Flexible gripper assembly

Abstract

This utility model discloses a flexible gripper assembly, including an X-axis adjustment mechanism and a Y-axis adjustment mechanism that are distributed in a crisscross pattern. A connecting mechanism for mounting a quick-change disc is fixedly installed above the X-axis adjustment mechanism. Gripping jaws for holding workpieces are installed below the left and right ends of the X-axis adjustment mechanism, and clamping cylinders for driving the movement of the gripping jaws are installed above them. The X-axis adjustment mechanism is divided into two parts: an X-axis fixed component and an X-axis movable component. It adopts a novel structural design, and the overall length of the X-axis adjustment mechanism and the X-axis adjustment mechanism is adjusted by a first telescopic mechanism and a second telescopic mechanism. That is, the rotation of the first gear drives the first rack that meshes with it to move, thereby making the X-axis movable component slide relative to the X-axis fixed component. At the same time, the meshing of the second gear and the second rack makes the Y-axis movable component slide relative to the Y-axis fixed component, so as to achieve the purpose of adjusting the position of the four gripping jaws in all directions.

Description

Technical Field

[0001] This utility model relates to the field of industrial robot technology, specifically to a flexible gripper assembly. Background Technology

[0002] Industrial robots are automated, programmable, multi-jointed mechanical devices widely used in manufacturing. They can perform various complex tasks to improve efficiency, accuracy, and production safety. During the operation of industrial robots, gripper components are usually used to grasp workpieces.

[0003] In the prior art, Chinese patent application number CN201611054530.X discloses a rotary combination robot gripper, including a frame, a left gripper arm, linear guide rails, a connecting plate, a right gripper arm, a gripper, a servo motor, a cylinder, a hinge seat, a connecting rod, a synchronous rotation mechanism, and a ball spline mechanism. The connecting plate is mounted on the frame, and a pair of parallel linear guide rails are fixed on the frame. The left and right gripper arms are symmetrically mounted on the left and right sides of the linear guide rails. The cylinder ends of the two cylinders are fixed to the left and right ends of the frame. One end of two connecting rods of equal length is hinged to the hinge seat mounted on the left and right gripper arms, respectively, and the other end of the connecting rod is hinged to the synchronous rotation mechanism mounted on the frame.

[0004] Based on the above information, it can be seen that existing robotic grippers generally achieve the purpose of grasping workpieces through clamping force. However, in actual use, the gripper generally has a low degree of freedom of movement (it can only move along the X-axis or Y-axis), and cannot achieve the best clamping effect when facing irregularly shaped workpieces. Summary of the Invention

[0005] The purpose of this invention is to provide a flexible gripper assembly to solve the problem of low freedom of movement of the gripper mentioned in the background art.

[0006] To achieve the above objectives, this utility model provides the following technical solution: a flexible gripper assembly, comprising an X-axis adjustment mechanism and a Y-axis adjustment mechanism that are distributed in a crisscross pattern. A connecting mechanism for mounting a quick-change disc is fixedly installed above the X-axis adjustment mechanism. Gripping jaws for clamping workpieces are installed below the left and right ends of the X-axis adjustment mechanism, and clamping cylinders for driving the movement of the gripping jaws are installed above them. The X-axis adjustment mechanism is divided into an X-axis fixed component and an X-axis movable component, which are connected by a first telescopic mechanism. The Y-axis adjustment mechanism is divided into a Y-axis fixed component and a Y-axis movable component, which are connected by a second telescopic mechanism.

[0007] The clamping force control principle of the gripper is as follows:

[0008] The gripper is powered by a motor. The equipment control system is equipped with a host computer, which has control software installed. It uses FOC vector control, which is an internal control principle. It automatically adjusts the motor current according to the amount of magnetic force applied. The motor torque mode is similar to the principle of current magnitude, and the magnetic force is adjusted by the change in current magnitude.

[0009] Preferably, a quick-change module is fixedly installed on the upper end of the gripper, and the quick-change module is connected to a corresponding module on the lower surface of the X-axis movable component.

[0010] Preferably, the first telescopic mechanism includes a first rack fixedly mounted inside the X-axis movable component and a first gear rotatably mounted inside the X-axis fixed component.

[0011] Preferably, the first rack and the first gear are meshed together, and the first gear is driven by a servo motor fixedly mounted outside the X-axis fixed assembly, and the X-axis fixed assembly and the X-axis movable assembly are slidably connected.

[0012] Preferably, the second telescopic mechanism includes a second rack fixedly installed inside the Y-axis fixed assembly and a second gear rotatably installed inside the Y-axis movable assembly.

[0013] Preferably, the second rack and the second gear are meshed together.

[0014] Preferably, the second gear is connected to the output shaft of the worm gear reducer via a coupling, and the worm gear reducer is fixedly installed at the middle position on the lower surface of the connecting mechanism.

[0015] Compared with the prior art, the beneficial effects of this utility model are: the flexible gripper assembly adopts a novel structural design, the specific details of which are as follows:

[0016] 1. The overall length of the X-axis adjustment mechanism and the X-axis adjustment mechanism is adjusted by the first telescopic mechanism and the second telescopic mechanism. That is, the rotation of the first gear drives the first rack that meshes with it to move, so that the X-axis movable component slides relative to the X-axis fixed component. At the same time, the meshing of the second gear and the second rack makes the Y-axis movable component slide relative to the Y-axis fixed component, so as to achieve the purpose of adjusting the position of the four gripping jaws in all directions.

[0017] 2. The clamping cylinder can automatically control and detect clamping force, and make adjustments automatically according to the needs of different workpieces. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0019] Figure 2This is a front view cross-sectional structural diagram of the X-axis adjustment mechanism of this utility model;

[0020] Figure 3 This utility model Figure 2 Enlarged structural diagram at point A in the middle;

[0021] Figure 4 This is a front view cross-sectional structural diagram of the Y-axis adjustment mechanism of this utility model;

[0022] Figure 5 This utility model Figure 4 Enlarged structural diagram at point B.

[0023] In the diagram: 1. X-axis adjustment mechanism; 101. X-axis fixed assembly; 102. X-axis movable assembly; 2. Y-axis adjustment mechanism; 201. Y-axis fixed assembly; 202. Y-axis movable assembly; 3. Connecting mechanism; 4. Gripping jaw; 401. Quick-change module; 5. Clamping cylinder; 6. Servo motor; 7. First rack; 8. First gear; 9. Worm gear reducer; 10. Coupling; 11. Second rack; 12. Second gear. Detailed Implementation

[0024] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0025] Example 1: Please refer to Figure 1 In order to achieve the purpose of automatic control of clamping force, this embodiment provides the following technical solution, which specifically discloses: an X-axis adjustment mechanism 1 and a Y-axis adjustment mechanism 2 that are distributed in a cross manner; a connecting mechanism 3 for mounting a quick-change disc is fixedly installed on the top of the X-axis adjustment mechanism 1; gripping jaws 4 for clamping workpieces are installed on the lower left and right ends of the X-axis adjustment mechanism 1; a clamping cylinder 5 for driving the movement of the gripping jaws 4 is installed on the top of the gripping jaws 4; a quick-change module 401 is fixedly installed on the upper end of the gripping jaws 4; and the quick-change module 401 is connected to the corresponding module on the lower surface of the X-axis moving component 102.

[0026] When using the device, first install the quick-change disc on the connecting mechanism 3, then use the quick-change disc to install the entire device onto the robot's operating end. The robot then moves the device to the workpiece position. Upon reaching the workpiece position, the clamping cylinder 5 is activated. At this time, the clamping cylinder 5 drives the gripper 4 to move (the gripper 4, along with the clamping cylinder 5, is connected to the X-axis moving assembly 102 via the quick-change module 401, and can be replaced as needed), achieving the purpose of clamping the workpiece. During the clamping process, the clamping force of the gripper 4 is automatically adjusted. The adjustment principle is as follows:

[0027] The gripper 4 is powered by a motor. The equipment control system is equipped with a host computer, which contains control software. It uses FOC vector control, which is an internal control principle. It automatically adjusts the motor current according to the amount of magnetic force applied. The motor torque mode is similar to the principle of current magnitude, and the magnetic force is adjusted by the change in current magnitude.

[0028] Example 2: Please refer to Figures 2-5 To achieve the goal of freely adjusting the gripper position, this embodiment provides the following technical solution, specifically: The X-axis adjustment mechanism 1 is divided into two parts: an X-axis fixed component 101 and an X-axis movable component 102, which are connected by a first telescopic mechanism. The Y-axis adjustment mechanism 2 is divided into two parts: a Y-axis fixed component 201 and a Y-axis movable component 202, which are connected by a second telescopic mechanism. The first telescopic mechanism includes a first rack 7 fixedly installed inside the X-axis movable component 102 and a second rack 7 rotatably installed inside the X-axis fixed component 101. A gear 8 is meshed with a first rack 7, and the first gear 8 is driven by a servo motor 6 fixedly mounted outside the X-axis fixed assembly 101. The X-axis fixed assembly 101 and the X-axis movable assembly 102 are slidably connected. The second telescopic mechanism includes a second rack 11 fixedly mounted inside the Y-axis fixed assembly 201 and a second gear 12 rotatably mounted inside the Y-axis movable assembly 202. The second rack 11 and the second gear 12 are meshed with each other. The second gear 12 is connected to the output shaft of the worm gear reducer 9 through a coupling 10. The worm gear reducer 9 is fixedly mounted at the middle position on the lower surface of the connecting mechanism 3.

[0029] When the position of the gripper 4 needs to be adjusted, the servo motor 6 and the worm gear reducer 9 (the worm gear reducer 9 also has a motor structure inside) are turned on. The servo motor 6 drives the first gear 8 inside the X-axis fixed assembly 101 to rotate. During the rotation of the first gear 8, the first rack 7 that meshes with it drives the X-axis movable assembly 102 to move, so that the X-axis movable assembly 102 slides relative to the X-axis fixed assembly 101, thereby adjusting the X-axis distance between the two sets of gripper 4. When the worm gear reducer 9 rotates, it drives the second gear 12 to rotate through the coupling 10. At this time, the second rack 11 that meshes with the second gear 12 drives the Y-axis movable assembly 202 to slide relative to the Y-axis fixed assembly 201, thereby adjusting the Y-axis distance between the two sets of gripper 4.

[0030] In the description of this utility model, unless otherwise stated, "a plurality of" means two or more; the terms "upper," "lower," "left," "right," "inner," "outer," "front end," "rear end," "head," "tail," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model. In addition, the terms "first," "second," "third," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0031] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A flexible gripper assembly, comprising an X-axis adjustment mechanism (1) and a Y-axis adjustment mechanism (2) arranged in a crisscross pattern, wherein a connecting mechanism (3) for mounting a quick-change disc is fixedly installed above the X-axis adjustment mechanism (1), characterized in that, Also includes: The X-axis adjustment mechanism (1) has gripping jaws (4) for holding workpieces installed at the lower left and right ends, and a clamping cylinder (5) for driving its movement is installed above the gripping jaws (4). The X-axis adjustment mechanism (1) is divided into two parts: an X-axis fixed component (101) and an X-axis movable component (102). The X-axis fixed component (101) and the X-axis movable component (102) are connected by a first telescopic mechanism. The Y-axis adjustment mechanism (2) is divided into two parts: a fixed Y-axis component (201) and a movable Y-axis component (202), and the fixed Y-axis component (201) and the movable Y-axis component (202) are connected by a second telescopic mechanism.

2. The flexible gripper assembly of claim 1, wherein: The upper end of the gripper (4) is fixedly installed with a quick-change module (401), and the quick-change module (401) is connected to the corresponding module on the lower surface of the X-axis movable component (102).

3. The flexible gripper assembly of claim 1, wherein: The first telescopic mechanism includes a first rack (7) fixedly installed inside the X-axis movable assembly (102) and a first gear (8) rotatably installed inside the X-axis fixed assembly (101).

4. The flexible gripper assembly of claim 3, wherein: The first rack (7) and the first gear (8) are meshed together, and the first gear (8) is driven by a servo motor (6) fixedly mounted outside the X-axis fixed assembly (101), and the X-axis fixed assembly (101) and the X-axis movable assembly (102) are slidably connected.

5. The flexible gripper assembly of claim 1, wherein: The second telescopic mechanism includes a second rack (11) fixedly installed inside the Y-axis fixed assembly (201) and a second gear (12) rotatably installed inside the Y-axis movable assembly (202).

6. The flexible gripper assembly of claim 5, wherein: The second rack (11) is meshed with the second gear (12).

7. The flexible gripper assembly of claim 6, wherein: The second gear (12) is connected to the output shaft of the worm gear reducer (9) via a coupling (10), and the worm gear reducer (9) is fixedly installed at the middle position on the lower surface of the connecting mechanism (3).

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