gripper device

Abstract

This utility model discloses a gripper device, belonging to the field of machining technology. It includes a base, a flexible gripper assembly mounted on the base, and a detection mechanism. The flexible gripper assembly includes a first flexible gripper body and a second flexible gripper body for gripping a product to be clamped, the first and second flexible gripper bodies being arranged at intervals. The detection mechanism includes at least a clamping component elastically connected to the base and a detection component mounted on the base. The clamping component is located between the first and second flexible gripper bodies, and its projection onto the product to be clamped, along a direction close to the product, is at least partially located on the product. The detection component is used to detect the floating state of the clamping component. This utility model achieves the technical effect of improving production efficiency and product yield.

Description

Technical Field

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

[0002] In the production process of 3C smartwatch casings, the product needs to undergo multi-stage laser engraving processing on the front, back, and inner cavity surfaces. As a finished product, all exposed surfaces of the casing must be free from scratches, abrasions, or clamping marks. The handling of the casing is a crucial step. Currently, manual handling or suction cups are commonly used for this process. However, manual handling easily leads to scratches and abrasions on the product surface, severely impacting product quality and making it difficult to ensure a flawless surface. This also results in low efficiency and poses a high health risk due to prolonged exposure to the laser environment. When using suction cups, the casing lacks a flat suction surface and has insufficient clearance, leading to a high failure rate and affecting product yield and production efficiency.

[0003] Therefore, it is necessary to provide a new technical solution to solve the above-mentioned technical problems. Utility Model Content

[0004] The technical problem to be solved by this utility model is the problem of low production efficiency and low yield.

[0005] To solve the above-mentioned technical problems, this utility model provides a gripper device, which includes a base, a flexible gripper assembly mounted on the base, and a detection mechanism. The flexible gripper assembly includes a first flexible gripper body and a second flexible gripper body for gripping a product to be gripped, the first flexible gripper body and the second flexible gripper body being arranged at intervals. The detection mechanism includes at least a clamping component elastically connected to the base and a detection component mounted on the base. The clamping component is located between the first flexible gripper body and the second flexible gripper body, and the projection of the clamping component onto the product to be gripped along a direction close to the product is at least partially located on the product to be gripped. The detection component is used to detect the floating state of the clamping component.

[0006] Optionally, the clamping assembly includes a clamping part, a first guide member, a second guide member, and a bracket connected to the base. The clamping part includes an intermediate body and a first pressing block and a second pressing block respectively connected to the intermediate body. The intermediate body is located between the first flexible gripper body and the second flexible gripper body. Both the first pressing block and the second pressing block protrude towards the product to be clamped. One end of the first guide member is connected to a first limiting flange that engages with the bracket, and the other end of the first guide member movably passes through the bracket and connects to the first pressing block. One end of the second guide member is connected to a second limiting flange that engages with the bracket, and the other end of the second guide member movably passes through the bracket and connects to the second pressing block.

[0007] Optionally, the detection mechanism further includes a detection rod connected to the intermediate body; the detection component includes a first proximity switch mounted on the base, the detection rod passing through the bracket and facing the first proximity switch, the first proximity switch being used to detect the floating state of the clamping part through the detection rod.

[0008] Optionally, a through hole is provided at the connection between the bracket and the base, and the detection end of the first proximity switch faces the detection rod through the through hole, with the first guide, the second guide and the detection rod being parallel.

[0009] Optionally, the clamping assembly further includes a first elastic element and a second elastic element, wherein the first elastic element is sleeved on the first guide element and abuts against the first pressure block and the bracket; the second elastic element is sleeved on the second guide element and abuts against the second pressure block and the bracket.

[0010] Optionally, the detection component includes a second proximity switch mounted on the base, the second proximity switch being opposite one end of the first guide or one end of the second guide, the second proximity switch being used to detect the floating state of the clamping part through one end of the first guide or one end of the second guide.

[0011] Optionally, the first flexible gripper and the second flexible gripper form a clamping space for clamping the product to be clamped; the first pressure block and the second pressure block are respectively located outside the clamping space, and the distance between the first pressure block and the base is equal to the distance between the second pressure block and the base.

[0012] Optionally, the flexible gripper assembly includes a first connecting rod connected to the base and the first flexible gripper body respectively and having a first pneumatic interface, and a second connecting rod connected to the base and the second flexible gripper body respectively and having a second pneumatic interface, so as to vacuum control the opening and closing of the first flexible gripper body and the second flexible gripper body through the first pneumatic interface and the second pneumatic interface; or the flexible gripper assembly includes a drive motor connected to the first flexible gripper body and the second flexible gripper body respectively, so as to drive the opening and closing of the first flexible gripper body and the second flexible gripper body through the drive motor; or the flexible gripper assembly includes a first shape memory alloy embedded in the first flexible gripper body and a second shape memory alloy embedded in the second flexible gripper body respectively, so as to drive the opening and closing of the first flexible gripper body and the second flexible gripper body by adjusting the on and off of the first shape memory alloy and the second shape memory alloy.

[0013] Optionally, the gripper device further includes a support frame and a vision inspection component, with the base mounted on the support frame; the vision inspection component includes a mounting block mounted on the support frame and a camera module disposed on the mounting block.

[0014] Optionally, the gripper device further includes a tray suction assembly, which includes a suction cup fixing plate mounted on the support frame and one or more negative pressure suction cups connected to the suction cup fixing plate.

[0015] Beneficial effects:

[0016] This utility model provides a gripper device, which is mounted on a base by a flexible gripper assembly. The flexible gripper assembly has a first flexible gripper body and a second flexible gripper body for gripping the product to be gripped. The first flexible gripper body and the second flexible gripper body are arranged at intervals. In the detection mechanism, the pressing component is elastically connected to the base and is located between the first flexible gripper body and the second flexible gripper body. The pressing component's projection on the product to be gripped is at least partially located on the product to be gripped along the direction close to the product. The detection component is mounted on the base and is used to detect the floating state of the pressing component. During the gripping process, the first and second flexible grippers hold the product from both sides. The flexible materials of these grippers automatically adapt to any shape deviations in the product and provide cushioning for the gripping force, helping to prevent surface damage. The clamping assembly, driven by elastic force, presses vertically down onto the product, ensuring its flat positioning. Simultaneously, a detection component monitors the vertical displacement of the clamping assembly relative to the base to determine the product's positioning, ensuring precise placement each time. If the product is not in place or is tilted, the clamping assembly's floating displacement triggers a signal from the detection component, interrupting the placement process. If the product is in place, feedback confirms that the first and second flexible grippers have correctly gripped it, and they can proceed with subsequent placement actions. This achieves the technical effect of improving production efficiency and product yield. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is a schematic diagram of a gripper device provided in an embodiment of the present invention.

[0019] Figure 2 This is a schematic diagram of the structure of the probe rod in a gripper device provided in an embodiment of the present invention.

[0020] Figure 3 This is a schematic diagram of the support structure in a gripper device provided in an embodiment of the present utility model.

[0021] Figure 4 This is a schematic diagram of the structure of the first guide member and the second guide member in a gripper device provided in an embodiment of the present utility model.

[0022] Figure 5This is a schematic diagram of the structure of a vision inspection component in a gripper device provided in an embodiment of the present invention.

[0023] Figure 6 This is a schematic diagram of the structure of the second proximity switch in a gripper device provided in an embodiment of the present invention.

[0024] The meanings of the labels in the attached diagram are as follows:

[0025] 1—Base; 2—Flexible gripper assembly; 21—First flexible gripper body; 22—Second flexible gripper body; 23—Clamping space; 24—First connecting rod; 241—First pneumatic interface; 25—Second connecting rod; 251—Second pneumatic interface; 3—Detection mechanism; 31—Pressure assembly; 311—Pressure part; 3111—Intermediate body; 3112—First pressure block; 3113—Second pressure block; 312—First elastic element; 313—Second elastic element 302—Bracket, 3021—Through hole, 303—First guide, 331—First limiting flange, 34—Second guide, 342—Second limiting flange, 32—Detection component, 321—First proximity switch, 322—Second proximity switch, 33—Detector rod, 4—Support frame, 5—Vision inspection component, 51—Mounting block, 52—Camera module, 6—Pack suction component, 61—Suction cup fixing plate, 62—Negative pressure suction cup, 7—Product to be clamped. Detailed Implementation

[0026] The embodiments of this application are described in detail below. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this application, and should not be construed as limiting this application.

[0027] To enable those skilled in the art to better understand the solutions of this application, 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 a part of the embodiments of this application, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0028] In the embodiments of this application, "at least one" refers to one or more; "multiple" refers to two or more. In the description of this application, the terms "first," "second," "third," etc., are used only for the purpose of distinguishing descriptions and should not be construed as indicating or implying relative importance, nor should they be construed as indicating or implying order.

[0029] In this specification, references such as "one embodiment" or "some embodiments" mean that one or more embodiments of this application include the specific features, structures, or characteristics described in connection with that embodiment. Therefore, the terms "comprising," "including," "having," and variations thereof in this specification all mean "including but not limited to," unless otherwise specifically emphasized. It should be noted that in the embodiments of this application, "and / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone.

[0030] It should be noted that, in the embodiments of this utility model, when a component is referred to as being "fixed to" another component, it can be directly on the other component or there may be an intervening component. When a component is considered to be "connected to" another component, it can be directly connected to the other component or there may be an intervening component. When a component is considered to be "set on" another component, it can be directly set on the other component or there may be an intervening component. Furthermore, in the embodiments of this application, "connection" can also be understood as an electrical connection; the connection between two electrical components can be a direct or indirect connection between the two electrical components. For example, the connection between A and B can be a direct connection between A and B, or an indirect connection between A and B through one or more other electrical components. The terms "vertical," "horizontal," "left," "right," and similar expressions used in the embodiments of this utility model are for illustrative purposes only and are not intended to limit the utility model.

[0031] This utility model provides a gripper device, please refer to [link to relevant documentation]. Figures 1 to 6 As shown, Figure 1 This is a schematic diagram of the structure of a gripper device provided in an embodiment of this utility model. Figure 2 This is a schematic diagram of the structure of the probe rod 33 in a gripper device provided in an embodiment of this utility model. Figure 3 This is a schematic diagram of the structure of the bracket 302 in a gripper device provided in an embodiment of this utility model. Figure 4 This is a schematic diagram of the structure of the first guide member 303 and the second guide member 34 in a gripper device provided in an embodiment of this utility model. Figure 5 This is a schematic diagram of the structure of the vision inspection component 5 in a gripper device provided in an embodiment of this utility model. Figure 6This is a schematic diagram of the structure of the second proximity switch 322 in a gripper device provided in this embodiment of the present invention. The gripper device provided in this embodiment of the present invention includes a base 1, a flexible gripper assembly 2, and a detection mechanism 3. The flexible gripper assembly 2 is mounted on the base 1 and includes a first flexible gripper body 21 and a second flexible gripper body 22. The first and second flexible gripper bodies 21 and 22 are used to grip the product 7 to be gripped. The first and second flexible gripper bodies 21 and 22 are arranged at intervals. The detection mechanism 3 includes at least a clamping assembly 31 and a detection assembly 32. The clamping assembly 31 is elastically connected to the base 1 and is located between the first and second flexible gripper bodies 21 and 22. The projection of the clamping assembly 31 onto the product 7 along the direction close to the product 7 is at least partially located on the product 7. The detection assembly 32 is mounted on the base 1 and is used to detect the floating state of the clamping assembly 31.

[0032] The floating state of the clamping component 31 refers to the displacement of the clamping component 31 relative to the base 1 in the vertical direction, that is, the vertical movement distance of the probe rod 33 relative to the base 1, or the vertical movement distance of one end of the first guide member 303 or one end of the second guide member 34 relative to the base 1. The detection component 32 can be used to detect the movement distance of the probe rod 33. For example, a certain displacement can be preset. When the detection component 32 detects that the probe rod 33 has moved to the displacement, it can provide feedback that the product 7 to be clamped is not in place or is tilted. At this time, the feeding process can be interrupted. When the probe rod 33 has not moved to the displacement, it can provide feedback that the first flexible gripper 21 and the second flexible gripper 22 have correctly clamped the product 7 to be clamped, and the first flexible gripper 21 and the second flexible gripper 22 can perform subsequent feeding actions.

[0033] The product to be clamped 7 is adaptively wrapped and clamped by the first flexible gripper 21 and the second flexible gripper 22 moving synchronously towards each other. The product to be clamped 7 may include a watch case. The surfaces of the first flexible gripper 21 and the second flexible gripper 22 may be made of flexible materials such as thick silicone layer or polyurethane elastomer. In addition, pneumatic pistons may be embedded inside the first flexible gripper 21 and the second flexible gripper 22 to achieve adjustable clamping force through air pressure drive.

[0034] In this embodiment, a flexible gripper assembly 2 is mounted on a base 1. The first flexible gripper body 21 and the second flexible gripper body 22 in the flexible gripper assembly 2 are used to clamp the product 7 to be clamped. The first flexible gripper body 21 and the second flexible gripper body 22 are arranged at intervals. The pressing assembly 31 in the detection mechanism 3 is elastically connected to the base 1. The pressing assembly 31 is located between the first flexible gripper body 21 and the second flexible gripper body 22. The projection of the pressing assembly 31 onto the product 7 along the direction close to the product 7 is at least partially located on the product 7 to be clamped. The detection assembly 32 is mounted on the base 1 and the floating state of the pressing assembly 31 is detected by the detection assembly 32. During the gripping process, the first flexible gripper 21 and the second flexible gripper 22 clamp the product 7 from both sides. The flexible material of the first flexible gripper 21 and the second flexible gripper 22 can automatically adapt to the shape deviation of the product 7 and provide buffering for the clamping force, which helps to avoid damage to the product surface. The clamping component 31 is driven by elastic force to press vertically down onto the product 7, making the product 7 positioned flat. At the same time, the detection component 32 detects the floating state of the vertical displacement of the clamping component 31 relative to the base 1 to detect the positioning state of the product 7, so that the feeding position is accurate each time. If the product 7 is not in place or is tilted, the clamping component 31 will float and trigger the detection component 32 to interrupt the feeding process. If the product 7 is in place, it will give feedback that the first flexible gripper 21 and the second flexible gripper 22 have correctly clamped the product 7, and the first flexible gripper 21 and the second flexible gripper 22 can perform subsequent feeding actions. This achieves the technical effect of improving production efficiency and product yield.

[0035] In one embodiment, the clamping assembly 31 includes a clamping part 311, a bracket 302, a first guide member 303, and a second guide member 34. The clamping part 311 includes an intermediate body 3111, a first pressing block 3112, and a second pressing block 3113. The intermediate body 3111, the first pressing block 3112, and the second pressing block 3113 can be integrally formed. The first pressing block 3112 and the second pressing block 3113 are respectively connected to the intermediate body 3111. The intermediate body 3111 is located between the first flexible gripper body 21 and the second flexible gripper body 22. Both block 3112 and the second pressing block 3113 protrude towards the product 7 to be clamped. The bracket 302 is connected to the base 1. One end of the first guide 303 is connected to a first limiting flange 331 that engages with the bracket 302. The other end of the first guide 303 is connected to the first pressing block 3112 via a movable through-bracket 302. One end of the second guide 34 is connected to the second limiting flange 342 that engages with the bracket 302. The other end of the second guide 34 is connected to the second pressing block 3113 via a movable through-bracket 302. The intermediate body 3111 is located at the center of the first pressing block 3112 and the second pressing block 3113. The bottom surfaces of both the first pressing block 3112 and the second pressing block 3113 are lower than the intermediate body 3111, meaning that the first pressing block 3112 and the second pressing block 3113 are closer to the product 7 to be clamped relative to the intermediate body 3111. When clamping the watch case, the first pressure block 3112 and the second pressure block 3113 simultaneously contact the center area of ​​the case. When the case is tilted, the pressure block on one side will push the probe rod 33 to move upward. When the detection component 32 detects that the probe rod 33 has moved to the above-mentioned preset displacement amount, it can provide feedback that the product 7 to be clamped is not in place or is tilted. At this time, the feeding process can be interrupted.

[0036] In some embodiments, the detection mechanism 3 further includes a detection rod 33 connected to the intermediate body 3111. The detection component 32 includes a first proximity switch 321 mounted on the base 1. The detection rod 33 passes through the bracket 302 and faces the first proximity switch 321. The first proximity switch 321 is used to detect the floating state of the pressing part 311 through the detection rod 33, that is, the sensing surface of the first proximity switch 321 is coaxial with the axis of the detection rod 33.

[0037] In some embodiments, a through hole 3021 is provided at the connection between the bracket 302 and the base 1. The detection end of the first proximity switch 321 is directly opposite the detection rod 33 through the through hole 3021. The first guide 303, the second guide 34, and the detection rod 33 are parallel to each other. The cylindrical detection end of the first proximity switch 321 can be embedded in the through hole 3021, and the through hole 3021 can eliminate mechanical obstruction on the detection path.

[0038] In some embodiments, the clamping assembly 31 further includes a first elastic element 312 and a second elastic element 313. The first elastic element 312 is sleeved on the first guide 303 and abuts against the first pressing block 3112 and the bracket 302. The second elastic element 313 is sleeved on the second guide 34 and abuts against the second pressing block 3113 and the bracket 302. The first elastic element 312 and the second elastic element 313 may include stainless steel springs. The spring preload can drive the corresponding pressing block to continuously press down on the housing. When the housing surface is uneven, the spring compression will adaptively change.

[0039] In some implementations, please refer to Figure 6 As shown, to adapt to the flattened operating space, the detection component 32 may include a second proximity switch 322. That is, by removing the structure of the detection rod 33, the detection of the detection rod 33 can be avoided. Since the detection rod 33 requires a large vertical movement space, the vertical height occupied can be saved. Both the first proximity switch 321 and the second proximity switch 322 can be fiber optic sensors or inductive proximity switches. The second proximity switch 322 is mounted on the base 1, with one end of the first guide member 303 or one end of the second guide member 34 facing it. The second proximity switch 322 is used to detect the floating state of the pressing part 311 through one end of the first guide member 303 or one end of the second guide member 34. If the second proximity switch 322 is mounted on the side wall of the base 1, with the sensing surface of the second proximity switch 322 facing one side of the upper end of the first guide member 303, the floating state of the first pressing block 3112 and the second pressing block 3113 can be obtained by detecting the displacement of the upper end of the first guide member 303.

[0040] In some embodiments, the first flexible gripper body 21 and the second flexible gripper body 22 form a clamping space 23 for clamping the product 7 to be clamped. The first pressing block 3112 and the second pressing block 3113 are located outside the clamping space 23, and the distance between the first pressing block 3112 and the base 1 is equal to the distance between the second pressing block 3113 and the base 1. That is, the initial height of the first pressing block 3112 and the second pressing block 3113 is the same, and they can be located on the same plane before contacting the product. The first flexible gripper 21 and the second flexible gripper 22 can form a U-shaped clamping space 23. The first flexible gripper 21 and the second flexible gripper 22 can be lined with a silicone layer on the side near the clamping space 23. When clamping the watch case, the side wall of the case will be embedded in the clamping space 23. At the same time, the first pressure block 3112 and the second pressure block 3113 can be pressed vertically against the upper surface of the product with equal pressure under the drive of the spring. The first pressure block 3112 and the second pressure block 3113, which are set at equal intervals, can make the force symmetrical. Combined with the deformation self-adaptation capability of the first flexible gripper 21 and the second flexible gripper 22, the uniformity of the force on the surface of the product is improved. It is also beneficial to guide the product to be finely adjusted to a balanced state parallel to the plane. If the product is not successfully adjusted to a balanced state parallel to the plane, the probe rod 33 will be forced to move up a certain distance. The detection component 32 will detect it in time and give feedback that the product 7 to be clamped is not in place or is tilted.

[0041] In some embodiments, the flexible gripper assembly 2 includes a first connecting rod 24 having a first pneumatic interface 241 and a second connecting rod 25 having a second pneumatic interface 251. The first connecting rod 24 having the first pneumatic interface 241 is connected to the base 1 and the first flexible gripper body 21, respectively. The second connecting rod 25 having the second pneumatic interface 251 is connected to the base 1 and the second flexible gripper body 22, respectively, so as to vacuum control the opening and closing of the first flexible gripper body 21 and the second flexible gripper body 22 through the first pneumatic interface 241 and the second pneumatic interface 251. The first connecting rod 24 and the second connecting rod 25 can be threaded to the base 1 and connected to the first flexible gripper body 21 and the second flexible gripper body 22 respectively. The first pneumatic interface 241 and the second pneumatic interface 251 are respectively connected to an external air source. The inner diameter of the first pneumatic interface 241 and the second pneumatic interface 251 is in the range of 2mm to 10mm. When a certain positive pressure is input to the first pneumatic interface 241 and the second pneumatic interface 251 through the solenoid valve, the first flexible gripper body 21 and the second flexible gripper body 22 perform an opening action. Or when a certain negative pressure is input to the first pneumatic interface 241 and the second pneumatic interface 251 through the solenoid valve, the first flexible gripper body 21 and the second flexible gripper body 22 can be kept in a closed state.

[0042] In some embodiments, the flexible gripper assembly 2 may include a drive motor mounted on a base and connected to the first flexible gripper body 21 and the second flexible gripper body 22. The drive motor may be a linear motor with a thrust of 50N to 300N. The linear motor can drive the first flexible gripper body 21 and the second flexible gripper body 22 to separate from each other, i.e., the first flexible gripper body 21 and the second flexible gripper body 22 are in an open state, so as to place the product 7 to be clamped between the first flexible gripper body 21 and the second flexible gripper body 22. Alternatively, the linear motor can drive the first flexible gripper body 21 and the second flexible gripper body 22 to move closer to each other, i.e., the first flexible gripper body 21 and the second flexible gripper body 22 are in a closed state, so as to clamp the product 7 to be clamped between the first flexible gripper body 21 and the second flexible gripper body 22.

[0043] In some embodiments, the flexible gripper assembly 2 may include a first memory alloy and a second memory alloy. The first and second memory alloys can be shape memory alloys with a shrinkage temperature range of 65°C to 90°C. The first memory alloy is embedded inside the first flexible gripper body 21, and the second memory alloy is embedded inside the second flexible gripper body 22. The first and second memory alloys can be connected to an external power supply, and a switch can be provided between the external power supply and the first and second memory alloys. When the switch is closed, the power supply supplies power to both the first and second memory alloys. When power is supplied, the first and second memory alloys will contract respectively, which in turn will cause the first flexible gripper 21 and the second flexible gripper 22 to move closer to each other, that is, the first flexible gripper 21 and the second flexible gripper 22 will gradually achieve a closed state. When the switch is turned off, the power supply stops supplying power to the first and second memory alloys respectively. At this time, the first and second memory alloys will return to their original state, which in turn will cause the first flexible gripper 21 and the second flexible gripper 22 to move away from each other, that is, the first flexible gripper 21 and the second flexible gripper 22 will gradually achieve an open state.

[0044] In some embodiments, the gripper device provided by this utility model further includes a support frame 4 and a vision inspection component 5. A base 1 is mounted on the support frame 4. The vision inspection component 5 includes a mounting block 51 and a camera module 52. The mounting block 51 is mounted on the support frame 4, and the camera module 52 is mounted on the mounting block 51. Multiple sets of bases 1, flexible gripper components 2, and detection mechanisms 3 can be mounted on the support frame 4 to further improve work efficiency. The mounting block 51 provides support for the camera module 52, which may include an industrial camera for timely identification and analysis of the product's tilt state.

[0045] In some embodiments, the gripper device provided by this utility model further includes a tray suction assembly 6. The tray suction assembly 6 includes a suction cup fixing plate 61 and negative pressure suction cups 62. The number of negative pressure suction cups 62 is one or more. The suction cup fixing plate 61 is mounted on the support frame 4, and the negative pressure suction cups 62 are connected to the suction cup fixing plate 61. The suction cup fixing plate 61 provides support for the negative pressure suction cups 62. Each negative pressure suction cup 62 is connected to a vacuum generator through an independent air path and can adsorb trays or products used to place products.

[0046] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0047] The above embodiments only illustrate preferred implementations of this utility model, and their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of the utility model patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this utility model, and these all fall within the protection scope of this utility model. Therefore, the protection scope of this utility model patent should be determined by the appended claims.

Claims

1. A gripper device, characterized in that, The gripper device includes a base, a flexible gripper assembly mounted on the base, and a detection mechanism. The flexible gripper assembly includes a first flexible gripper body and a second flexible gripper body for gripping a product to be clamped, the first flexible gripper body and the second flexible gripper body being arranged at a distance from each other. The detection mechanism includes at least a clamping component elastically connected to the base and a detection component mounted on the base. The clamping component is located between the first flexible gripper body and the second flexible gripper body, and the projection of the clamping component onto the product to be clamped is at least partially located on the product to be clamped along a direction close to the product. The detection component is used to detect the floating state of the clamping component.

2. The gripper device according to claim 1, characterized in that, The clamping assembly includes a clamping part, a first guide member, a second guide member, and a bracket connected to the base. The clamping part includes an intermediate body and a first pressing block and a second pressing block respectively connected to the intermediate body. The intermediate body is located between the first flexible gripper body and the second flexible gripper body. Both the first pressing block and the second pressing block protrude towards the product to be clamped. One end of the first guide member is connected to a first limiting flange that engages with the bracket, and the other end of the first guide member movably passes through the bracket and connects to the first pressing block. One end of the second guide member is connected to a second limiting flange that engages with the bracket, and the other end of the second guide member movably passes through the bracket and connects to the second pressing block.

3. The gripper device according to claim 2, characterized in that, The detection mechanism further includes a detection rod connected to the intermediate body; the detection component includes a first proximity switch mounted on the base, the detection rod passing through the bracket and facing the first proximity switch, the first proximity switch being used to detect the floating state of the clamping part through the detection rod.

4. The gripper device according to claim 3, characterized in that, A through hole is provided at the connection between the bracket and the base. The detection end of the first proximity switch faces the detection rod through the through hole. The first guide, the second guide, and the detection rod are parallel to each other.

5. The gripper device according to claim 2, characterized in that, The clamping assembly further includes a first elastic element and a second elastic element. The first elastic element is sleeved on the first guide element and abuts against the first pressure block and the bracket. The second elastic element is sleeved on the second guide element and abuts against the second pressure block and the bracket.

6. The gripper device according to claim 2, characterized in that, The detection component includes a second proximity switch mounted on the base, the second proximity switch being directly opposite one end of the first guide or one end of the second guide, the second proximity switch being used to detect the floating state of the clamping part through one end of the first guide or one end of the second guide.

7. The gripper device according to claim 2, characterized in that, The first flexible gripper and the second flexible gripper form a clamping space for clamping the product to be clamped; the first pressure block and the second pressure block are respectively located outside the clamping space, and the distance between the first pressure block and the base is equal to the distance between the second pressure block and the base.

8. The gripper device according to claim 1, characterized in that, The flexible gripper assembly includes a first connecting rod connected to the base and the first flexible gripper body respectively and having a first pneumatic interface, and a second connecting rod connected to the base and the second flexible gripper body respectively and having a second pneumatic interface, so as to vacuum control the opening and closing of the first flexible gripper body and the second flexible gripper body through the first pneumatic interface and the second pneumatic interface; or the flexible gripper assembly includes a drive motor connected to the first flexible gripper body and the second flexible gripper body respectively, so as to drive the opening and closing of the first flexible gripper body and the second flexible gripper body through the drive motor; or the flexible gripper assembly includes a first shape memory alloy embedded in the first flexible gripper body and a second shape memory alloy embedded in the second flexible gripper body respectively, so as to drive the opening and closing of the first flexible gripper body and the second flexible gripper body by adjusting the on and off of the first shape memory alloy and the second shape memory alloy.

9. The gripper device according to claim 1, characterized in that, The gripper device further includes a support frame and a vision inspection component, with the base mounted on the support frame; the vision inspection component includes a mounting block mounted on the support frame and a camera module disposed on the mounting block.

10. The gripper device according to claim 9, characterized in that, The gripper device further includes a material tray suction assembly, which includes a suction cup fixing plate mounted on the support frame and one or more negative pressure suction cups connected to the suction cup fixing plate.

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