Mechanical gripper with material clamping detection function

Abstract

The utility model discloses a mechanical gripper with a material clamping detection function. The mechanical gripper comprises two clamping bodies and a clamping driving source. At least one clamping body comprises a shell, a plurality of clamping assemblies, a blocking frame, an elastic piece and an in-place sensor. A mounting cavity is formed in the shell, and an opening communicated with the mounting cavity is formed in the front side face of the shell. The multiple clamping assemblies are uniformly mounted in the mounting cavity through the openings, the outer ends of the clamping assemblies extend out of the openings, and the clamping assemblies have flexibility; the blocking frame is located on the front side face of the shell in a matched mode and surrounds the opening. One end of the elastic piece is connected with the front side face of the shell, and the other end of the elastic piece is connected with the blocking frame. The in-place sensor is installed on the front side face of the shell and matched with the blocking frame. After the blocking frame, the elastic piece and the in-place sensor are matched, the situation that a workpiece is damaged due to the fact that the clamping force is too large in the workpiece clamping process of the clamping body or the workpiece is unstable due to the fact that the clamping force is too small can be avoided.

Description

Technical Field

[0001] This utility model relates to the field of robotic gripper technology, specifically to a robotic gripper with material clamping detection. Background Technology

[0002] Robotic grippers are key components in the field of automation, enabling machines to grasp and manipulate objects as flexibly as human hands. Modern robotic grippers are no longer limited to a single task but can perform a variety of operations, such as grasping, transporting, and assembling, thanks to their designs that can adapt to different shapes and materials.

[0003] For a robotic gripper, patent announcement number CN221455970U discloses a flexible robotic gripper, which specifically discloses a gripping body. The gripping body includes a box with a mounting cavity open on one side and multiple rows of gripping mechanisms evenly distributed vertically and installed in the mounting cavity. Each row of gripping mechanisms includes multiple sets of horizontally and evenly distributed gripping components. Each set of gripping components includes a top post and an elastic element mounted on the top post. The first end of the top post extends out of the mounting cavity. The elastic element includes a spring. One end of the spring is connected to the second end of the top post, and the other end of the spring is positioned so that the spring can be used to provide the top post with a telescopic elastic force for moving in and out of the mounting cavity. The flexible robotic gripper also includes a drive device with two output ends. The gripping body is provided with two gripping bodies arranged opposite each other. The two gripping bodies are respectively connected to the two output ends of the drive device so that the drive device can drive the two gripping bodies to move in opposite or opposite directions, and a gripping structure can be formed when the two gripping bodies move relative to each other. The driving device includes a dual-axis cylinder, and the two output ends of the dual-axis cylinder are respectively connected to the box bodies on the two clamping bodies.

[0004] However, there is still room for improvement in the aforementioned flexible robotic gripper. For example, when the robotic gripper is clamping a workpiece, it cannot accurately detect whether the workpiece is clamped in place. In other words, during the process of the drive device driving the two clamping bodies to clamp the workpiece, the workpiece may be damaged due to excessive clamping force or the workpiece may be unstable due to insufficient clamping force. Either situation is detrimental to the work efficiency of the clamping operation.

[0005] Therefore, improvements to existing technologies are necessary. Utility Model Content

[0006] To address the problems existing in the prior art, the purpose of this utility model is to provide a robotic gripper with clamping detection, which can prevent the workpiece from being damaged due to excessive clamping force or the workpiece from becoming unstable due to insufficient clamping force during the clamping process, thus ensuring the work efficiency of the clamping operation.

[0007] To achieve the above objectives, the technical solution of this utility model is as follows:

[0008] A robotic gripper with clamping detection includes two gripping bodies and a gripping drive source for driving the two gripping bodies to perform gripping actions. At least one gripping body includes a housing, multiple gripping components, a retaining frame, an elastic element, and a positioning sensor. An installation cavity is provided inside the housing, and an opening communicating with the installation cavity is provided on the front side of the housing. Multiple gripping components are evenly installed in the installation cavity through the opening, with their outer ends extending out of the opening; the gripping components are telescopic. The retaining frame is matched to the front side of the housing and surrounds the opening. One end of the elastic element is connected to the front side of the housing, and the other end is connected to the retaining frame; the elastic element provides telescopic elasticity to the retaining frame. The positioning sensor is installed on the front side of the housing and cooperates with the retaining frame. During the process of the gripping drive source driving the two gripping bodies to clamp a workpiece, the workpiece can push the retaining frame backward and compress the elastic element. When the positioning sensor senses that the retaining frame has moved into position, the gripping drive source stops. This configuration allows for the detection of whether the workpiece is clamped in place.

[0009] Furthermore, at least one of the clamping bodies also includes a workpiece detection sensor, which is mounted on the front side of the housing. A through hole corresponding to the workpiece detection sensor is provided on the retaining frame, allowing the detection end of the workpiece detection sensor to extend beyond the retaining frame through the through hole. This allows the workpiece detection sensor to detect whether a workpiece is located between the two clamping bodies before the clamping drive source drives the two clamping bodies to perform a clamping action. This configuration enables the workpiece detection sensor to detect whether a workpiece is located between the two clamping bodies before the clamping drive source drives the two clamping bodies to perform a clamping action.

[0010] Furthermore, the workpiece detection sensor is an optical sensor.

[0011] Furthermore, the positioning sensor is a contact sensor.

[0012] Furthermore, the elastic element is a spring; at least two elastic elements are evenly distributed and each elastic element is distributed on both sides of the outer shell, so that each elastic element can provide sufficient extension force to the retaining frame.

[0013] Furthermore, a first connecting hole and a second connecting hole are respectively provided at the four corners of the front side of the outer casing and at the four corners of the retaining frame; a limiting bolt is provided in each of the first connecting hole and the second connecting hole; the retaining frame is movably fitted onto the limiting bolt, with the head of the limiting bolt located outside the retaining frame. By providing the limiting bolt, the retaining frame can be limited to prevent it from coming off the outer casing.

[0014] Furthermore, each of the clamping components includes a top post and an elastic module mounted on the top post; a first end of the top post extends outward through the opening into the mounting cavity; the elastic module includes a telescopic spring mounted in the insertion cavity of the top post and an abutment rod whose first end is movably engaged in the insertion cavity and whose second end is fixed in the mounting cavity; the end of the first end of the abutment rod is connected to the telescopic spring, which can be used to provide telescopic elastic force to the top post. By providing a telescopic spring, the top post can telescopically extend, thus enabling the clamping component to have a telescopic effect.

[0015] Furthermore, a positioning plate is fixed inside the mounting cavity; the second end of the abutment rod is fixed to the positioning plate. This arrangement facilitates the secure fixing of the abutment rod.

[0016] Furthermore, the clamping drive source is a dual-axis cylinder.

[0017] Furthermore, the two clamping bodies have the same structure and are arranged facing each other.

[0018] The beneficial effects of this utility model are as follows:

[0019] This invention, by setting a retaining frame and an elastic element on the outer shell, allows the retaining frame to be pushed by the workpiece during the clamping process driven by the clamping drive source until the elastic element is compressed. Then, a position sensor is used to sense the position of the retaining frame so that the clamping drive source can be stopped in time after the retaining frame and the workpiece have moved into place. This prevents the workpiece from being damaged by excessive clamping force or the workpiece from being unstable due to insufficient clamping force. In other words, the position sensor can be used to detect whether the workpiece is clamped in place, ensuring the efficiency of the clamping operation. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0021] Figure 2 This is a schematic diagram of the overall structure of the clamping body of this utility model. Figure 1 ;

[0022] Figure 3 This is a schematic diagram of the overall structure of the clamping body of this utility model. Figure 2 ;

[0023] Figure 4 This is a schematic diagram of the clamping body of this utility model after the baffle frame has been removed;

[0024] Figure 5 This is an exploded view of the clamping body of this utility model;

[0025] Figure 6 This is a partial structural schematic diagram of the clamping body of this utility model;

[0026] Figure 7 This is a schematic diagram of the clamping assembly of this utility model;

[0027] Figure 8 This is a cross-sectional view of the clamping component of this utility model.

[0028] Figure Labels

[0029] 1. Clamping body; 11. Outer shell; 111. Mounting cavity; 12. Clamping assembly; 121. Top post; 1211. Insertion cavity; 122. Telescopic spring; 123. Abutment rod; 124. Positioning plate; 13. Stop frame; 131. Through hole; 14. Elastic element; 15. Position sensor; 16. Workpiece detection sensor; 17. First connecting hole; 18. Second connecting hole; 19. Limit bolt; 2. Clamping drive source. Detailed Implementation

[0030] The utility model will be further described below with reference to the accompanying drawings and specific embodiments. The following description is merely exemplary and does not limit the scope of protection of the utility model.

[0031] like Figures 1-8 As shown, a robotic gripper with clamping detection includes two gripping bodies 1 and a clamping drive source 2 that can drive the two gripping bodies 1 to perform clamping actions.

[0032] At least one clamping body 1 includes a housing 11, multiple clamping components 12, a retaining frame 13, an elastic element 14, and a positioning sensor 15.

[0033] like Figures 1-5 As shown, specifically, a mounting cavity 111 is provided inside the housing 11, and an opening communicating with the mounting cavity 111 is provided on the front side of the housing 11; a plurality of clamping assemblies 12 are evenly installed in the mounting cavity 111 through the opening, and the outer ends of the clamping assemblies 12 extend out of the opening, and the clamping assemblies 12 are telescopic; a retaining frame 13 is matchedly located on the front side of the housing 11 and arranged around the opening; one end of the elastic member 14 is connected to the front side of the housing 11, and the other end is connected to the retaining frame 13, and the elastic member 14 can be used to provide telescopic elastic force for the retaining frame 13; a positioning sensor 15 is installed on the front side of the housing 11 and cooperates with the retaining frame 13.

[0034] Therefore, during the process of clamping drive source 2 driving two clamping bodies 1 to clamp the workpiece (i.e., clamping), the workpiece can push the stop frame 13 to move backward and compress the elastic element 14. When the position sensor senses that the stop frame 13 has moved into position, the clamping drive source 2 stops.

[0035] In summary, by setting a retaining frame 13 and an elastic element 14 on the outer shell, this utility model allows the retaining frame 13 to be pushed by the workpiece during the clamping process driven by the clamping drive source 2 to clamp the workpiece by the clamping body 1, until the elastic element 14 is compressed. Then, the position sensor 5 is used to sense the position of the retaining frame 13 so that the clamping drive source 2 can be stopped in time after the retaining frame 13 and the workpiece have moved into place, so as to avoid damage to the workpiece due to excessive clamping force or instability of the workpiece due to insufficient clamping force. That is, the position sensor 5 can be used to detect whether the workpiece is clamped in place, thus ensuring the working efficiency of the clamping operation.

[0036] like Figures 1-5 As shown, at least one clamping body 1 also includes a workpiece detection sensor 16, which is mounted on the front side of the housing 11. A through hole 131 corresponding to the workpiece detection sensor 16 is provided on the baffle frame 13, so that the detection end of the workpiece detection sensor 16 can be ejected to the outside of the baffle frame 13 through the through hole 131. Thus, before the clamping drive source 2 drives the two clamping bodies 1 to perform clamping actions, the workpiece detection sensor 16 can be used to detect whether there is a workpiece between the two clamping bodies 1.

[0037] In this embodiment, the workpiece detection sensor 16 is an optical sensor.

[0038] In this embodiment, the position sensor 15 is a contact sensor.

[0039] like Figure 4 As shown, in this embodiment, the elastic element 14 is a spring; at least two elastic elements 14 are evenly distributed and each elastic element 14 is distributed on both sides of the outer shell 11, so that each elastic element 14 can provide sufficient extension force to the retaining frame 13, and also make the retaining frame 13 less prone to deflection during movement.

[0040] like Figure 5As shown, first connecting holes 17 and second connecting holes 18 are respectively provided at the four corners of the front side of the outer casing 11 and the four corners of the retaining frame 13; a limiting bolt 19 is provided in each of the first connecting holes 17 and the second connecting holes 18; the retaining frame 13 is movably fitted onto the limiting bolt 19, and the head of the limiting bolt 19 is located outside the retaining frame 13. Of course, the width of the head of the limiting bolt 19 is greater than the width of the second connecting hole 18. Therefore, by providing the limiting bolt 19, the retaining frame 13 can be limited to prevent it from coming off the outer casing 11.

[0041] like Figures 1-5 As shown, each clamping assembly 12 includes a top post 121 and an elastic module mounted on the top post 121. The first end of the top post 121 extends outward through an opening into a mounting cavity 111. The elastic module includes a telescopic spring 122 mounted in a cavity 211 of the top post 121 and an abutment rod 123 whose first end is movably engaged in the cavity 211 and whose second end is fixed within the mounting cavity 111. The first end of the abutment rod 123 is connected to the telescopic spring 122, which provides telescopic force to the top post 121. Therefore, the telescopic spring 122 enables the top post 121 to telescopically extend, thus giving the clamping assembly 12 a telescopic effect.

[0042] like Figure 6 As shown, a positioning plate 124 is fixed inside the mounting cavity 111; the second end of the abutment rod 123 is fixed on the positioning plate 124. By setting the positioning plate 124, each abutment rod 123 can be easily installed, that is, each clamping component 12 can be easily positioned.

[0043] like Figure 1 As shown, in this embodiment, the clamping drive source 2 is a dual-axis cylinder. Therefore, by setting the dual-axis cylinder to drive the two clamping bodies 1 to move in opposite or opposite directions, a clamping effect can be formed when the two clamping bodies 1 move relative to each other.

[0044] like Figure 1 As shown, in this embodiment, the two clamping bodies 1 have identical structures and are arranged facing each other to facilitate material clamping. Additionally, the clamping drive source 2 is connected to the outer shell 11 of each of the two clamping bodies 1.

[0045] It should be noted that in other embodiments, one of the clamping bodies 1 can be replaced with a block-shaped clamping block connected to an output shaft of a dual-axis cylinder. In this way, the clamping block can also achieve a clamping effect when it cooperates with the clamping body 1.

[0046] The following describes the specific working principle of this utility model in order to help you understand it:

[0047] First, the clamping drive source 2 is connected to another multi-axis robot (not shown in the figure). When a workpiece needs to be clamped, the robot moves the clamping drive source 2 to move the two clamping bodies 1 to the position of the workpiece, at which point the workpiece is located between the two clamping bodies 1. Then, when the workpiece detection sensor 16 detects that there is a workpiece between the two clamping bodies 1, the clamping drive source 2 drives the two clamping bodies 1 to move relative to each other (i.e., move closer) until the workpiece presses against the corresponding top post 121 and compresses the telescopic spring 122. At the same time, the workpiece will also press against the two sides of the retaining frame 13 and compress the elastic element 14. When the retaining frame 13 moves to the preset position, it is detected by the positioning sensor 15. Then, the clamping drive source 2 stops immediately, so that the two clamping bodies 1 do not clamp the workpiece too tightly or too loosely. Next, the robot moves the workpiece to the next process, and then the clamping drive source 2 drives the two clamping bodies 1 to release the workpiece accordingly. Then, the top post 121 and the retaining frame 13 reset.

[0048] This utility model is not limited to the above-described embodiments. If any modifications or variations to this utility model do not depart from the spirit and scope of this utility model, and if such modifications and variations fall within the scope of the claims and equivalent technologies of this utility model, then this utility model also intends to include such modifications and variations.

Claims

1. A robotic gripper with material clamping detection, characterized in that: It includes two clamping bodies and a clamping drive source that can drive the two clamping bodies to perform clamping actions; At least one of the clamping bodies includes a housing, multiple clamping components, a retaining frame, an elastic element, and a positioning sensor; An installation cavity is provided inside the housing, and an opening communicating with the installation cavity is provided on the front side of the housing; a plurality of clamping assemblies are evenly installed in the installation cavity through the opening, and the outer ends of the clamping assemblies extend out of the opening, and the clamping assemblies are telescopic; a retaining frame is matchedly located on the front side of the housing and arranged around the opening; one end of an elastic member is connected to the front side of the housing, and the other end is connected to the retaining frame, and the elastic member can be used to provide telescopic elastic force for the retaining frame; a positioning sensor is installed on the front side of the housing and cooperates with the retaining frame; During the process of the clamping drive source driving the two clamping bodies to clamp the workpiece, the workpiece can push the stop frame to move backward and compress the elastic element. When the positioning sensor senses that the stop frame has moved into position, the clamping drive source stops.

2. The robotic gripper with material clamping detection according to claim 1, characterized in that: At least one of the clamping bodies further includes a workpiece detection sensor, which is mounted on the front side of the housing; a through hole corresponding to the workpiece detection sensor is provided on the retaining frame, so that the detection end of the workpiece detection sensor can be ejected outside the retaining frame through the through hole, thereby allowing the workpiece detection sensor to detect whether there is a workpiece between the two clamping bodies before the clamping drive source drives the two clamping bodies to perform clamping action.

3. The robotic gripper with material clamping detection according to claim 2, characterized in that: The workpiece detection sensor is an optical sensor.

4. The robotic gripper with material clamping detection according to claim 1, characterized in that: The positioning sensor is a contact sensor.

5. The robotic gripper with material clamping detection according to claim 1, characterized in that: The elastic element is a spring; at least two elastic elements are provided, evenly distributed, and each elastic element is distributed on both sides of the outer shell.

6. The robotic gripper with material clamping detection according to claim 1, characterized in that: A first connecting hole and a second connecting hole are respectively provided at the four corners of the front side of the outer shell and at the four corners of the baffle; a limiting bolt is provided in each of the first connecting hole and the second connecting hole; the baffle is movably fitted on the limiting bolt and the head of the limiting bolt is located outside the baffle.

7. The robotic gripper with material clamping detection according to claim 1, characterized in that: Each of the clamping assemblies includes a top post and an elastic module mounted on the top post; a first end of the top post extends outward through the opening into the mounting cavity; the elastic module includes a telescopic spring mounted in the insertion cavity of the top post and an abutment rod whose first end is movably engaged in the insertion cavity and whose second end is fixed in the mounting cavity; the end of the first end of the abutment rod is connected to the telescopic spring, which can be used to provide telescopic elastic force to the top post.

8. The robotic gripper with material clamping detection according to claim 7, characterized in that: A positioning plate is fixed inside the mounting cavity; the second end of the abutment rod is fixed to the positioning plate.

9. The robotic gripper with material clamping detection according to claim 1, characterized in that: The clamping drive source is a dual-axis cylinder.

10. The robotic gripper with material clamping detection according to any one of claims 1-9, characterized in that: The two clamping bodies have the same structure and are arranged facing each other.

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