Adjustable-gap grippers and robots

Abstract

This application discloses an adjustable-spacing gripper and robot, relating to the field of robot gripper technology. The adjustable-spacing gripper includes a frame and an X-axis pitch-changing mechanism. The X-axis pitch-changing mechanism is mounted on the frame along the X-axis direction. At least two first gripper assemblies are disposed on the X-axis pitch-changing mechanism, each first gripper assembly being used to grip material. The X-axis pitch-changing mechanism is used to adjust the spacing between two adjacent first gripper assemblies along the X-axis direction. This adjustable-spacing gripper can solve the problem of existing industrial robot grippers having difficulty gripping materials of different sizes.

Description

Technical Field

[0001] This application relates to the field of robot gripper technology, and more specifically, to an adjustable-spacing gripper and robot. Background Technology

[0002] In traditional chemical fiber raw material production lines, the grippers used in industrial robots have significant drawbacks. Their material handling methods are extremely limited, making it difficult to handle various sizes of yarn cakes and different tray spacings. Even single-type grippers capable of handling one or two types of yarn cakes require manual loosening of screw holes to adjust the gripping spacing, a cumbersome process that significantly reduces the robot's production efficiency. Furthermore, these grippers cannot meet the needs of automated material handling for various product changes. Their relatively complex structure not only leads to poor stability but also significantly increases maintenance difficulty and investment costs. Utility Model Content

[0003] The purpose of this application is to provide an adjustable-spacing gripper and robot that can solve the problem of existing industrial robot grippers having difficulty gripping materials of different sizes.

[0004] The embodiments of this application are implemented as follows:

[0005] A first aspect of this application provides an adjustable-spacing gripper, including a frame and an X-axis pitch-changing mechanism. The X-axis pitch-changing mechanism is mounted on the frame along the X-axis direction. At least two first gripper assemblies are disposed on the X-axis pitch-changing mechanism, each first gripper assembly being used to grip material. The X-axis pitch-changing mechanism is used to adjust the spacing between two adjacent first gripper assemblies along the X-axis direction. This adjustable-spacing gripper can solve the problem of existing industrial robot grippers having difficulty gripping materials of different sizes.

[0006] In one possible implementation, the X-axis pitch-changing mechanism includes an X-axis drive component and an X-axis lead screw transmission mechanism. The X-axis lead screw transmission mechanism includes an X-axis pitch-changing lead screw and at least two X-axis lead screw nuts disposed on the X-axis pitch-changing lead screw. The X-axis drive component is mounted on the frame and connected to the X-axis pitch-changing lead screw. The first gripper assembly corresponds one-to-one with the X-axis lead screw nut and is fixedly connected. The X-axis drive component is used to drive the X-axis pitch-changing lead screw to rotate, and the X-axis lead screw nut drives the first gripper assembly to move, so as to adjust the spacing between two adjacent first gripper assemblies along the X-axis direction.

[0007] As one possible implementation, the X-axis pitch-changing mechanism further includes an X-axis slide rail disposed on the frame along the X-axis direction. The X-axis lead screw nut and its corresponding first gripper assembly are fixedly connected by an X-axis slider. The X-axis slider is slidably disposed on the X-axis slide rail to guide the movement of the X-axis lead screw nut relative to the X-axis pitch-changing lead screw along the X-axis direction.

[0008] As one possible implementation, it also includes a Y-axis pitch-changing mechanism, which is mounted on the frame along a Y-axis direction perpendicular to the X-axis direction. The frame is provided with a first connecting plate extending along the X-axis direction, and at least two first gripper assemblies are connected through the first connecting plate. The Y-axis pitch-changing mechanism is provided with at least one second connecting plate parallel to and spaced apart from the first connecting plate, and at least two second gripper assemblies are provided on the second connecting plate. Each second gripper assembly is used to grip material, and the second gripper assembly corresponds one-to-one with the first gripper assembly along the Y-axis direction. The Y-axis pitch-changing mechanism is used to adjust the distance between two adjacent first gripper assemblies and second gripper assemblies along the Y-axis direction.

[0009] In one possible implementation, the Y-axis pitch-changing mechanism includes a Y-axis drive component and a Y-axis lead screw transmission mechanism. The Y-axis lead screw transmission mechanism includes a Y-axis pitch-changing lead screw and at least two Y-axis lead screw nuts disposed on the Y-axis pitch-changing lead screw. The Y-axis drive component is mounted on the frame and connected to the Y-axis pitch-changing lead screw. The Y-axis drive component is used to drive the Y-axis pitch-changing lead screw to rotate, and drives the second gripper assembly to move through the Y-axis lead screw nuts and the second connecting plate, so as to adjust the distance between two adjacent first gripper assemblies and the second gripper assembly along the Y-axis direction.

[0010] As one possible implementation, the Y-axis pitch-changing mechanism further includes a Y-axis slide rail disposed on the frame along the Y-axis direction, and a Y-axis slider disposed on the second connecting plate. The Y-axis slider is slidably disposed on the Y-axis slide rail to guide the movement of the Y-axis lead screw nut and the second connecting plate relative to the first connecting plate along the Y-axis direction.

[0011] As one possible implementation, it further includes an X-axis guide plate and a Y-axis guide plate. The X-axis guide plate is mounted on the frame along the X-axis direction. The first gripper assembly and the second gripper assembly, which are located on the same straight line along the Y-axis direction, are connected through the Y-axis guide plate. A first cam follower is provided on the Y-axis guide plate and is rotatably mounted on the X-axis guide plate. A second cam follower is provided on the second gripper assembly and is rotatably mounted on the Y-axis guide plate.

[0012] As one possible implementation, a controller is also included. A detection sensor is provided on the X-axis guide plate, and a sensing element is provided on the Y-axis guide plate. The detection sensor is used to acquire the position information of the sensing element. The controller is electrically connected to the X-axis drive of the X-axis pitch mechanism, the Y-axis drive of the Y-axis pitch mechanism, and the detection sensor. The controller is used to control the operation of the X-axis drive and the Y-axis drive according to the position information.

[0013] As one possible implementation, the X-axis slide rail of the X-axis pitch mechanism is disposed on the first connecting plate and / or the second connecting plate.

[0014] A second aspect of this application provides a robot including the aforementioned adjustable-spacing gripper. This adjustable-spacing gripper solves the problem of existing industrial robot grippers having difficulty gripping materials of different sizes.

[0015] The beneficial effects of the embodiments of this application include:

[0016] The adjustable-pitch gripper includes a frame and an X-axis pitch-changing mechanism. The X-axis pitch-changing mechanism is mounted on the frame along the X-axis and has at least two first gripper assemblies. Each first gripper assembly is used to grip material, and the X-axis pitch-changing mechanism is used to adjust the distance between adjacent first gripper assemblies along the X-axis. When dealing with materials of different sizes, such as smaller filament cakes, the X-axis pitch-changing mechanism can reduce the distance between adjacent first gripper assemblies, allowing the gripper to hold the material tightly. Conversely, for larger filament cakes or materials with different tray spacing widths, the X-axis pitch-changing mechanism can increase the distance between adjacent first gripper assemblies to ensure smooth material gripping. This application, through the flexible adjustment of the distance between gripper assemblies using the X-axis pitch-changing mechanism, can easily handle filament cakes of various sizes and materials with different tray spacing widths. Whether it is a small or large filament cake, or a tightly packed tray or a tray with a larger spacing, stable gripping can be achieved, greatly improving the compatibility of industrial robot grippers with materials. Attached Figure Description

[0017] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 One of the structural schematic diagrams of the adjustable-spacing gripper provided in the embodiments of this application;

[0019] Figure 2 A second schematic diagram of the adjustable-spacing gripper provided in an embodiment of this application;

[0020] Figure 3 This is the third schematic diagram of the adjustable-spacing gripper provided in the embodiments of this application;

[0021] Figure 4 Fourth schematic diagram of the adjustable-spacing gripper provided in the embodiments of this application;

[0022] Figure 5 The fifth schematic diagram of the adjustable-spacing gripper provided in the embodiments of this application.

[0023] Icons: 100-Adjustable-gap gripper; 10-Frame; 11-First connecting plate; 20-X-axis pitch-changing mechanism; 21-X-axis drive; 22-X-axis pitch-changing lead screw; 23-X-axis lead screw nut; 24-X-axis slide rail; 25-X-axis slider; 30-Y-axis pitch-changing mechanism; 31-Y-axis drive; 32-Y-axis pitch-changing lead screw; 33-Y-axis lead screw nut; 34-Y-axis slide rail; 35-Y-axis slider; 36-Second connecting plate; 41-First gripper assembly; 42-Second gripper assembly; 51-X-axis guide plate; 52-Y-axis guide plate; 53-First cam follower; 54-Second cam follower; 61-Controller; 62-Detection sensor; 63-Sensing element; 200-Material; AX-axis direction; BY-axis direction. Detailed Implementation

[0024] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. The components of the embodiments of this application described and shown in the accompanying drawings can generally be arranged and designed in various different configurations. It should be noted that similar reference numerals and letters in the following drawings denote similar items; therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings.

[0025] In the description of this application, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product is in use. These terms are used only for the convenience of describing this application and for 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. Therefore, they should not be construed as limitations on this application. Furthermore, the terms "horizontal," "vertical," etc., do not indicate that the component must be absolutely horizontal or suspended, but can be slightly tilted. The terms "first," "second," and "third," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0026] In the description of this application, it should also be noted that, unless otherwise expressly specified and limited, the terms "set up," "install," "connect," and "link" 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 a connection within two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0027] Please refer to the reference. Figures 1 to 5 This application provides an adjustable-spacing gripper 100, including a frame 10 and an X-axis pitch-changing mechanism 20. The X-axis pitch-changing mechanism 20 is mounted on the frame 10 along the X-axis direction A. At least two first gripper assemblies 41 are provided on the X-axis pitch-changing mechanism 20, each first gripper assembly 41 being used to grip material 200. The X-axis pitch-changing mechanism 20 is used to adjust the spacing between two adjacent first gripper assemblies 41 along the X-axis direction A. This adjustable-spacing gripper 100 can solve the problem of existing industrial robot grippers having difficulty gripping materials 200 of different sizes.

[0028] It should be noted that, as Figure 1 and Figure 2As shown, the adjustable-pitch gripper 100 includes a frame 10 and an X-axis pitch-changing mechanism 20. The frame 10 provides a stable mounting platform for the entire gripper device, ensuring the overall stability of the gripper device during operation. The X-axis pitch-changing mechanism 20 is mounted on the frame 10 along the X-axis direction A, allowing the X-axis pitch-changing mechanism 20 to move and operate relative to the frame 10 along the X-axis direction A. At least two first gripper assemblies 41 are provided on the X-axis pitch-changing mechanism 20, each of which has the ability to independently grip material 200. Regarding the specific structure of the first gripper assembly 41, those skilled in the art can design it by referring to the actual structure of gripper assemblies in the prior art. For example, in this embodiment, the first gripper assembly 41 includes a mounting base, a cylinder mounted on the mounting base, and gripping fingers mounted on the cylinder, so that the gripping fingers are opened or closed by the cylinder, thereby realizing the picking up and putting down of material 200.

[0029] In practical use, the main function of the X-axis pitch-changing mechanism 20 is to adjust the distance between two adjacent first gripper assemblies 41 along the X-axis direction A. The X-axis pitch-changing mechanism 20 can achieve precise position adjustment using common mechanical transmission methods such as motor-driven lead screw and nut pair, gear and rack transmission, or synchronous belt transmission. Taking the lead screw and nut pair as an example, the motor drives the lead screw to rotate, and the nut is connected to the first gripper assembly 41, converting the rotational motion of the lead screw into linear motion of the nut and the first gripper assembly 41 along the X-axis direction A. By controlling the rotation direction (i.e., forward and reverse rotation) and rotation angle of the motor, the position of the first gripper assembly 41 can be precisely controlled, thereby changing the distance between two adjacent first gripper assemblies 41.

[0030] When dealing with materials 200 of different sizes, such as smaller-sized silk cakes, the X-axis pitch mechanism 20 can reduce the distance between two adjacent first gripper assemblies 41, so that the grippers can tightly hold the material 200; while for larger-sized silk cakes or materials 200 with different tray spacing widths, the X-axis pitch mechanism 20 can increase the distance between two adjacent first gripper assemblies 41 to ensure that the material 200 can be grasped smoothly.

[0031] Traditional industrial robot grippers struggle to grasp materials 200 of varying sizes. However, this application utilizes an X-axis pitch-adjusting mechanism 20 to flexibly adjust the spacing between gripper components, easily handling various sizes of yarn cakes and materials 200 with different tray spacing widths. Whether the yarn cakes are small or large, or the trays are closely spaced or widely spaced, stable gripping is achieved, significantly improving the industrial robot gripper's compatibility with materials 200. Furthermore, adjusting the gripping spacing of traditional grippers requires manually loosening screw holes, a cumbersome and time-consuming operation. This application, through the automated adjustment of the X-axis pitch-adjusting mechanism 20, can quickly and accurately change the spacing between gripper components. In industrial production, this means that when changing to different sizes of materials 200, no significant time is spent on manual adjustments; gripping operations can be quickly switched, significantly improving the industrial robot's production efficiency and reducing downtime during production.

[0032] Because it can quickly and accurately adjust the gripper spacing, the gripper device provided in this application can well meet the needs of automatic material handling for various product changes. In modern industrial production, it is often necessary to quickly change product types according to different order requirements. This gripper device can quickly adjust to a suitable gripping spacing when changing products, realizing automated material handling and improving the flexibility and automation level of the production line. Compared with traditional gripper structures, this gripper device uses a relatively simple and efficient method, the X-axis pitch mechanism 20, to adjust the gripper component spacing. The overall structure is simplified, reducing the number of parts and assembly complexity, and lowering maintenance costs due to component failures. At the same time, the simplified structure also makes the gripper device more stable during operation, reducing problems such as shaking and misalignment caused by structural complexity, and improving the accuracy and reliability of gripping material 200.

[0033] Furthermore, the simpler structure and higher stability also mean lower maintenance difficulty and cost. Traditional grippers have a relatively complex structure, requiring professional technicians to spend a significant amount of time and effort on inspection and troubleshooting. The adjustable-pitch gripper provided in this application, due to its simplified structure, makes maintenance much easier. Ordinary maintenance personnel can perform routine maintenance and troubleshooting after simple training, greatly reducing maintenance costs and improving the maintainability of the equipment.

[0034] As one possible implementation method, such as Figure 2 and Figure 3As shown, the X-axis pitch-changing mechanism 20 includes an X-axis drive component 21 and an X-axis lead screw transmission mechanism. The X-axis lead screw transmission mechanism includes an X-axis pitch-changing lead screw 22 and at least two X-axis lead screw nuts 23 disposed on the X-axis pitch-changing lead screw 22. The X-axis drive component 21 is mounted on the frame 10 and connected to the X-axis pitch-changing lead screw 22. The first gripper assembly 41 corresponds to and is fixedly connected to the X-axis lead screw nuts 23. The X-axis drive component 21 is used to drive the X-axis pitch-changing lead screw 22 to rotate, and the X-axis lead screw nuts 23 drive the first gripper assembly 41 to move, so as to adjust the distance between two adjacent first gripper assemblies 41 along the X-axis direction A.

[0035] It should be noted that, as Figure 2 and Figure 3 As shown, the X-axis drive unit 21 is mounted on the frame 10, serving as the power source for the entire X-axis pitch-changing mechanism 20. The X-axis drive unit 21 can be a motor, such as a servo motor, which is fixed to the frame 10 using a specific mounting method to ensure stable power output during operation. Furthermore, the motor is connected to the X-axis pitch-changing lead screw 22. This connection can be achieved through a reducer and coupling to create a rigid connection, ensuring that the torque output by the motor is accurately and efficiently transmitted to the X-axis pitch-changing lead screw 22, thereby driving the X-axis pitch-changing lead screw 22 to rotate.

[0036] The X-axis variable pitch screw 22 is one of the core components of the X-axis screw transmission mechanism. The X-axis variable pitch screw 22 is arranged along the X-axis direction A, and its surface is machined with precision threads. When the X-axis drive component 21 drives the X-axis variable pitch screw 22 to rotate, the threads of the X-axis variable pitch screw 22 interact with the X-axis screw nut 23. This variable pitch screw design allows for different transmission ratios to be achieved according to the changing pattern of the threads during screw rotation, thereby precisely controlling the moving speed and position of the mating X-axis screw nut 23.

[0037] At least two X-axis lead screw nuts 23 are provided on the X-axis variable pitch lead screw 22. These X-axis lead screw nuts 23 are tightly engaged with the threads of the X-axis variable pitch lead screw 22. When the X-axis variable pitch lead screw 22 rotates, the X-axis lead screw nuts 23 move along the axial direction of the X-axis variable pitch lead screw 22. Each X-axis lead screw nut 23 is fixedly connected to a first gripper assembly 41. This connection method ensures that the movement of the nut on the lead screw can be accurately transmitted to the first gripper assembly 41, thereby driving the first gripper assembly 41 to move along the X-axis direction A. For example, the nut and the first gripper assembly 41 can be firmly fixed by bolt connection or welding, ensuring that there will be no loosening or displacement between them in high-speed movement and frequent start-stop working environments.

[0038] When it is necessary to adjust the distance between two adjacent first gripper assemblies 41 along the X-axis direction A, the X-axis drive 21 is activated. Taking a motor as an example, the motor is powered on and operates, and the output torque is transmitted to the X-axis variable pitch screw 22 through the coupling, causing the screw to start rotating. As the screw rotates, the X-axis screw nut 23, due to its threaded engagement with the screw, will move axially along the screw. Since each first gripper assembly 41 is fixedly connected to the corresponding X-axis screw nut 23, the movement of the X-axis screw nut 23 drives the first gripper assembly 41 to move synchronously. For example, when it is necessary to reduce the distance between two adjacent first gripper assemblies 41, the X-axis drive 21 drives the X-axis variable pitch screw 22 to rotate in a specific direction, causing the X-axis screw nut 23 to move the two first gripper assemblies 41 closer to each other; conversely, when it is necessary to increase the distance between two adjacent first gripper assemblies 41, the X-axis drive 21 changes its rotation direction, causing the X-axis screw nut 23 to move the two first gripper assemblies 41 further apart. Thus, by controlling the rotation direction and rotation angle of the X-axis drive 21, the moving distance of the first gripper assembly 41 can be precisely controlled, thereby achieving precise adjustment of the spacing between adjacent first gripper assemblies 41.

[0039] Furthermore, the lead screw and nut assembly offers high transmission efficiency. Compared to other transmission methods, such as belt drives which may experience slippage, the lead screw and nut assembly efficiently transmits the power from the X-axis drive component 21 to the first gripper assembly 41. In industrial production, efficient transmission means faster adjustment of the gripper spacing, reduced waiting time, and increased production efficiency. Simultaneously, the relatively simple and compact structure of the lead screw and nut assembly facilitates installation and arrangement within the limited working space of an industrial robot. It also improves the stability of the entire gripper system, reducing wobbling and vibration caused by excessively long or loose connections between components. This results in smoother gripping of the material 200, enhancing the stability and reliability of the gripping process, and significantly reducing maintenance difficulty and costs.

[0040] As one possible implementation method, such as Figure 4 As shown, in this embodiment, the X-axis pitch mechanism 20 further includes an X-axis slide rail 24 disposed on the frame 10 along the X-axis direction A. The X-axis lead screw nut 23 and its corresponding first gripper assembly 41 are fixedly connected by an X-axis slider 25. The X-axis slider 25 is slidably disposed on the X-axis slide rail 24 to guide the movement of the X-axis lead screw nut 23 relative to the X-axis pitch screw 22 along the X-axis direction A.

[0041] It should be noted that, as Figure 4As shown, the X-axis slide rail 24 is mounted on the frame 10 along the X-axis direction A, so that the X-axis slide rail 24 and the X-axis variable pitch lead screw 22 are parallel to each other, thereby providing a stable guide path for the movement of the X-axis lead screw nut 23 and the first gripper assembly 41 connected thereto. The X-axis slider 25 is slidably mounted on the X-axis slide rail 24 to connect the X-axis lead screw nut 23 and the first gripper assembly 41. Each X-axis lead screw nut 23 is fixedly connected to the corresponding X-axis slider 25 in a specific way, such as by bolting or welding.

[0042] When the X-axis drive unit 21 drives the X-axis variable pitch screw 22 to rotate, the X-axis screw nut 23, under the action of the screw thread, will move along the X-axis direction A. Since the X-axis screw nut 23 is fixedly connected to the X-axis slider 25, and the X-axis slider 25 slides on the X-axis slide rail 24, the X-axis slide rail 24 provides precise guidance for the movement of the X-axis slider 25. In this way, it can be ensured that the X-axis screw nut 23 can move along a predetermined straight line, thereby driving the connected first gripper assembly 41 to move accurately along the X-axis direction A. For example, when it is necessary to increase the distance between two adjacent first gripper assemblies 41, the X-axis drive unit 21 drives the X-axis variable pitch screw 22 to rotate in a specific direction, and the X-axis screw nut 23 moves on the screw in a direction away from the adjacent nut. At this time, the X-axis slider 25 slides synchronously on the X-axis slide rail 24, guiding the X-axis screw nut 23 and the first gripper assembly 41 to move smoothly in the predetermined direction, ensuring the accuracy and stability of the distance adjustment process.

[0043] Compared to systems without guide rails, this application provides high-precision guidance for the movement of the X-axis lead screw nut 23 and the first gripper assembly 41 through the cooperation of the X-axis slide rail 24 and the X-axis slider 25. This effectively reduces positional errors caused by offset or wobbling during the movement of the lead screw nut. When gripping materials 200 of different sizes, this high-precision guidance ensures that the first gripper assembly 41 moves accurately to the predetermined position, improving the accuracy of gripper spacing adjustment. Furthermore, the X-axis slide rail 24 restricts the degrees of freedom of the X-axis slider 25 and the connected first gripper assembly 41 in the direction perpendicular to the X-axis A, preventing unnecessary swaying or vibration during movement and improving the stability and reliability of the entire gripper system during operation. Simultaneously, a certain load force is generated during the gripper gripping the material 200. The X-axis slide rail 24 can share some of the load force transmitted from the first gripper assembly 41, reducing the load pressure on the X-axis lead screw nut 23 and the X-axis variable pitch lead screw 22, thereby increasing the service life of the entire X-axis variable pitch mechanism 20.

[0044] As one possible implementation, the adjustable-pitch gripper 100 further includes a Y-axis pitch-changing mechanism 30. The Y-axis pitch-changing mechanism 30 is mounted on the frame 10 along the Y-axis direction B, which is perpendicular to the X-axis direction A. The frame 10 is provided with a first connecting plate 11 extending along the X-axis direction A. At least two first gripper assemblies 41 are connected through the first connecting plate 11. The Y-axis pitch-changing mechanism 30 is provided with at least one second connecting plate 36 that is parallel to and spaced apart from the first connecting plate 11. At least two second gripper assemblies 42 are provided on the second connecting plate 36. Each second gripper assembly 42 is used to grip the material 200. The second gripper assembly 42 corresponds one-to-one with the first gripper assembly 41 along the Y-axis direction B. The Y-axis pitch-changing mechanism 30 is used to adjust the distance between two adjacent first gripper assemblies 41 and second gripper assemblies 42 along the Y-axis direction B.

[0045] It should be noted that, as Figures 1 to 3 As shown, the adjustable-pitch gripper 100 also includes a Y-axis pitch-changing mechanism 30. The Y-axis pitch-changing mechanism 30 is mounted on the frame 10 along the Y-axis direction B, which is perpendicular to the X-axis direction A, so that the Y-axis pitch-changing mechanism 30 can move and operate relative to the frame 10 along the Y-axis direction B. A first connecting plate 11 extending along the X-axis direction A is provided on the frame 10. At least two first gripper assemblies 41 are connected together through the first connecting plate 11, so that the first connecting plate 11 serves to integrate and support the first gripper assemblies 41. As one possible implementation, the X-axis slide rail 24 of the X-axis pitch-changing mechanism 20 is provided on the first connecting plate 11 and / or the second connecting plate 36.

[0046] The Y-axis pitch-changing mechanism 30 is provided with at least one second connecting plate 36 parallel to and spaced apart from the first connecting plate 11. At least two second gripper assemblies 42 are mounted on the second connecting plate 36. Each second gripper assembly 42 is also used to grip the material 200, and the second gripper assembly 42 corresponds one-to-one with the first gripper assembly 41 along the Y-axis direction B. In other words, the first gripper assembly 41 and the second gripper assembly 42 have the same gripping function, only their specific positions on the frame 10 are different. For example, the first gripper assembly 41 is located at the center of the frame 10 along the X-axis direction A, and the second gripper assemblies 42 are parallel to and spaced apart on one side (corresponding to one second connecting plate 36) or on opposite sides (corresponding to two second connecting plates 36).

[0047] In practical use, the main function of the Y-axis pitch-changing mechanism 30 is to adjust the distance between two adjacent first gripper assemblies 41 and second gripper assemblies 42 along the Y-axis direction B. The Y-axis pitch-changing mechanism 30 can employ a similar driving and transmission method to the X-axis pitch-changing mechanism 20, such as a motor-driven lead screw and nut pair, gear and rack transmission, or synchronous belt transmission. Taking the lead screw and nut pair as an example, the motor drives the Y-axis pitch-changing lead screw to rotate. The nut on the lead screw is connected to the second connecting plate 36, converting the rotational motion of the lead screw into linear motion of the nut and the second connecting plate 36 along the Y-axis direction B. By controlling the rotation direction (i.e., forward and reverse rotation) and rotation angle of the motor, the position of the second connecting plate 36 can be precisely controlled, thereby changing the distance between the second connecting plate 36 (i.e., the second gripper assembly 42) and the first connecting plate 11 (i.e., the first gripper assembly 41) along the Y-axis direction B.

[0048] As one possible implementation method, such as Figure 2 and Figure 3 As shown, in this embodiment, the Y-axis pitch-changing mechanism 30 includes a Y-axis drive component 31 and a Y-axis lead screw transmission mechanism. The Y-axis lead screw transmission mechanism includes a Y-axis pitch-changing lead screw 32 and at least two Y-axis lead screw nuts 33 disposed on the Y-axis pitch-changing lead screw 32. The Y-axis drive component 31 is mounted on the frame 10 and connected to the Y-axis pitch-changing lead screw 32. The Y-axis drive component 31 drives the Y-axis pitch-changing lead screw 32 to rotate, and drives the second gripper assembly 42 to move through the Y-axis lead screw nuts 33 and the second connecting plate 36, so as to adjust the distance between two adjacent first gripper assemblies 41 and second gripper assemblies 42 along the Y-axis direction B. It should be understood that the specific structure of the Y-axis pitch-changing mechanism 30 is similar to the specific structure of the X-axis pitch-changing mechanism 20. Those skilled in the art can refer to the X-axis pitch-changing mechanism 20 to reasonably design the Y-axis pitch-changing mechanism 30, which will not be described in detail here.

[0049] When it is necessary to adjust the distance between two adjacent first gripper assemblies 41 and second gripper assemblies 42 along the Y-axis direction B, the Y-axis drive unit 31 is activated. Taking a motor as an example, the motor is powered on and runs, and the output torque is transmitted to the Y-axis variable pitch screw 32 through the coupling, causing the screw to start rotating. As the screw rotates, the Y-axis screw nut 33 will move axially along the screw due to its threaded engagement with the screw. Since the Y-axis screw nut 33 is fixedly connected to the second connecting plate 36, the second connecting plate 36 will move synchronously along the Y-axis direction B along with the Y-axis screw nut 33. Furthermore, since the second gripper assembly 42 is mounted on the second connecting plate 36, and the first gripper assembly 41 is mounted on the first connecting plate 11, this allows for flexible adjustment of the distance between two adjacent second connecting plates 36 (i.e., the second gripper assembly 42) and the first connecting plate 11 (i.e., the first gripper assembly 41) along the Y-axis direction B. For example, when it is necessary to reduce the distance between two adjacent first gripper assemblies 41 and second gripper assemblies 42, the Y-axis drive 31 drives the Y-axis variable pitch screw 32 to rotate in a specific direction, causing the Y-axis screw nut 33 to move the second connecting plate 36 closer to the first connecting plate 11. Conversely, when it is necessary to increase the distance between two adjacent first gripper assemblies 41 and second gripper assemblies 42, the Y-axis drive 31 changes its rotation direction, causing the Y-axis screw nut 33 to move the second connecting plate 36 away from the first connecting plate 11. In this way, by controlling the rotation direction and rotation angle of the Y-axis drive 31, the moving distance of the second connecting plate 36 (i.e., the second gripper assembly 42) can be precisely controlled, thereby achieving precise adjustment of the distance between two adjacent first gripper assemblies 41 and second gripper assemblies 42.

[0050] As one possible implementation method, such as Figure 2 and Figure 3 As shown, in this embodiment, the Y-axis pitch-changing mechanism 30 further includes a Y-axis slide rail 34 disposed on the frame 10 along the Y-axis direction B, and a Y-axis slider 35 disposed on the second connecting plate 36. The Y-axis slider 35 is slidably disposed on the Y-axis slide rail 34 to guide the movement of the Y-axis lead screw nut 33 and the second connecting plate 36 relative to the first connecting plate 11 along the Y-axis direction B. It should be understood that the cooperation principle between the Y-axis slide rail 34 and the Y-axis slider 35 is similar to the cooperation principle between the X-axis slide rail 24 and the X-axis slider 25. Those skilled in the art can refer to the cooperation between the X-axis slide rail 24 and the X-axis slider 25 for understanding, and it will not be described again here.

[0051] As one possible implementation method, such as Figure 3 and Figure 5As shown, in this embodiment, the adjustable-spacing gripper 100 further includes an X-axis guide plate 51 and a Y-axis guide plate 52. The X-axis guide plate 51 is mounted on the frame 10 along the X-axis direction A. The first gripper assembly 41 and the second gripper assembly 42, which are located on the same straight line along the Y-axis direction B, are connected through the Y-axis guide plate 52. A first cam follower 53 is provided on the Y-axis guide plate 52 and is rotatably mounted on the X-axis guide plate 51. A second cam follower 54 is provided on the second gripper assembly 42 and is rotatably mounted on the Y-axis guide plate 52.

[0052] It should be noted that the X-axis guide plate 51 is mounted on the frame 10 along the X-axis direction A, providing precise guidance for the movement of the entire gripper device in the X-axis direction A. The first gripper assembly 41 and the second gripper assembly 42, located on the same straight line along the Y-axis direction B, are connected by the Y-axis guide plate 52 to organically combine these gripper assemblies, enabling them to work collaboratively in the X-axis direction A. For example, when the position of the first gripper assembly 41 changes in the X-axis direction A, the second gripper assembly 42 can be adjusted accordingly via the Y-axis guide plate 52, thereby meeting the diverse requirements for gripper spacing and position when gripping different materials 200. A first cam follower 53 is provided on the Y-axis guide plate 52. The first cam follower 53 is rolled on the X-axis guide plate 51. Compared with sliding contact, rolling contact greatly reduces friction, making the Y-axis guide plate 52 move more smoothly along the X-axis direction A and able to quickly respond to the drive of the X-axis pitch mechanism 20. The second gripper assembly 42 is provided with a second cam follower 54, which is rolled on the Y-axis guide plate 52, so that when the second gripper assembly 42 moves along the Y-axis direction B, it can move under the guidance of the Y-axis guide plate 52, ensuring the stability and accuracy of the second gripper assembly 42 when moving in the Y-axis direction B.

[0053] As one possible implementation method, such as Figure 3 and Figure 5 As shown, in this embodiment, the adjustable-gap gripper 100 further includes a controller 61. A detection sensor 62 is mounted on the X-axis guide plate 51, and a sensing element 63 is mounted on the Y-axis guide plate 52. The detection sensor 62 is used to acquire the position information of the sensing element 63. The controller 61 is electrically connected to the X-axis drive 21 of the X-axis pitch mechanism 20, the Y-axis drive 31 of the Y-axis pitch mechanism 30, and the detection sensor 62. The controller 61 is used to control the operation of the X-axis drive 21 and the Y-axis drive 31 according to the position information. The detection sensor 62 can be a slotted photoelectric switch, and the sensing element 63 can be a sheet metal part.

[0054] In practical use, the detection sensor 62 can be in working condition at all times (or when needed) to monitor the real-time position of the sensing element 63 on the corresponding Y-axis guide plate 52, and convert the position information of the sensing element 63 into an electrical signal and transmit it to the controller 61 in a timely manner. The controller 61 can receive the electrical signal from the detection sensor 62 and analyze this position information according to the preset control algorithm and program. For example, the controller 61 can compare the current position of the sensing element 63 with the preset target position to determine whether the distance between the grippers in the X-axis direction A and the Y-axis direction B meets the requirements for gripping the material 200. When the controller 61 determines that the current gripper distance does not meet the requirements, it will send corresponding control commands to the X-axis drive component 21 and the Y-axis drive component 31 according to the analysis results, thereby realizing precise control of the gripper movement and ensuring that the grippers can be quickly and accurately adjusted to a suitable distance to meet the gripping needs of different materials 200.

[0055] This application also provides a robot, including the aforementioned adjustable-spacing gripper 100. Since the structure and beneficial effects of the adjustable-spacing gripper 100 have been described in detail in the foregoing embodiments, they will not be repeated here.

[0056] The above description is merely an optional embodiment of this application and is not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

[0057] It should also be noted that the various specific technical features described in the above embodiments can be combined in any suitable manner without contradiction. In order to avoid unnecessary repetition, this application will not describe the various possible combinations separately.

Claims

1. An adjustable spacing jaw, characterized by, The machine frame and the X-axis variable distance mechanism are arranged along the X-axis direction, and at least two first jaw assemblies are arranged on the X-axis variable distance mechanism, each of which is used for grabbing materials, and the X-axis variable distance mechanism is used for adjusting the distance between two adjacent first jaw assemblies along the X-axis direction.

2. The adjustable spacing jaw of claim 1, wherein, The X-axis variable distance mechanism comprises an X-axis driving member and an X-axis screw transmission mechanism, the X-axis screw transmission mechanism comprises an X-axis variable distance screw rod and at least two X-axis screw nuts arranged on the X-axis variable distance screw rod, the X-axis driving member is arranged on the machine frame and connected with the X-axis variable distance screw rod, the first jaw assembly is in one-to-one correspondence with the X-axis screw nut and fixedly connected, the X-axis driving member is used for driving the X-axis variable distance screw rod to rotate, and the first jaw assembly is driven to move by the X-axis screw nut, so as to adjust the distance between two adjacent first jaw assemblies along the X-axis direction.

3. The adjustable spacing jaw of claim 2, wherein, The X-axis variable distance mechanism further comprises an X-axis sliding rail arranged on the machine frame along the X-axis direction, the X-axis sliding block is fixedly connected between the X-axis screw nut and the first jaw assembly corresponding thereto, and the X-axis sliding block is slidingly arranged on the X-axis sliding rail to guide the movement of the X-axis screw nut relative to the X-axis variable distance screw rod along the X-axis direction.

4. Spacing-adjustable gripper jaw according to any one of claims 1 to 3, characterized in that The Y-axis variable distance mechanism is arranged on the machine frame along the Y-axis direction perpendicular to the X-axis direction, the first connecting plate extending along the X-axis direction is arranged on the machine frame, at least two first jaw assemblies are connected through the first connecting plate, at least one second connecting plate parallel to and spaced from the first connecting plate is arranged on the Y-axis variable distance mechanism, at least two second jaw assemblies are arranged on the second connecting plate, each of which is used for grabbing materials, the second jaw assembly is in one-to-one correspondence with the first jaw assembly along the Y-axis direction, and the Y-axis variable distance mechanism is used for adjusting the distance between two adjacent first jaw assemblies and the second jaw assembly along the Y-axis direction.

5. The adjustable spacing jaw of claim 4, wherein, The Y-axis variable distance mechanism comprises a Y-axis driving member and a Y-axis screw transmission mechanism, the Y-axis screw transmission mechanism comprises a Y-axis variable distance screw rod and at least two Y-axis screw nuts arranged on the Y-axis variable distance screw rod, the Y-axis driving member is arranged on the machine frame and connected with the Y-axis variable distance screw rod, the Y-axis driving member is used for driving the Y-axis variable distance screw rod to rotate, and the second jaw assembly is driven to move by the Y-axis screw nut and the second connecting plate, so as to adjust the distance between two adjacent first jaw assemblies and the second jaw assembly along the Y-axis direction.

6. The adjustable spacing jaw of claim 5, wherein, The Y-axis variable distance mechanism further comprises a Y-axis sliding rail arranged on the machine frame along the Y-axis direction, and a Y-axis sliding block is arranged on the second connecting plate and slidingly arranged on the Y-axis sliding rail to guide the movement of the Y-axis screw nut and the second connecting plate relative to the first connecting plate along the Y-axis direction.

7. The adjustable spacing jaw of claim 4, wherein, It also includes an X-axis guide plate and a Y-axis guide plate. The X-axis guide plate is mounted on the frame along the X-axis direction. The first gripper assembly and the second gripper assembly, which are located on the same straight line along the Y-axis direction, are connected through the Y-axis guide plate. A first cam follower is provided on the Y-axis guide plate and is rotatably mounted on the X-axis guide plate. A second cam follower is provided on the second gripper assembly and is rotatably mounted on the Y-axis guide plate.

8. The adjustable spacing jaw of claim 7, wherein, It also includes a controller. A detection sensor is provided on the X-axis guide plate, and a sensing element is provided on the Y-axis guide plate. The detection sensor is used to acquire the position information of the sensing element. The controller is electrically connected to the X-axis drive of the X-axis pitch mechanism, the Y-axis drive of the Y-axis pitch mechanism, and the detection sensor. The controller is used to control the operation of the X-axis drive and the Y-axis drive according to the position information.

9. The adjustable spacing jaw of claim 4, wherein, The X-axis slide rail of the X-axis pitch-changing mechanism is disposed on the first connecting plate and / or the second connecting plate.

10. A robot, characterized in that Includes the adjustable-gap gripper as described in any one of claims 1 to 9.

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