the gripper module to the corresponding component for gripping. This highly flexible gripper device can switch gripper devices to grip different types of components.

[0061] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0062] The above are merely embodiments of this application and are not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A highly flexible gripper device, characterized in that, The highly flexible gripper device includes: Rotating disk (1); Multiple gripper modules (2) are distributed on the edge of the rotating disk (1) so that they can be driven by the rotating disk (1) to switch to the corresponding parts to obtain the parts; An industrial camera module (3) is located on the edge of the rotary disk (1) to take pictures of the parts before the gripper module (2) picks them up, thereby determining the position of the parts and facilitating the switching of the gripper module (2).

2. The highly flexible gripper device according to claim 1, characterized in that, The gripper module (2) includes: A cylinder mounting plate (4) is disposed on the edge of the rotating disk (1); A slide cylinder (5) is mounted on the cylinder mounting plate (4); Multiple gripping units (6) are provided, each with a different number and position of suction nozzles (8), which are respectively set at the bottom of the corresponding slide cylinder (5) so that they can be moved by the slide cylinder (5) to the position of the corresponding component to obtain the corresponding component.

3. The highly flexible gripper device according to claim 2, characterized in that, The plurality of gripping units (6) include: The first suction nozzle mounting plate (7) is located at the bottom of the slide cylinder (5) so that it can be moved above the component by the slide cylinder (5); The suction nozzle (8) is located in the middle of the first suction nozzle mounting plate (7) and is moved by the first suction nozzle mounting plate (7) to the top of the component to pick up the corresponding component.

4. The highly flexible gripper device according to claim 2, characterized in that, The plurality of gripping units (6) include: The second suction nozzle mounting plate (9) is located at the bottom of the slide cylinder (5) so that it can be moved above the component by the slide cylinder (5), and the second suction nozzle mounting plate (9) is provided with a first through groove (10). The suction nozzles (8) are respectively disposed at both ends of the first through groove (10) and are moved above the component by the second suction nozzle mounting plate (9) to pick up the corresponding component.

5. The highly flexible gripper device according to claim 2, characterized in that, The plurality of gripping units (6) include: The third suction nozzle mounting plate (11) is located at the bottom of the slide cylinder (5) so that it can be moved above the component by the slide cylinder (5). The part of the third suction nozzle mounting plate (11) that extends beyond the slide cylinder (5) is L-shaped. The suction nozzles (8) are respectively set at the three ends of the L-shaped part of the third suction nozzle mounting plate (11), so as to be moved by the third suction nozzle mounting plate (11) to move above the component to pick up the corresponding component.

6. The highly flexible gripper device according to claim 4, characterized in that, The plurality of gripping units (6) include: The fourth suction nozzle mounting plate (12) is located at the bottom of the slide cylinder (5) so that it can be moved to the top of the component by the slide cylinder (5), and the fourth suction nozzle mounting plate (12) is provided with a second through groove (13), the length of the second through groove (13) is less than the length of the first through groove (10); The suction nozzles (8) are respectively disposed at both ends of the second through groove (13) so as to be moved above the component by the fourth suction nozzle mounting plate (12) to pick up the corresponding component.

7. The highly flexible gripper device according to claim 1, characterized in that, The industrial camera module (3) includes: Mounting base (14) is disposed on the edge of the rotating disk (1) so as to be driven to rotate by the rotating disk (1); A camera mounting plate (15) is disposed on the mounting base (14) and is moved by the mounting base (14); A camera (16) is mounted on the camera mounting plate (15) and is moved by the camera mounting plate (15) to move above the component in order to take pictures of the component.

8. The highly flexible gripper device according to claim 7, characterized in that, The industrial camera module (3) includes: A light source mounting plate (17) is disposed at the bottom of the mounting base (14); The light source (18) is located at the bottom of the light source mounting plate (17) and below the camera (16).

9. A highly flexible gripper system, characterized in that, The highly flexible gripper system includes: The highly flexible gripper device as described in any one of claims 1-8; The control module is used to determine the position of the component based on the photo taken by the industrial camera module in the highly flexible gripper device, so as to control the gripper module in the highly flexible gripper device to rotate to the corresponding position and grip the component.

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