An adaptive gripper device

Abstract

The utility model relates to manipulator design technical field, especially self -adaptation clamp jaw device. Including the installation board for being connected with external device, and the clamping assembly of installing below the installation board, wherein, the clamping assembly includes the jaw module group, drive module group and sucking disc module group, the jaw module group is equipped with two groups, and symmetrically installs below the installation board, the jaw module group includes the connecting plate of installing below the installation board, the connecting frame of installing below the connecting plate, the rotary shaft of rotary mounting below the connecting frame, install in the clamping plate for with the rotary shaft rotates of rotary shaft, drive module group is equipped with two groups, two group drive module group respectively with two group the rotary shaft of jaw module group is connected, for driving this the rotary shaft rotates, the sucking disc module group includes the first air cylinder of installing below the connecting plate and being located between two connecting frames, and the vacuum chuck jig of installing the first air cylinder.

Description

Technical Field

[0001] This utility model relates to the field of robotic arm design technology, and in particular to an adaptive gripper device. Background Technology

[0002] A robotic arm is an automated operating device that can mimic certain movements and functions of a human hand and arm to grasp, move objects, or operate tools according to a fixed program. Its key feature is that it can be programmed to complete various expected tasks. In terms of structure and performance, it combines the advantages of both humans and machines. The robotic arm was the earliest industrial robot and also the earliest modern robot. It can replace heavy human labor to achieve mechanization and automation of production. It can operate in hazardous environments to protect human safety, and therefore is widely used in machinery manufacturing, metallurgy, electronics, light industry, and nuclear energy sectors. Therefore, it is necessary to propose a technical means to address the aforementioned shortcomings.

[0003] Existing robotic arms require frequent disassembly and replacement of grippers and suction cups when transporting workpieces to adapt to the gripping requirements of different workpieces, which greatly reduces the transfer efficiency. Moreover, when gripping workpieces with grippers, current grippers often use multiple sets of gripping arms to exert force simultaneously, and the gripping force of each set of gripping arms is consistent. Therefore, they often cannot complete the gripping work well when gripping irregular objects, which is not suitable for industrial applications. Utility Model Content

[0004] The present invention adopts the following technical solution:

[0005] An adaptive gripper device includes a mounting plate for connecting to an external device and a gripping assembly mounted below the mounting plate. The gripping assembly includes a gripper module, a drive module, and a suction cup module. Two gripper modules are symmetrically mounted below the mounting plate. Each gripper module includes a connecting plate mounted below the mounting plate, a connecting frame mounted below the connecting plate, a rotating shaft rotatably mounted below the connecting frame, and a clamping plate mounted on the rotating shaft for rotating with the rotating shaft. Two drive modules are provided, each connected to the rotating shaft in one of the two gripper modules, for driving the rotating shaft to rotate. The suction cup module includes a first cylinder mounted below the connecting plate and located between the two connecting frames, and a vacuum suction cup fixture mounted on the first cylinder.

[0006] Preferably, the drive module includes a mounting base, a second cylinder, and a first connecting arm; the mounting base is installed below the mounting plate and located on one side of the connecting frame; and the two sets of mounting bases are respectively staggered and located on opposite sides of the two connecting frames; the second cylinder is rotatably installed below the mounting base; one end of the first connecting arm is rotatably connected to the second cylinder, and the other end is connected to the rotating shaft.

[0007] Preferably, one side of the clamp is provided with a second connecting arm for connecting to the rotating shaft.

[0008] Preferably, the mounting plate has side plates on both sides below; the end of the rotating shaft has a first limiting rod that rotates with the rotating shaft; the side plate near the rotating shaft has a second limiting rod that abuts against the first limiting rod when it rotates to a preset angle, thereby limiting the rotation of the first limiting rod.

[0009] Preferably, the vacuum suction cup fixture includes a fixture body, a vacuum generating component installed in the fixture body, and a vacuum suction cup installed below the fixture body and connected to the fixture body.

[0010] Preferably, two connecting shafts are arranged side by side below the connecting plate; the two mounting plates are installed side by side below the two connecting shafts.

[0011] Preferably, the side of the clamp used to hold the workpiece is provided with elastic cotton.

[0012] The adaptive gripper device disclosed in this utility model, through the configuration of a gripper module, a drive module, and a suction cup module in the gripper assembly, effectively enables users to select the workpiece clamping method as needed, avoiding frequent changes of the clamps, improving industrial efficiency, and is suitable for industrial applications. At the same time, since two sets of drive modules are set to drive the connected clamping plates independently, compared with the traditional multiple clamping plates that are synchronously driven by a single drive source to perform opening and closing actions, it avoids excessive or insufficient clamping force and improves the stability and reliability when clamping objects. Attached Figure Description

[0013] Figure 1 This is an overall schematic diagram of an adaptive gripper device according to the present invention;

[0014] Figure 2 This is a front view of an adaptive gripper device according to the present invention;

[0015] Figure 3 This is a schematic diagram of a partial structure of an adaptive gripper device according to the present invention. Detailed Implementation

[0016] The technical solution of this utility model will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this utility model. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this utility model.

[0017] In the description of this utility model, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings and are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0018] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0019] Please see Figures 1 to 3 An adaptive gripper device includes a mounting plate 10 for connecting to an external device and a gripping assembly 20 mounted below the mounting plate 10. The clamping assembly 20 includes a gripper module, a drive module, and a suction cup module. Two gripper modules are symmetrically mounted below the mounting plate 10. Each gripper module includes a connecting plate 201 mounted below the mounting plate 10, a connecting frame 202 mounted below the connecting plate 201, a rotating shaft 203 rotatably mounted below the connecting frame 202, and a clamping plate 204 mounted on the rotating shaft 203 for rotating with the rotating shaft 203. Two drive modules are provided, each connected to the rotating shaft 203 in one of the two gripper modules, for driving the rotating shaft 203 to rotate. The suction cup module includes a first cylinder 205 mounted below the connecting plate 201 and located between the two connecting frames 202, and a vacuum suction cup 213 fixture mounted on the first cylinder 205.

[0020] Specifically, during operation, when the workpiece needs to be clamped using the clamping plate 204, the first cylinder 205 drives the vacuum suction cup 213 fixture to move upward to avoid affecting subsequent clamping work. Then, the mounting plate 10 moves to the clamping position under the drive of the external moving device, so that the workpiece is located between the two clamping plates 204. Then, the drive module drives the clamping plates 204 connected to it to rotate downward, so that the two clamping plates 204 move closer to each other, thereby clamping the workpiece. After the workpiece is moved into place, the drive module drives the clamping plates 204 to rotate upward in the opposite direction, so that the two clamping plates 204 move away from each other, thereby releasing the workpiece.

[0021] When the suction cup module needs to pick up the workpiece, the drive module drives the connected clamping plate 204 to rotate upwards, so that the two clamping plates 204 are far apart to avoid affecting subsequent work. At this time, the mounting plate 10 moves to the bottom of the workpiece under the drive of the external moving device. At this time, the first cylinder works to drive the vacuum suction cup 213 fixture to move downwards, so as to pick up the workpiece using the vacuum suction cup 213 fixture. After the workpiece is moved into place, the vacuum suction cup 213 fixture can put the workpiece down.

[0022] The adaptive gripper device disclosed in this utility model, through the configuration of a gripper module, a drive module, and a suction cup module in the gripper assembly, effectively enables users to select the workpiece clamping method as needed, avoiding frequent changes of the clamps, improving industrial efficiency, and is suitable for industrial applications. At the same time, since two sets of drive modules are set to drive the connected clamping plates 204 independently, compared with the traditional multiple clamping plates 204 synchronously driven by a single drive source to perform opening and closing actions, it avoids excessive or insufficient clamping force, and improves the stability and reliability when clamping objects.

[0023] In one specific embodiment, the drive module includes a mounting base 206, a second cylinder 207, and a first connecting arm 208. The mounting base 206 is installed below the mounting plate 10 and located on one side of the connecting frame 202. The two sets of mounting bases 206 are respectively offset and positioned on opposite sides of the two connecting frames 202. The second cylinder 207 is rotatably mounted below the mounting base 206. One end of the first connecting arm 208 is rotatably connected to the second cylinder 207, and the other end is connected to the rotating shaft 203. Specifically, in this embodiment, since the mounting bases 206 in the two drive modules are respectively offset and positioned on opposite sides of the two connecting frames 202, when the second cylinder 207 is installed on the mounting base 206, the two second cylinders 207 and the two connecting frames 202 together form an installation area for installing the suction cup module, which is installed within this installation area. During operation, when the gripper module is needed to hold a workpiece, the second cylinder 207 operates and extends outward, thereby driving the rotating shaft 203 to rotate relative to the connecting frame 202 via the first connecting arm 208. This causes the clamping plate 204 to rotate downward relative to the rotating shaft 203, thus clamping and fixing the workpiece. The reverse is also true.

[0024] In one specific embodiment, a second connecting arm 209 for connecting to the rotating shaft 203 is provided on one side of the clamping plate 204. Specifically, the upper end of the second rotating arm is provided with a first connecting hole for connecting to the rotating shaft 203, and the lower end of the second rotating arm is fixedly connected to the clamping plate 204 by screws.

[0025] In one specific embodiment, side plates are provided on both sides of the mounting plate 10; the end of the rotating shaft 203 is provided with a first limiting rod 210 that rotates with the rotating shaft 203; a second limiting rod 211 is provided on the side of the side plate near the rotating shaft 203, which abuts against the first limiting rod 210 after it rotates to a preset angle, thereby limiting the rotation of the first limiting rod 210. In this embodiment, two second limiting rods 211 are provided on one side of the side plate, and the free end of the first limiting rod 210 is located between the two second limiting rods 211, so as to effectively limit the rotation range of the rotating shaft 203.

[0026] In one specific embodiment, the vacuum suction cup 213 fixture includes a fixture body 212, a vacuum generating component installed in the fixture body 212, and a vacuum suction cup 213 installed below the fixture body 212 and connected to the fixture body 212.

[0027] In one specific embodiment, two connecting shafts 214 arranged side by side are provided below the connecting plate 201; two mounting plates 10 are installed side by side below the two connecting shafts 214. Specifically, in this embodiment, the connecting plate 201 is provided with connecting seats 215 for connection corresponding to the two connecting shafts 214, and the connecting seats 215 are provided with second connecting holes for connecting to the connecting shafts 214.

[0028] In one specific embodiment, the side of the clamping plate 204 used to clamp the workpiece is provided with elastic cotton. In this embodiment, the elastic cotton effectively reduces damage to the workpiece when the clamping plate 204 clamps the workpiece.

[0029] The adaptive gripper device disclosed in this utility model, through the configuration of a gripper module, a drive module, and a suction cup module in the gripper assembly, effectively enables users to select the workpiece clamping method as needed, avoiding frequent changes of the clamps, improving industrial efficiency, and is suitable for industrial applications. At the same time, since two sets of drive modules are set to drive the connected clamping plates 204 independently, compared with the traditional multiple clamping plates 204 synchronously driven by a single drive source to perform opening and closing actions, it avoids excessive or insufficient clamping force, and improves the stability and reliability when clamping objects.

[0030] The above embodiments only illustrate several implementation methods of this utility model, and their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of this 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. An adaptive gripper device, characterized in that: The device includes a mounting plate for connecting to an external device and a clamping assembly mounted below the mounting plate. The clamping assembly includes a gripper module, a drive module, and a suction cup module. Two gripper modules are symmetrically mounted below the mounting plate. Each gripper module includes a connecting plate mounted below the mounting plate, a connecting frame mounted below the connecting plate, a rotating shaft rotatably mounted below the connecting frame, and a clamping plate mounted on the rotating shaft for rotating with the rotating shaft. Two drive modules are provided, each connected to the rotating shaft in one of the two gripper modules, for driving the rotating shaft to rotate. The suction cup module includes a first cylinder mounted below the connecting plate and located between the two connecting frames, and a vacuum suction cup fixture mounted on the first cylinder.

2. The adaptive gripper device according to claim 1, characterized in that: The drive module includes a mounting base, a second cylinder, and a first connecting arm; the mounting base is installed below the mounting plate and located on one side of the connecting frame; and the two sets of mounting bases are respectively staggered and located on the opposite sides of the two connecting frames; the second cylinder is rotatably installed below the mounting base; one end of the first connecting arm is rotatably connected to the second cylinder, and the other end is connected to the rotating shaft.

3. The adaptive gripper device according to claim 2, characterized in that: One side of the clamp is provided with a second connecting arm for connecting to the rotating shaft.

4. The adaptive gripper device according to claim 3, characterized in that: The mounting plate has side plates on both sides below; the end of the rotating shaft is provided with a first limiting rod that rotates with the rotating shaft; the side plate near the rotating shaft is provided with a second limiting rod that abuts against the first limiting rod when it rotates to a preset angle, thereby limiting the rotation of the first limiting rod.

5. The adaptive gripper device according to claim 1, characterized in that: The vacuum suction cup fixture includes a fixture body, a vacuum generating component installed inside the fixture body, and a vacuum suction cup installed below the fixture body and connected to the fixture body.

6. The adaptive gripper device according to claim 1, characterized in that: Below the connecting plate are two connecting shafts arranged side by side; two mounting plates are installed side by side below the two connecting shafts.

7. The adaptive gripper device according to claim 1, characterized in that: The clamping plate has elastic cotton on one side for holding the workpiece.

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