Self-adaptive reciprocating type mechanical claw device, mechanical arm and assembly line

Abstract

The utility model discloses a self-adaptive reciprocating type mechanical gripper device, a mechanical arm and an assembly line, and belongs to the technical field of mechanical grippers. The guide mechanisms are arranged on the two sides of the base in the X direction and extend outwards; the clamping mechanism comprises two clamping jaws which are oppositely arranged, and the clamping jaws are movably arranged on the guide mechanism; the driving mechanism is arranged in the base and connected with the clamping jaw, and the driving mechanism drives the clamping jaw to reciprocate along the guide mechanism; the control module is arranged on one side of the base and electrically connected with the driving mechanism; and the interface module is arranged on the base, and the interface module is provided with a plurality of standardized interfaces and used for being connected with a mechanical arm or an assembly line. The device can be adjusted according to the shape and the size of a grabbed object so as to achieve a more accurate grabbing effect, and rapid switching and stable connection of the device between a mechanical arm and an assembly line are achieved through the interface module.

Description

Technical Field

[0001] This utility model relates to the field of mechanical gripper technology, specifically to an adaptive reciprocating mechanical gripper device, a robotic arm, and an assembly line. Background Technology

[0002] In the field of industrial automation, robotic arms and assembly lines are crucial for efficient production, but traditional robotic grippers have limited functionality and are difficult to adapt to diverse needs. In existing technologies, robotic grippers that rely on axis rotation have a limited gripping range and require customized specifications; while robotic grippers that move linearly along a lead screw are widely applicable, but their slow movement affects efficiency.

[0003] A search revealed that Chinese patent document CN115922757A discloses a translational electric gripping device and a robotic arm, relating to the field of gripping equipment technology. The device includes: a gripping base; a guide structure mounted on the gripping base; a gripping mechanism comprising two opposing grippers movably mounted on the guide structure; a synchronous transmission mechanism mounted on the gripping base and connected to the guide structure; a drive device tractably connected to the synchronous transmission mechanism; and a control system electrically connected to the synchronous transmission mechanism and the drive device, capable of acquiring the stroke signal of the synchronous transmission mechanism and controlling the output stroke of the drive device.

[0004] However, the gripping device in this patent document has a limited application scenario, relies on a robotic arm platform, and is not convenient to switch to an assembly line. Utility Model Content

[0005] The purpose of this invention is to provide an adaptive reciprocating mechanical gripper device, a robotic arm, and an assembly line, which solves the problem that the existing gripping devices have limited application scenarios, rely on robotic arm platforms, and are not easy to switch to assembly lines.

[0006] To achieve the above objectives, this utility model provides an adaptive reciprocating mechanical gripper device, comprising: a base; guide mechanisms disposed on both sides of the base in the X direction and extending outward; a gripping mechanism including two opposing grippers movably disposed on the guide mechanisms; a drive mechanism disposed inside the base and connected to the grippers, the drive mechanism driving the grippers to reciprocate along the guide mechanisms; a control module disposed on one side of the base and electrically connected to the drive mechanism; and an interface module disposed on the base, the interface module having multiple standardized interfaces for connecting to a robotic arm or assembly line.

[0007] Furthermore, the gripper includes a gripper base, a gripper body, and a drive rod assembly. The gripper base is movably connected to the guide mechanism; the gripper body is connected to the gripper base via the drive rod assembly.

[0008] Furthermore, the drive rod assembly is electrically connected to the control module, and the control module controls the opening and closing angles of the claw bodies on both sides through the drive rod assembly.

[0009] Furthermore, the claw body includes a claw side plate and a claw hook, the claw hook being connected to the free end of the claw side plate; one end of the claw side plate relative to the claw hook is rotatably connected to the output end of the drive rod assembly.

[0010] Furthermore, limit baffles are installed at both ends of the guide mechanism, and the limit baffles are used to limit the opening and closing angle of the claw body.

[0011] Furthermore, the guiding mechanism includes two opposing and parallel guide arms, with multiple guide rods disposed between the two guide arms, and the claw base is connected to the guide arms; the ends of the guide arms and guide rods are connected to the base through a deceleration mechanism.

[0012] Furthermore, the base includes a first base and a second base, and a guide rail is provided between the first base and the second base, the guide rail being arranged along the Y direction; the deceleration mechanism is connected to the first base, and the deceleration mechanism drives the first base to reciprocate along the guide rail.

[0013] Furthermore, the control module includes a programmable module and a communication module integrated within the control module.

[0014] A robotic arm, comprising the aforementioned robotic gripper device.

[0015] An assembly line includes the aforementioned mechanical gripper device.

[0016] Compared with existing known technologies, the technical solution provided by this utility model has the following beneficial effects:

[0017] This invention discloses an adaptive reciprocating robotic gripper device. The grippers are movably mounted on a guide mechanism. Driven by a drive mechanism, the grippers reciprocate along the guide mechanism, changing the distance between the two grippers and thus altering the opening and closing degree of the gripping mechanism. The drive mechanism is electrically connected to a control module, which controls the opening and closing actions according to a preset program or external commands. The gripping mechanism can be adjusted according to the shape and size of the object being gripped to achieve more precise gripping and broad adaptive gripping capabilities. Multiple standardized interfaces on the interface module conform to industry standards, enabling compatibility with various robotic arms and assembly lines, facilitating rapid switching and stable connection between the device and robotic arms / assembly lines, thus expanding the device's application scenarios.

[0018] It is obvious that the elements or features described in the above individual embodiments can be used alone or in combination in other embodiments. Attached Figure Description

[0019] The dimensions and scales in the accompanying drawings do not represent the actual dimensions and scales of the product. The drawings are for illustrative purposes only, and some non-essential elements or features have been omitted for clarity.

[0020] Figure 1 This is a three-dimensional structural schematic diagram of the mechanical gripper device in an embodiment of this utility model;

[0021] Figure 2 This is a bottom view of the mechanical gripper device in an embodiment of this utility model;

[0022] Figure 3 This is a side view of the mechanical claw device in an embodiment of this utility model.

[0023] Explanation of reference numerals in the attached figures

[0024] 100, Base; 101, First base; 102, Second base; 103, Guide rail; 110, Drive mechanism; 120, Control module; 200, Interface module; 210, Standardized interface; 300, Reduction mechanism; 400, Gripper; 410, Gripper base; 420, Gripper body; 421, Gripper side plate; 422, Gripper hook; 430, Drive rod assembly; 500, Guide mechanism; 510, Guide arm; 520, Guide rod; 600, Limiting baffle. Detailed Implementation

[0025] The present invention will now be described in detail with reference to the accompanying drawings. The embodiments described herein are merely preferred embodiments of the present invention. Those skilled in the art can conceive of other ways to implement the present invention based on the preferred embodiments, and such other ways also fall within the scope of the present invention.

[0026] Reference Figures 1-3This application provides an adaptive reciprocating mechanical gripper device, including: a base 100, a guide mechanism 500, and a clamping mechanism. The guide mechanism 500 is disposed on both sides of the base 100 in the X direction and extends outward. The clamping mechanism includes two opposing grippers 400, which are movably mounted on the guide mechanism 500. A drive mechanism 110 is disposed inside the base 100 and connected to the grippers 400, driving the grippers 400 to reciprocate along the guide mechanism 500. When the two grippers 400 approach each other, the clamping mechanism clamps. When the two grippers 400 move away from each other, the clamping mechanism releases. A control module 120 is disposed on one side of the base 100 and electrically connected to the drive mechanism 110. The control module 120 can control the opening and closing degree of the clamping mechanism. The upper surface of the base 100 is provided with an interface module 200, which has multiple standardized interfaces 210 for connecting to a robotic arm or assembly line. It can quickly switch and securely connect between the robotic arm and the assembly line, and also has extensive adaptive gripping capabilities, suitable for objects of various shapes and sizes. This device not only improves production efficiency but also reduces operating difficulty and maintenance costs.

[0027] Specifically, such as Figure 1 As shown, the gripper 400 includes a gripper base 410, a gripper body 420, and a drive rod assembly 430. The two ends of the gripper base 410 are slidably sleeved above the guide mechanism 500. The gripper base 410 can reciprocate along the length of the guide mechanism 500, thereby adjusting the distance between the grippers 400 on both sides, suitable for gripping objects of different sizes. The gripper body 420 is connected to the gripper base 410 via the drive rod assembly 430. The drive rod assembly 430 includes a telescopic rod and a connecting rod. The fixed end of the telescopic rod is connected to the gripper base 410, the output end of the telescopic rod is rotatably connected to one end of the connecting rod, and the other end of the connecting rod is rotatably connected to the gripper body 420. When the telescopic rod extends, it causes the connecting rod to tilt inward, causing the gripper body 420 to move closer to the other side of the gripper body 420. When the telescopic rod retracts, it causes the connecting rod to tilt outward, causing the gripper body 420 to move away from the position of the other side of the gripper body 420. It is understandable that multiple drive rod assemblies 430 are provided, and the multiple drive rod assemblies 430 are arranged at intervals along the Y direction on the claw base 410, which can improve the stability of driving the claw body 420.

[0028] Furthermore, the drive rod assembly 430 is electrically connected to the control module 120, which controls the opening and closing angles of the claw bodies 420 on both sides via the drive rod assembly 430. The control module 120 controls the movement of the drive rod assembly 430 according to signals, i.e., controls the extension and retraction length of the telescopic rod, thereby controlling the opening and closing angles of the claw bodies 420 on both sides. To prevent damage to objects or unstable gripping caused by excessive opening and closing of the claw bodies 420, limit baffles 600 are installed at both ends of the guide mechanism 500 to limit the opening and closing angles of the claw bodies 420.

[0029] To improve the clamping tightness of the goods and reduce the risk of them falling, in some embodiments, such as Figure 1 and Figure 2 As shown, the claw body 420 includes a claw side plate 421 and claw hooks 422, with the claw hooks 422 connected to the free end of the claw side plate 421. One end of the claw side plate 421 relative to the claw hooks 422 is rotatably connected to the output end of the drive rod assembly 430. Multiple claw hooks 422 are provided, spaced apart along the Y direction on the claw side plate 421. The free end, i.e., the lower end, of the claw side plate 421 extends inward at an angle, and the two claw side plates 421 form a converging structure, which is more conducive to gripping goods.

[0030] In some embodiments, to improve the structural strength of the guiding mechanism 500, the guiding mechanism 500 includes two opposing and parallel guide arms 510, with the two guide arms 510 located on the outermost side. Multiple guide rods 520 are arranged between the two guide arms 510, which can increase the overall structural strength of the guiding mechanism 500. A claw base 410 is slidably connected to the guide arms 510, and the claw base 410 is sleeved above the guide arms 510. The ends of the guide arms 510 and guide rods 520 are connected to the base 100 via a reduction mechanism 300. The base 100 includes a first base 101 and a second base 102, with a guide rail 103 arranged between the first base 101 and the second base 102, the guide rail 103 being arranged along the Y direction. The reduction mechanism 300 is connected to the first base 101, and the reduction mechanism 300 drives the first base 101 to reciprocate along the guide rail 103. With the cooperation of the deceleration mechanism 300 and the guide rail 103, the reciprocating motion of the first base 101 drives the guide mechanism 500 to reciprocate. Since the gripper 400 is installed on the guide mechanism 500, the gripper 400 can adjust its position in the Y direction, making it convenient to accurately grip the target object.

[0031] In this embodiment, the reduction mechanism 300 can adopt a worm gear mechanism. The rotation of the worm gear drives the rotation of the worm. The first base 101 is connected to the worm through a threaded slider. The rotation of the worm drives the threaded slider to move linearly in the Y direction, thereby driving the first base 101 to perform linear motion in the Y direction. The worm gear mechanism has a good self-locking function, which can ensure the overall stability of the base 100. Of course, the reduction mechanism 300 can also adopt other mechanical transmission structures, which will not be listed here.

[0032] It should be noted that the control module 120 includes a programmable module and a communication module integrated within it. The control module 120 is an integrated motion controller with programmability and remote communication capabilities. It can receive instructions and data from external control systems and sensors, and automatically adjust the opening angle, moving speed, and gripping path of the gripper body 420 based on preset algorithms and real-time feedback information.

[0033] Working Principle: The base 100 is connected and locked to the robotic arm or assembly line via a standardized interface module 200. Then, based on the shape and size of the object being grasped, the position and size of the gripper 400 relative to the adaptive gripping mechanism (guide mechanism 500) and the limiting baffle 600 are adjusted. Next, through the programming interface of the control module 120, a preset program is input or external commands are received, and parameters such as the opening and closing angle, moving speed, and gripping path of the gripper 400 are set. After the drive mechanism 110 is started, the servo motor begins to work, driving the first base 101 to reciprocate along the guide rail 103 via the precision reduction mechanism 300. The control module 120 precisely controls the opening and closing action and moving trajectory of the gripper 400 according to the preset program or real-time feedback information. The adaptive gripping mechanism adjusts the position and size of the gripper 400 relative to the guide rod 520 and the limiting baffle 600 according to the specific needs of the object being grasped, achieving stable gripping and releasing operations. Finally, through the remote communication function of the control module 120, the operating status of the device can be monitored in real time, and the device can be maintained and serviced as needed to ensure long-term stable operation.

[0034] One aspect of this application provides a robotic arm, including the aforementioned robotic gripper device.

[0035] Another aspect of this application provides an assembly line including the aforementioned mechanical gripper device.

[0036] In the description of this utility model, it should be noted that the terms "front," "rear," "left," "right," "upper," "lower," "top," "bottom," "inner," and "outer," etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings and are only for the convenience of describing this utility model and simplifying the description, and 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 on this utility model. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0037] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0038] The scope of protection of this utility model is defined only by the claims. Thanks to the teachings of this utility model, those skilled in the art will readily recognize that alternative structures to the disclosed structure can be used as feasible alternative implementations, and that the disclosed implementations can be combined to produce new implementations, which also fall within the scope of the appended claims.

Claims

1. An adaptive reciprocating mechanical gripper device, comprising: Base (100); Guide mechanisms (500) are provided on both sides of the base (100) in the X direction and extend outward; A clamping mechanism comprising two opposing grippers (400), characterized in that the grippers (400) are movably mounted on a guide mechanism (500); A drive mechanism (110) is disposed inside the base (100) and connected to the gripper (400), the drive mechanism (110) driving the gripper (400) to reciprocate along the guide mechanism (500); A control module (120) is disposed on one side of the base (100) and electrically connected to the drive mechanism (110); An interface module (200) is disposed on a base (100), and the interface module (200) is provided with multiple standardized interfaces (210) for connecting to a robotic arm or assembly line.

2. The adaptive reciprocating mechanical gripper device according to claim 1, characterized in that, The gripper (400) includes a gripper base (410), a gripper body (420), and a drive rod assembly (430). The gripper base (410) is movably connected to the guide mechanism (500). The gripper body (420) is connected to the gripper base (410) via the drive rod assembly (430).

3. The adaptive reciprocating mechanical gripper device according to claim 2, characterized in that, The drive rod assembly (430) is electrically connected to the control module (120), and the control module (120) controls the opening and closing angle of the claw bodies (420) on both sides through the drive rod assembly (430).

4. The adaptive reciprocating mechanical gripper device according to claim 3, characterized in that, The claw body (420) includes a claw side plate (421) and a claw hook (422), the claw hook (422) being connected to the free end of the claw side plate (421); one end of the claw side plate (421) relative to the claw hook (422) is rotatably connected to the output end of the drive rod assembly (430).

5. The adaptive reciprocating mechanical gripper device according to claim 2, characterized in that, Limiting baffles (600) are installed at both ends of the guide mechanism (500), and the limiting baffles (600) are used to limit the opening and closing angle of the claw body (420).

6. The adaptive reciprocating mechanical gripper device according to claim 2, characterized in that, The guiding mechanism (500) includes two opposing and parallel guide arms (510), and multiple guide rods (520) are arranged between the two guide arms (510). The claw base (410) is connected to the guide arms (510). The ends of the guide arms (510) and guide rods (520) are connected to the base (100) through a deceleration mechanism (300).

7. The adaptive reciprocating mechanical gripper device according to claim 6, characterized in that, The base (100) includes a first base (101) and a second base (102), and a guide rail (103) is provided between the first base (101) and the second base (102), the guide rail (103) being arranged along the Y direction; the deceleration mechanism (300) is connected to the first base (101), and the deceleration mechanism (300) drives the first base (101) to reciprocate along the guide rail (103).

8. The adaptive reciprocating mechanical gripper device according to claim 1, characterized in that, The control module (120) includes a programmable module and a communication module integrated in the control module (120).

9. A robotic arm, characterized in that, Includes the mechanical gripper device as described in any one of claims 1-8.

10. An assembly line, characterized in that, Includes the mechanical gripper device as described in any one of claims 1-8.

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