Clamping jaw

Abstract

The utility model relates to a clamping jaw, and belongs to the technical field of part grabbing structures. The device comprises a supporting mechanism, a telescopic mechanism, a bearing mechanism and a clamping mechanism, the fixed end of the telescopic mechanism is connected with the supporting mechanism, the bearing mechanism is connected with the supporting mechanism, and the telescopic end of the telescopic mechanism slidably penetrates through the bearing mechanism; the clamping mechanism comprises a pushing assembly, a plurality of elastic pieces and a plurality of clamping jaws, the pushing assembly is connected with the telescopic end of the telescopic mechanism, the clamping jaws are evenly distributed in the circumferential direction of the bearing mechanism and distributed on the periphery of the pushing assembly, the elastic pieces are arranged between every two adjacent clamping jaws, the first ends of the clamping jaws are hinged to the bearing mechanism, and the clamping jaws are provided with inclined parts. The inclined part enables the middle width of the clamping jaw to be larger than the first end width of the clamping jaw, the elastic piece enables the inclined part to abut against the pushing assembly all the time, and movement of the pushing assembly can push the second end of the clamping jaw to be opened to clamp a workpiece. The clamping jaw has the effect of solving the problem that the stability is insufficient when the clamping jaw clamps a workpiece.

Description

Technical Field

[0001] This application relates to the field of component gripping structure technology, and in particular to a gripper. Background Technology

[0002] Grippers are widely used in industrial automated production lines, especially in fields such as electronics manufacturing and automotive assembly. Grippers are primarily used to grasp and transport various workpieces, improving production efficiency, reducing manual operations, and ensuring the consistency and stability of product quality.

[0003] Currently, grippers in related technologies, such as Figure 1 As shown, the gripper includes a support structure 100 for support, a clamping structure 200 for clamping the workpiece, and a cylinder 300 for driving the clamping structure 200. The fixed end of the cylinder 300 is located on the support structure 100. The clamping structure 200 includes a clamping portion 210 and a driving portion 220 perpendicular to the clamping portion 210. The telescopic end of the cylinder 300 is hinged to the first end of the driving portion 220 via a connecting structure 310. The second end of the driving portion 220 is fixedly connected to the upper end of the clamping portion 210, and the upper end of the clamping portion 210 is hinged to the support structure 100. Thus, the telescopic movement of the cylinder 300 drives the first end of the driving portion 220 to move, allowing the lower end of the clamping portion 210 to open outwards or close inwards. Furthermore, the multiple clamping structures 200 work together to circumferentially abut against the inner wall of the cylindrical workpiece, thereby achieving the clamping and gripping of the cylindrical workpiece.

[0004] However, when the gripper with the above-mentioned driving method is in use, since the pivot point and the driving point are both located at the upper end of the gripping part 210, the lower end of the gripping part 210 is prone to insufficient stability, which makes the gripper prone to falling off during the gripping process, resulting in production interruption and reduced processing quality.

[0005] The aforementioned technologies suffer from insufficient stability when gripping workpieces with clamps. Utility Model Content

[0006] To improve the problem of insufficient stability when gripping workpieces, this application provides a gripper.

[0007] The gripper provided in this application adopts the following technical solution:

[0008] A gripper includes: a support mechanism; a telescopic mechanism, the fixed end of which is connected to the support mechanism; a bearing mechanism connected to the support mechanism, the telescopic end of which slides through the bearing mechanism and extends and retracts along a predetermined direction; and a clamping mechanism, the clamping mechanism including a pushing component, a plurality of elastic elements, and a plurality of clamping claws, the pushing component being connected to the telescopic end of the telescopic mechanism and disposed on the side of the bearing mechanism away from the fixed end of the telescopic mechanism, the plurality of clamping claws being evenly distributed around the circumference of the bearing mechanism, such that the plurality of clamping claws are evenly distributed around the outer periphery of the pushing component, adjacent to each other. An elastic element is provided between the two clamping claws, with each end of the elastic element connected to one of the two clamping claws. The first end of each clamping claw is hinged to the bearing mechanism. Each clamping claw has an inclined portion, the width of the middle part of the clamping claw being greater than the width of the first end of the clamping claw. The pushing component abuts against the inclined side of the inclined portion. The elastic element ensures that the inclined portion always abuts against the pushing component. The movement of the pushing component in a preset direction can push the clamping claw to rotate around its own first end, so that the second ends of several clamping claws can open or close. The second ends of the clamping claws are used to extend into the workpiece and abut against the inner peripheral wall of the workpiece to clamp the workpiece.

[0009] By adopting the above technical solution and rationally designing the structure of the grippers, the motion stability during driving can be improved, the risk of workpiece falling during gripping can be effectively reduced, and production efficiency can be improved. Specifically: the support mechanism provides support for the telescopic mechanism and the load-bearing mechanism; the telescopic mechanism provides power for the gripping mechanism; and the load-bearing mechanism provides support for the gripping mechanism. Multiple grippers are evenly distributed around the circumference of the load-bearing mechanism, and elastic elements are provided between each gripper to allow the grippers to open or close under the action of the pushing component. The inclined portion on the gripper makes the width of the middle of the gripper greater than the width of the first end, so that the movement of the pushing component driven by the telescopic mechanism can drive the gripper to rotate stably around its first end, thereby opening its second end and enhancing the reliability of gripping. When the telescopic end of the telescopic mechanism extends or retracts in a preset direction, the pushing component moves accordingly and pushes the inclined portion on the gripping claw through abutment. Due to the action of the elastic element, each gripping claw can maintain a close contact with the pushing component. As the pushing component moves, the gripping claw rotates around its first end, thereby realizing the process of the second ends of multiple gripping claws changing from a closed state to an open state, or vice versa. The first end of the gripping claw is rotatably connected to the bearing mechanism, and the pushing position of the pushing component is located at the inclined portion of the gripping claw. This reduces the problem of excessive local force, reduces the difficulty of pushing multiple gripping claws to open, and improves the stability of workpiece clamping. This reduces the risk of workpiece falling during the gripping process, thereby reducing the number of alarms caused by workpiece falling and improving the continuity and safety of production. At the same time, multiple gripping claws can flexibly adapt to workpieces of different sizes, improving applicability.

[0010] Optionally, the clamping mechanism further includes a plurality of abutment members, each abutment member corresponding to one of the clamping claws. The middle part of the abutment member is hinged to the second end of the clamping claw. The clamping claw is provided with a clearance groove so that both ends of the abutment member can rotate around its own middle part, so that the side of the abutment member can fit against the inner peripheral wall of the workpiece.

[0011] By adopting the above technical solution, the abutment and the clamping jaws are arranged in a one-to-one correspondence, and the abutment can rotate around its own center. As the second end of the clamping jaw gradually extends into the workpiece and abuts against its inner peripheral wall, the rotation of the abutment can adjust its own posture, allowing the side of the abutment to better fit against the inner peripheral wall of the workpiece, increasing the contact area when clamping the workpiece, dispersing the force points, thereby reducing the pressure of the jaws on the workpiece surface and reducing the risk of workpiece damage caused by concentrated force. At the same time, the design of the clearance groove ensures that the abutment can flexibly adjust its position during clamping, improving the stability and reliability of clamping and reducing the risk of interference when the abutment rotates.

[0012] Optionally, the outer side of the abutment member is provided with a flexible pad so that the flexible pad can conform to the inner peripheral wall of the workpiece.

[0013] By adopting the above technical solution, the flexible pad allows the grippers to better fit the inner circumferential wall of the workpiece when clamping it, thereby reducing the problem of excessive local force caused by small contact area; in addition, it can increase friction, improve clamping stability, and prevent the workpiece from easily falling off during the gripping process; at the same time, the flexible pad also protects the workpiece surface from damage and improves processing quality.

[0014] Optionally, the pushing assembly includes a pushing connector, several abutting shafts, and several mounting members. The pushing connector is connected to the telescopic end of the telescopic mechanism, and the mounting members are connected to the pushing connector. The several mounting members are circumferentially distributed. The abutting shafts are correspondingly arranged with the mounting members. The mounting members are used to support the abutting shafts. The mounting members are correspondingly arranged with the clamping claws, so that the abutting shafts abut against the corresponding inclined portions. The movement of the abutting shafts along a preset direction causes the several clamping claws to open or converge.

[0015] By adopting the above technical solution, the design of the push component enables more precise control of the opening and closing movements of the gripper. Specifically, the push connector is connected to the telescopic end of the telescopic mechanism, ensuring the stability and reliability of power transmission; the mounting component is connected to the push connector and is used to mount the abutment shaft; when the telescopic mechanism operates, it can drive the push connector to move along a preset direction. Multiple mounting components are circumferentially distributed on the push connector, and each mounting component is equipped with an abutment shaft. These abutment shafts abut against the inclined portion on the corresponding gripper. As the push connector moves, the abutment shaft slides along the inclined portion, thereby pushing the gripper to rotate around its first end, realizing the opening or closing of the gripper; multiple abutment shafts ensure that each gripper is subjected to a uniform force, thereby ensuring that multiple grippers move synchronously, improving the gripping accuracy and stability, reducing product drop caused by unstable gripping, and extending the service life of the gripper.

[0016] Optionally, it also includes a detection mechanism connected to the carrying mechanism, the detection mechanism being used to detect the presence or absence of the workpiece.

[0017] By adopting the above technical solution, the gripper can effectively detect the presence or absence of a workpiece. Specifically: the detection mechanism is connected to the support mechanism. Since the support mechanism is fixed relative to the support mechanism, the installation position is more reliable and less prone to damage due to the movement of the gripper; the detection mechanism can monitor the presence or absence of the workpiece in real time, avoiding production interruptions or equipment failures caused by workpiece loss, and can also detect whether the workpiece has fallen off in real time, which helps to improve the reliability of the entire processing.

[0018] Optionally, the detection mechanism includes a detection fixture, a detection support, and a detection actuator. The detection fixture is connected to the bearing mechanism, the first end of the detection support is connected to the detection fixture, and the detection actuator is located at the second end of the detection support, such that the detection actuator is positioned between two adjacent clamping claws.

[0019] By adopting the above technical solution, the detection mechanism can effectively monitor the presence or absence of workpieces, improving the reliability and safety of the gripper operation. Specifically: the detection fixing component is connected to the bearing mechanism, ensuring the stable installation of the detection mechanism; the first end of the detection support component is connected to the detection fixing component, providing necessary structural support while allowing the detection actuator to be close to the second end of the gripper, improving detection accuracy by reducing the distance to the workpiece; the detection actuator is located at the second end of the detection support component and between two adjacent grippers, reducing interference and enabling the detection actuator to accurately detect the presence or absence of the workpiece; this design not only improves detection accuracy but also reduces the risk of false alarms and damage to the detection actuator due to improper positioning.

[0020] Optionally, the telescopic mechanism includes a telescopic component, a floating joint, and a connecting shaft; the bearing mechanism includes a bearing body and a linear bearing; the linear bearing is located at the center of the bearing body; the fixed end of the telescopic component is connected to the support mechanism; the telescopic end of the telescopic component is connected to the first end of the floating joint; the second end of the floating joint is connected to the first end of the connecting shaft; the connecting shaft passes through the linear bearing and slides with the linear bearing; and the second end of the connecting shaft is connected to the pushing assembly.

[0021] By adopting the above technical solution, the fixed end of the telescopic component is connected to the support mechanism, and the telescopic end is connected to the connecting shaft through a floating joint. The floating joint can compensate for vertical positional offsets caused by installation errors, thereby reducing the alignment accuracy requirements. This allows for effective connection between components even with slight positional deviations. Simultaneously, the sliding fit between the connecting shaft and the linear bearing ensures smooth telescopic movement and accurate positioning, making the movement smoother and reducing vibration and impact caused by mechanical clearances. This further enhances the gripping stability and reliability of the clamps, improving their operational reliability and lifespan. When the telescopic component moves, its telescopic end drives the floating joint, which then transmits the movement to the connecting shaft, ultimately driving the push assembly to move in a preset direction. This design not only achieves precise control of the clamping jaws but also makes the entire transmission process more flexible and reliable.

[0022] Optionally, the telescopic end of the telescopic member is connected to the first end of the floating joint, and the second end of the floating joint is connected to the first end of the connecting shaft by bolts.

[0023] By adopting the above technical solutions, the connection between the components can be made stable and reliable, effectively preventing loosening and detachment caused by long-term use; at the same time, the bolt connection method facilitates disassembly and maintenance, improving the maintainability and flexibility of the gripper.

[0024] Optionally, the support mechanism and the bearing mechanism are connected by a plurality of support columns, which are evenly distributed circumferentially around the telescopic end of the telescopic mechanism.

[0025] By adopting the above technical solution, the circumferentially uniform distribution of several support columns makes the connection between the support mechanism and the load-bearing mechanism more stable, avoiding structural deformation caused by uneven stress and improving the overall strength and service life of the gripper. At the same time, this design can also effectively disperse stress during the clamping process, reduce the risk of damage caused by excessive force at a single point, and further enhance the working reliability of the gripper.

[0026] Optionally, the clamping claw is provided with a hook member, the hook member having a hook hole for connecting the elastic element.

[0027] By adopting the above technical solution, the hook-and-loop fastener allows the elastic element to be reliably connected to the gripper, ensuring the stability and reliability of the elastic element. This improves the stability of the gripper when grasping the workpiece and reduces the problem of products falling due to the elastic element detaching. At the same time, the hook-and-loop hole design facilitates the installation and replacement of the elastic element, simplifies maintenance, and extends the service life of the gripper.

[0028] In summary, this application includes at least one of the following beneficial technical effects:

[0029] 1. The first end of the gripper is hinged to the bearing mechanism. Through the cooperation of the elastic element and the pushing component, the inclined side of the inclined part can be pushed by the movement of the pushing component in a preset direction, so that the gripper rotates around the first end and remains stable under the elastic force of the elastic element. This enables multiple grippers to open or close, improves the stability of the gripper movement and the uniformity of the gripping force, and reduces the risk of workpiece falling.

[0030] 2. The middle part of the abutment is connected to the second end of the clamping jaw, and the abutment can rotate around its own middle part. When the second end of the clamping jaw is inserted into the workpiece, the abutment can adjust its own posture by rotating, so that the side of the abutment can better fit the inner peripheral wall of the workpiece, increase the contact area when clamping the workpiece, distribute the force, thereby reducing the pressure of the clamping jaw on the surface of the workpiece and reducing the risk of workpiece damage caused by force concentration.

[0031] 3. The detection mechanism is set on the bearing mechanism. Since the bearing mechanism is fixed relative to the support mechanism, the installation position is more reliable and less likely to be damaged by the movement of the clamping jaws. The detection mechanism can reliably detect the presence or absence of the workpiece, improve the clamping reliability, and promptly detect empty clamps and workpiece drops. At the same time, the detection actuator is placed between two adjacent clamping jaws to protect the detection actuator from external impacts and extend its service life. Attached Figure Description

[0032] Figure 1 This is a schematic diagram of a gripper in related technologies.

[0033] Figure 2 This is a schematic diagram of the gripper holding the workpiece according to an embodiment of this application.

[0034] Figure 3 This is a schematic diagram of the gripper in an embodiment of this application.

[0035] Figure 4 This is a schematic diagram of the cooperation between the gripping claw, the detection mechanism, and the carrying mechanism in an embodiment of this application.

[0036] Figure 5 This is a schematic diagram of the clamping claw and the abutment shaft cooperating according to an embodiment of this application.

[0037] Explanation of reference numerals in the attached figures:

[0038] 10. Workpiece; 100. Support structure; 200. Clamping structure; 210. Clamping part; 220. Drive part; 300. Cylinder; 310. Connecting structure; 1. Support mechanism; 11. Support column; 12. Support plate; 2. Telescopic mechanism; 21. Telescopic component; 22. Floating joint; 23. Connecting shaft; 24. Connecting head; 3. Bearing mechanism; 31. Bearing body; 32. Linear bearing; 4. Clamping mechanism; 41. Pushing assembly; 411. Pushing connector; 412. Abutting shaft; 413. Mounting component; 42. Elastic component; 43. Clamping claw; 431. Inclined part; 432. Clearance groove; 433. Hook component; 44. Abutting component; 45. Flexible pad; 5. Detection mechanism; 51. Detection fixing component; 52. Detection support component; 53. Detection actuator; 6. Bolt. Detailed Implementation

[0039] The following is in conjunction with the appendix Figure 2 -Appendix Figure 5 This application will be further described in detail below. In this embodiment, unless otherwise specified, "connection", "linking", and "fixing" are interpreted broadly, including fixed connection, detachable connection, connection to form an integral structure, mechanical connection, electrical connection, direct connection, indirect connection through an intermediary, internal connection, and interaction between two components, etc., and can be understood according to the specific circumstances.

[0040] In this application, unless otherwise expressly specified and limited, "above" or "below" a second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, in the description of this embodiment, terms such as "above," "below," "left," and "right," etc., are based on the orientation or positional relationships shown in the accompanying drawings and are used only for ease of description and simplification of operation. They do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application. Unless otherwise stated, directional terms such as "inner" and "outer" used in this application refer to the outline of the corresponding component itself.

[0041] like Figure 2 and Figure 3 As shown in the figure, this application discloses a gripper, which includes a support mechanism 1, a telescopic mechanism 2, a bearing mechanism 3, and a clamping mechanism 4. By rationally designing the structure of the gripper, the motion stability during driving can be improved, the risk of the workpiece 10 falling during the gripping process can be effectively reduced, the problem of increased alarms caused by the workpiece 10 falling during the gripping process can be reduced, production efficiency can be improved, and the service life of the gripper can be increased.

[0042] The support mechanism 1 includes a support plate 12 for connecting the gripper to other structures. The support mechanism 1 provides support for the telescopic mechanism 2 and the bearing mechanism 3. The bearing mechanism 3 is connected to the support mechanism 1 and provides support for the clamping mechanism 4. The fixed end of the telescopic mechanism 2 is connected to the support mechanism 1 through a fixed plate. The telescopic end of the telescopic mechanism 2 slides through the bearing mechanism 3. The telescopic end of the telescopic mechanism 2 extends and retracts in a preset direction. The direction of the preset direction is adjusted according to parameters such as the posture and position of the workpiece 10, so as to provide power to the clamping mechanism 4 through the telescopic mechanism 2.

[0043] like Figure 2 , Figure 3 and Figure 4 As shown, the clamping mechanism 4 includes a pushing component 41, several elastic elements 42, and several clamping claws 43. The pushing component 41 is connected to the telescopic end of the telescopic mechanism 2 and is located on the side of the bearing mechanism 3 away from the fixed end of the telescopic mechanism 2. The several clamping claws 43 are evenly distributed around the circumference of the bearing mechanism 3, so that the several clamping claws 43 are evenly distributed around the outer periphery of the pushing component 41. An elastic element 42 is provided between two adjacent clamping claws 43, so that the two ends of the elastic element 42 are respectively connected to the two clamping claws 43. The multiple clamping claws 43 are evenly distributed around the circumference of the bearing mechanism 3, and an elastic element 42 is provided between each clamping claw 43 so that the multiple clamping claws 43 can open or close under the action of the pushing component 41.

[0044] like Figure 2 , Figure 3 and Figure 4 As shown, the first end of the clamping claw 43 is hinged to the bearing mechanism 3. The clamping claw 43 has an inclined portion 431, which makes the width of the middle part of the clamping claw 43 greater than the width of the first end of the clamping claw 43. The pushing component 41 abuts against the inclined side of the inclined portion 431, which refers to the side of the inclined portion 431 away from the clamping claw 43. The distance between the inclined portion 431 and the clamping claw 43 varies along the length direction of the clamping claw 43. The elastic member 42 keeps the inclined portion 431 abutting against the pushing component 41. The movement of the pushing component 41 in a preset direction can push the clamping claw 43 to rotate around its first end, so that the second ends of several clamping claws 43 can open or close. This allows the second ends of the clamping claws 43 to extend into the workpiece 10 and abut against the inner peripheral wall of the workpiece 10 to clamp the workpiece 10. The first end, the middle part, and the second end of the clamping claw 43 are distributed along the length direction of the clamping claw 43, and the width direction of the clamping claw 43 refers to the direction perpendicular to the length of the clamping claw 43.

[0045] like Figure 2 , Figure 3 and Figure 4 As shown, when the telescopic end of the telescopic mechanism 2 extends or retracts along a preset direction, the pushing component 41 moves accordingly and pushes the inclined portion 431 on the clamping claw 43 through an abutment engagement. Due to the action of the elastic element 42, each clamping claw 43 can maintain a state of close contact with the pushing component 41. As the pushing component 41 moves, the clamping claw 43 rotates around its first end, thereby realizing the process of the second ends of multiple clamping claws 43 changing from a gathered state to an open state or vice versa. In this embodiment, when the telescopic end of the telescopic mechanism 2 extends, the pushing component 41 moves away from the bearing mechanism 3, and the abutment position of the pushing component 41 and the inclined portion 431 moves from the first end of the clamping claw 43 to the middle, so that the second ends of multiple clamping claws 43 open, stably clamping the workpiece 10; correspondingly, when the telescopic end of the telescopic mechanism 2 retracts, the clamping claws 43 gather together, releasing the workpiece 10.

[0046] Because the first end of the gripping claw 43 is rotatably connected to the bearing mechanism 3, and the inclined portion 431 extends from the middle of the gripping claw 43 to both ends, and the inclined portion 431 makes the width of the middle of the gripping claw 43 greater than the width of the first end of the gripping claw 43, the pushing position of the pushing component 41 is located at the inclined portion 431 of the gripping claw 43. This reduces the problem of excessive local force, reduces the difficulty of pushing multiple gripping claws 43 to open, improves the stability of gripping the workpiece 10, reduces the risk of the workpiece 10 falling off during the gripping process, increases the gripping speed, and thus reduces the number of alarms caused by the workpiece 10 falling off, improving the continuity and safety of production. At the same time, the cooperation of multiple gripping claws 43 can flexibly adapt to workpieces 10 of different sizes, improving applicability.

[0047] like Figure 2, Figure 3 and Figure 4 As shown, optionally, the gripper 43 is provided with a hook member 433, which has a hook hole for connecting the elastic element 42. The hook member 433 ensures that the elastic element 42 is reliably connected to the gripper 43, guaranteeing its stability and reliability. This improves the stability of the gripper when grasping the workpiece 10 and reduces the risk of product falling due to the elastic element 42 detaching. Simultaneously, the hook hole design facilitates the installation and replacement of the elastic element 42, simplifying maintenance and extending the service life of the gripper. The elastic element 42 can be a spring, and the number of elastic elements 42 is unlimited; the number of hook members 43 can be set as needed. In this embodiment, two parallel elastic elements 42 are provided between two adjacent grippers 43 to improve stability and reliability.

[0048] Optionally, the support mechanism 1 and the load-bearing mechanism 3 are connected by a plurality of support columns 11, which are evenly distributed circumferentially around the outer periphery of the telescopic end of the telescopic mechanism 2. This even circumferential distribution of the support columns 11 makes the connection between the support mechanism 1 and the load-bearing mechanism 3 more stable, avoiding structural deformation caused by uneven stress, and improving the overall strength and service life of the gripper. Simultaneously, this design can effectively disperse stress during the clamping process, reducing the risk of damage caused by excessive force at a single point, and further enhancing the working reliability of the gripper.

[0049] like Figure 2 , Figure 3 and Figure 4 As shown, optionally, the telescopic mechanism 2 includes a telescopic member 21, a floating joint 22, and a connecting shaft 23. The bearing mechanism 3 includes a bearing body 31 and a linear bearing 32, with the linear bearing 32 located at the center of the bearing body 31. The fixed end of the telescopic member 21 is connected to the support mechanism 1, the telescopic end of the telescopic member 21 is connected to the first end of the floating joint 22, the second end of the floating joint 22 is connected to the first end of the connecting shaft 23, the connecting shaft 23 passes through the linear bearing 32, and the connecting shaft 23 and the linear bearing 32 are in sliding fit. The second end of the connecting shaft 23 is connected to the push assembly 41. The fixed end of the telescopic member 21 is connected to the support mechanism 1, and the telescopic end is connected to the connecting shaft 23 through the floating joint 22. The floating joint 22 can compensate for vertical positional offsets caused by installation errors, thereby reducing the alignment accuracy requirements and enabling effective connection between components even with slight positional deviations. Meanwhile, the sliding fit between the connecting shaft 23 and the linear bearing 32 ensures the smoothness and positioning accuracy of the telescopic movement, making the telescopic movement smoother, reducing vibration and impact caused by mechanical clearance, further enhancing the gripping stability and reliability of the gripper, and improving the working reliability and life of the gripper.

[0050] like Figure 2, Figure 3 and Figure 4 As shown, when the telescopic component 21 moves, its telescopic end drives the floating joint 22 to move, which in turn transmits the movement to the connecting shaft 23, ultimately driving the pushing component 41 to move along a preset direction. This design not only achieves precise control of the clamping claw 43, but also makes the entire transmission process more flexible and reliable. The telescopic component 21 can be a cylinder, hydraulic cylinder, or electric telescopic rod, etc., capable of telescopic movement. The floating joint 22 can be a floating mounting connector; a suitable model can be selected as needed. The inclined portion 431 can be triangular, with its straight side connected to the clamping claw 43. The inclined side of the inclined portion 431 forms an angle with the straight side, so that the inclined portion 431 protrudes from the clamping claw 43 towards the axis of the connecting shaft 23. This allows the pushing component 41 to move along the straight side, pushing the inclined side of the inclined portion 431, enabling the multiple clamping claws 43 to open or close. The inclined portion 431 can be a right triangle so that one right side connects to the gripper 43 and the inclined side cooperates with the push component 41; the inclined portion 431 can also be an isosceles triangle so that the base connects to the gripper 43 and the waist cooperates with the push component 41.

[0051] The working principle of the grippers can be based on cylinder transmission and mechanical structure. When compressed air passes through the cylinder, it causes the cylinder to move linearly. This movement is transmitted to the gripping claws 43 through the mechanical structure, causing them to close or open. By controlling the magnitude and direction of the air pressure, the gripping force and speed of the gripping claws 43 can be precisely adjusted. Specifically, the grippers are opened and closed by the extension and retraction drive of the cylinder and the elastic element 42. This design ensures that the gripping claws 43 always move axially in a concentric manner, and each gripping claw 43 cannot move independently, thus enabling the grippers to achieve efficient and stable gripping and releasing actions. The gripping force of the grippers can be adjusted by controlling the pressure of the cylinder, and can be automatically gripped according to the size of the product.

[0052] like Figure 2 , Figure 3 and Figure 4 As shown, optionally, the telescopic end of the telescopic member 21 is connected to the first end of the floating joint 22, and the second end of the floating joint 22 is connected to the first end of the connecting shaft 23, both by bolts 6. This ensures stable and reliable connections between components and effectively prevents loosening and detachment due to prolonged use. Simultaneously, the bolt 6 connection facilitates disassembly and maintenance, improving the maintainability and flexibility of the gripper. In this embodiment, the second end of the floating joint 22, away from the telescopic member 21, is connected to the first end of the connector 24, and the second end of the connector 24 is connected to the first end of the connecting shaft 23; the two ends of the connector 24 can also be connected by bolts 6.

[0053] like Figure 3 , Figure 4 and Figure 5As shown, optionally, the pushing assembly 41 includes a pushing connector 411, a plurality of abutment shafts 412, and a plurality of mounting members 413. The pushing connector 411 connects to the telescopic end of the telescopic mechanism 2, ensuring the stability and reliability of power transmission. The mounting members 413 are connected to the pushing connector 411, and the plurality of mounting members 413 are circumferentially distributed. The abutment shafts 412 are correspondingly arranged with the mounting members 413, and the mounting members 413 are used to support the abutment shafts 412. The mounting members 413 are correspondingly arranged with the gripping claws 43, so that the abutment shafts 412 abut against the corresponding inclined portions 431, so that the plurality of gripping claws 43 open or close together by moving the abutment shafts 412 in a preset direction. The design of the pushing assembly 41 allows the gripping claws 43 to be more precisely controlled in opening and closing movements.

[0054] When the telescopic mechanism 2 is activated, it drives the push connecting member 411 to move along a preset direction. Multiple mounting members 413 are circumferentially distributed on the push connecting member 411, and each mounting member 413 is equipped with an abutment shaft 412. These abutment shafts 412 abut against the inclined portion 431 on the corresponding gripping claw 43. As the push connecting member 411 moves, the abutment shafts 412 slide along the inclined portion 431, thereby pushing the gripping claw 43 to rotate around its first end, realizing the opening or closing of the gripping claw 43. Multiple abutment shafts 412 ensure that each gripping claw 43 receives a uniform force, thus guaranteeing synchronous action of multiple gripping claws 43, improving gripping accuracy and stability, reducing product drop due to unstable gripping, and extending the service life of the grippers. The mounting members 413 connect the two ends of the abutment shafts 412, allowing the abutment shafts 412 to engage with the inclined surface of the inclined portion 431. The outer peripheral surface of the abutment shaft 412 is provided with a plane extending along the axial direction, and the mounting member 413 is provided with a limiting part that cooperates with it to restrict the rotation of the abutment shaft 412, so that the abutment shaft 412 and the inclined part 431 are in sliding fit, and there is moving friction between the abutment shaft 412 and the inclined part 431, so as to improve the reliability of the gripper after movement and reduce the risk of accidental movement.

[0055] like Figure 2 , Figure 3 and Figure 5As shown, optionally, the clamping mechanism 4 also includes several abutment members 44, each corresponding to a clamping claw 43. The middle of the abutment member 44 is hinged to the second end of the clamping claw 43. The clamping claw 43 is provided with a relief groove 432, so that both ends of the abutment member 44 can rotate around its own middle, allowing the side of the abutment member 44 to fit against the inner peripheral wall of the workpiece 10. As the second end of the clamping claw 43 gradually extends into the workpiece 10, the abutment member 44 can adjust its own posture by rotating, so that the side of the abutment member 44 can better fit against the inner peripheral wall of the workpiece 10, increasing the contact area when clamping the workpiece 10, dispersing the force points, thereby reducing the pressure of the claw on the surface of the workpiece 10, and reducing the risk of damage to the workpiece 10 due to concentrated force. At the same time, the design of the relief groove 432 ensures that the position of the abutment member 44 can be flexibly adjusted during the clamping process, improving the stability and reliability of the clamping, and reducing the risk of interference when the abutment member 44 rotates.

[0056] Optionally, a flexible pad 45 is provided on the outer side of the abutment member 44 so that the flexible pad 45 can conform to the inner peripheral wall of the workpiece 10. The flexible pad 45 allows the grippers to better conform to the inner peripheral wall of the workpiece 10 when gripping it, thereby reducing the problem of excessive local force due to a small contact area. Furthermore, the flexible pad 45 increases friction, improves gripping stability, and prevents the workpiece 10 from easily falling off during gripping. At the same time, the flexible pad 45 also protects the surface of the workpiece 10 from damage, improving processing quality. In this embodiment, the flexible pad 45 can be a rubber pad.

[0057] like Figure 2 , Figure 3 and Figure 4 As shown, optionally, the gripper also includes a detection mechanism 5, which is connected to the support mechanism 3. The detection mechanism 5 is used to detect the presence or absence of the workpiece 10. In the prior art, the detection mechanism is installed on the gripper, which is not reliable enough. In this embodiment, the detection mechanism 5 is installed on the support mechanism 3. Since the support mechanism 3 is fixed relative to the support mechanism 1, the installation position of the detection mechanism 5 is more reliable and less likely to be damaged by the movement of the gripper 43. The detection mechanism 5 can monitor the presence or absence of the workpiece 10 in real time, avoiding production interruptions or equipment failures caused by the absence of the workpiece 10. At the same time, it can detect whether the workpiece 10 has fallen off in real time, which helps to improve the reliability of the entire processing.

[0058] like Figure 2 , Figure 3 and Figure 4As shown, optionally, the detection mechanism 5 includes a detection fixing member 51, a detection support member 52, and a detection execution member 53. The detection mechanism 5 can effectively monitor the presence or absence of the workpiece 10, improving the reliability and safety of the gripper operation. The detection fixing member 51 is connected to the bearing mechanism 3 to ensure the stable installation of the detection mechanism 5. The first end of the detection support member 52 is connected to the detection fixing member 51, and the detection execution member 53 is located at the second end of the detection support member 52, placing the detection execution member 53 between two adjacent gripping jaws 43. The first end of the detection support member 52 is connected to the detection fixing member 51, providing necessary structural support while allowing the detection execution member 53 to be close to the second end of the gripper, improving detection accuracy by reducing the distance to the workpiece 10. The detection execution member 53 is located at the second end of the detection support member 52 and between two adjacent gripping jaws 43, reducing interference and enabling the detection execution member 53 to accurately detect the presence or absence of the workpiece 10; furthermore, placing the detection execution member 53 between two adjacent gripping jaws 43 protects the detection mechanism 5 from external impacts and extends its service life. This design not only improves detection accuracy but also reduces the risk of false alarms and damage to the detection actuator 53 caused by improper positioning. The detection actuator 53 is a sensor, and the type of sensor can be selected as needed, such as a photoelectric sensor capable of detecting the presence or absence of the workpiece 10.

[0059] It is understandable that the gripper also includes necessary structures for connection, support, drive, positioning, limiting, power supply and control functions, so that the gripper can operate normally; the shape, size, material and number of each part of the gripper can be determined as needed, as long as the corresponding functions can be achieved.

[0060] The implementation principle of a gripper in this embodiment is as follows: When the telescopic end of the telescopic mechanism 2 extends or retracts along a preset direction, the pushing component 41 moves accordingly and pushes the inclined portion 431 of the gripping claw 43 through an abutment engagement. Due to the action of the elastic element 42, each gripping claw 43 can maintain a state of close contact with the pushing component 41. As the pushing component 41 moves, the gripping claw 43 rotates around its first end, thereby realizing the process of the second ends of multiple gripping claws 43 changing from a gathered state to an open state or vice versa. The first end of the gripping claw 43 is rotatably connected to the bearing mechanism 3. The pushing position of the pushing component 41 is located at the inclined portion 431 of the gripping claw 43, which can reduce the problem of excessive local force caused by pushing only one end, reduce the difficulty of pushing multiple gripping claws 43 to open, improve the stability of gripping the workpiece 10, thereby reducing the risk of the workpiece 10 falling off during the gripping process, and thus reducing the number of alarms caused by the workpiece 10 falling off, improving the continuity and safety of production.

[0061] The above are all preferred embodiments of this application and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made in accordance with the structure, shape and principle of this application should be covered within the scope of protection of this application.

Claims

1. A gripper, characterized in that, include: Supporting structure (1); Telescopic mechanism (2), the fixed end of which is connected to the support mechanism (1); The bearing mechanism (3) is connected to the support mechanism (1), and the telescopic end of the telescopic mechanism (2) slides through the bearing mechanism (3). The telescopic end of the telescopic mechanism (2) extends and retracts along a preset direction. A clamping mechanism (4) includes a pushing component (41), several elastic elements (42), and several clamping claws (43). The pushing component (41) is connected to the telescopic end of the telescopic mechanism (2). The pushing component (41) is located on the side of the bearing mechanism (3) away from the fixed end of the telescopic mechanism (2). Several clamping claws (43) are evenly distributed around the bearing mechanism (3), so that several clamping claws (43) are evenly distributed around the outer periphery of the pushing component (41). An elastic element (42) is provided between two adjacent clamping claws (43), so that the two ends of the elastic element (42) are respectively connected to the two clamping claws (43). The first end of the clamping claw (43) is hinged to the... The bearing mechanism (3) has a clamping claw (43) with an inclined portion (431). The inclined portion (431) makes the width of the middle part of the clamping claw (43) greater than the width of the first end of the clamping claw (43). The pushing component (41) abuts against the inclined side of the inclined portion (431). The elastic member (42) makes the inclined portion (431) always abut against the pushing component (41). The movement of the pushing component (41) along a preset direction can push the clamping claw (43) to rotate around its own first end, so that the second ends of a plurality of clamping claws (43) can open or close. The second end of the clamping claw (43) is used to extend into the workpiece (10) and abut against the inner peripheral wall of the workpiece (10) to clamp the workpiece (10).

2. The gripper according to claim 1, characterized in that, The clamping mechanism (4) further includes several abutment members (44), each abutment member (44) being arranged in a one-to-one correspondence with the clamping claw (43). The middle part of the abutment member (44) is hinged to the second end of the clamping claw (43). The clamping claw (43) is provided with a relief groove (432) so that the two ends of the abutment member (44) can rotate around its own middle part, so that the side of the abutment member (44) can fit against the inner peripheral wall of the workpiece (10).

3. The gripper according to claim 2, characterized in that, The outer side of the abutment (44) is provided with a flexible pad (45) so that the flexible pad (45) can fit against the inner peripheral wall of the workpiece (10).

4. The gripper according to claim 1, characterized in that, The pushing assembly (41) includes a pushing connector (411), a plurality of abutting shafts (412), and a plurality of mounting members (413). The pushing connector (411) is connected to the telescopic end of the telescopic mechanism (2). The mounting members (413) are connected to the pushing connector (411). The plurality of mounting members (413) are circumferentially distributed. The abutting shafts (412) are correspondingly arranged with the mounting members (413). The mounting members (413) are used to support the abutting shafts (412). The mounting members (413) are correspondingly arranged with the clamping claws (43), so that the abutting shafts (412) abut against the corresponding inclined portions (431). By moving the abutting shafts (412) along a preset direction, the plurality of clamping claws (43) open or converge with each other.

5. The gripper according to claim 1, characterized in that, It also includes a detection mechanism (5), which is connected to the support mechanism (3) and is used to detect the presence or absence of the workpiece (10).

6. The gripper according to claim 5, characterized in that, The detection mechanism (5) includes a detection fixing member (51), a detection support member (52), and a detection execution member (53). The detection fixing member (51) is connected to the bearing mechanism (3). The first end of the detection support member (52) is connected to the detection fixing member (51). The detection execution member (53) is located at the second end of the detection support member (52), so that the detection execution member (53) is located between two adjacent clamping claws (43).

7. The gripper according to claim 1, characterized in that, The telescopic mechanism (2) includes a telescopic component (21), a floating joint (22), and a connecting shaft (23). The bearing mechanism (3) includes a bearing body (31) and a linear bearing (32). The linear bearing (32) is located at the center of the bearing body (31). The fixed end of the telescopic component (21) is connected to the support mechanism (1). The telescopic end of the telescopic component (21) is connected to the first end of the floating joint (22). The second end of the floating joint (22) is connected to the first end of the connecting shaft (23). The connecting shaft (23) passes through the linear bearing (32). The connecting shaft (23) slides with the linear bearing (32). The second end of the connecting shaft (23) is connected to the pushing assembly (41).

8. The gripper according to claim 7, characterized in that, The telescopic end of the telescopic component (21) is connected to the first end of the floating joint (22), and the second end of the floating joint (22) is connected to the first end of the connecting shaft (23) by bolts (6).

9. The gripper according to claim 1, characterized in that, The support mechanism (1) and the bearing mechanism (3) are connected by a number of support columns (11), and the number of support columns (11) are evenly distributed circumferentially on the outer periphery of the telescopic end of the telescopic mechanism (2).

10. The gripper according to claim 1, characterized in that, The clamping claw (43) is provided with a hook (433), and the hook (433) is provided with a hook hole, which is used to connect the elastic member (42).

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