Parallel gripper

Abstract

This utility model discloses a parallel gripper, comprising: a mounting plate; multiple first clamping parts, which are movably and guideably disposed at the bottom of the mounting plate; multiple second clamping parts, which are movably and guideably disposed at the bottom of the mounting plate and are correspondingly opposite to the multiple first clamping parts; and a drive module connected to the mounting plate, the multiple first clamping parts, and the multiple second clamping parts, for simultaneously driving the opposing multiple first clamping parts and multiple second clamping parts to move closer or further apart. This utility model has the following advantages: 1. Simplified structure: Modular design reduces the number of parts, optimizes the transmission system, and improves structural compactness. 2. Synchronous control: Mechanical hard synchronization structure ensures synchronous movement of the left and right grippers. 3. Reduced cost: Single-motor drive saves costs compared to multi-motor solutions; lightweight design reduces material consumption.

Description

Technical Field

[0001] This utility model relates to the field of object grasping technology, and in particular to a parallel gripper. Background Technology

[0002] In recent years, manufacturing and other industries in my country and around the world have developed rapidly; product standardization and automated production have become a trend. For automated production lines, in addition to equipment for normal production processes, the efficiency and stability of logistics and transportation equipment, as well as the manufacturing costs for mass production, are also crucial. Social development places increasingly higher demands on factory efficiency.

[0003] Currently, most grippers can only grasp a single object. To grasp multiple objects simultaneously, multiple drive controls are required, which is costly. Therefore, a parallel gripper is designed to address this issue. Summary of the Invention

[0004] According to an embodiment of the present invention, a parallel gripper is provided, comprising:

[0005] Mounting plate;

[0006] Multiple first clamping parts are provided at the bottom of the mounting plate, and the multiple first clamping parts are guided and moved.

[0007] Multiple second clamping parts are provided at the bottom of the mounting plate and are directionally movable, each corresponding to one of the multiple first clamping parts.

[0008] The drive module is connected to the mounting plate, multiple first clamping parts, and multiple second clamping parts, and is used to simultaneously drive the multiple first clamping parts and multiple second clamping parts to move closer to each other or separate.

[0009] Furthermore, the driver module includes:

[0010] The motor is located at the bottom of the mounting plate, and its output end extends through the mounting plate.

[0011] A transmission assembly connects a motor and a mounting plate, multiple first clamping parts, and multiple second clamping parts, and is used to transmit the driving force of the motor to the multiple first clamping parts and multiple second clamping parts.

[0012] Furthermore, the linkage assembly includes:

[0013] The drive gear is mounted on the output end of the motor.

[0014] Two driven gears are rotatably mounted on the top of the mounting plate and located on both sides of the driving gear, meshing with the driving gear;

[0015] Two first links, one end of which is connected to one driven gear, and the other end of which is connected to another driven gear;

[0016] Two second links, one end of which is hinged to the other end of one of the first links, and the other end of which is hinged to the other end of another first link;

[0017] Two third links, one end of which is hinged to the other end of one of the second links, and the other end of which is hinged to the other end of the second link;

[0018] Multiple first transmission holes are provided on the top of the mounting plate;

[0019] Multiple second transmission holes are provided on the top of the mounting plate and are offset from multiple first transmission holes.

[0020] Multiple first transmission components, the top of each of the multiple first transmission components is connected to one of the third connecting rods, and the bottom of each of the multiple first transmission components passes through multiple first transmission holes and is connected to multiple first clamping parts one by one.

[0021] Multiple second transmission components, the top of each of the multiple second transmission components is connected to another third connecting rod, and the bottom of each of the multiple second transmission components passes through multiple second transmission holes and is connected to multiple second clamping parts one by one.

[0022] Furthermore, it also includes a guide assembly for guiding the movement of the plurality of first clamping parts and the plurality of second clamping parts.

[0023] Furthermore, the guidance component includes:

[0024] A pair of mounting bases are provided on both sides of the bottom of the mounting plate;

[0025] Two guide rods are located between a pair of mounting bases, and both guide rods pass through multiple first clamping parts and multiple second clamping parts.

[0026] Furthermore, the guide assembly also includes two support seats, each used to support one guide rod.

[0027] Furthermore, the bottom of the first clamping part is provided with a detachable first clamping claw, and the bottom of the second clamping part is provided with a detachable second clamping claw.

[0028] A parallel gripper according to an embodiment of the present utility model has the following beneficial effects:

[0029] 1. Simplified structure: Modular design is adopted to reduce the number of parts, optimize the transmission system, and improve structural compactness.

[0030] 2. Synchronous control mechanical hard synchronization structure to ensure synchronous movement of the left and right grippers.

[0031] 3. Reduced costs: Single-motor drive saves costs compared to multi-motor solutions, and its lightweight design reduces material consumption.

[0032] 4. Highly expandable, with interchangeable grippers to meet various needs, supports automated control, and is easy to integrate.

[0033] It should be understood that both the foregoing general description and the following detailed description are exemplary and intended to provide further illustration of the claimed technology. Attached Figure Description

[0034] Figure 1 This is a schematic diagram of the three-dimensional structure of a parallel gripper according to an embodiment of the present invention. Figure 1 .

[0035] Figure 2 This is a schematic diagram of the three-dimensional structure of a parallel gripper according to an embodiment of the present invention. Figure 2 . Detailed Implementation

[0036] The preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings, further illustrating the present invention.

[0037] First, combine Figures 1-2 This invention describes a parallel gripper according to an embodiment of the present invention, which is used to grip multiple items simultaneously and has a wide range of applications.

[0038] like Figures 1-2 As shown, a parallel gripper according to an embodiment of the present invention has a mounting plate 100, a plurality of first clamping parts 200, a plurality of second clamping parts 300, and a drive module.

[0039] Specifically, such as Figures 1-2 As shown, a plurality of first clamping parts 200 are movably and guideably disposed at the bottom of the mounting plate 100.

[0040] Specifically, such as Figures 1-2 As shown, a plurality of second clamping parts 300 are movably and guideably disposed at the bottom of the mounting plate 100, and are directly opposite to a plurality of first clamping parts 200, thereby achieving clamping of multiple items. In this embodiment, there are four first clamping parts 200 and four second clamping parts 300.

[0041] Specifically, such as Figures 1-2As shown, the drive module is connected to the mounting plate 100, a plurality of first clamping parts 200, and a plurality of second clamping parts 300, and is used to simultaneously drive the plurality of opposing first clamping parts 200 and the plurality of second clamping parts 300 to move closer or further apart. The drive module includes a motor 401 and a transmission assembly. The motor 401 is disposed at the bottom of the mounting plate 100, and the output end of the motor 401 passes through the mounting plate 100; the transmission assembly connects the motor 401 to the mounting plate 100, the plurality of first clamping parts 200, and the plurality of second clamping parts 300, and is used to transmit the driving force of the motor 401 to the plurality of first clamping parts 200 and the plurality of second clamping parts 300.

[0042] Furthermore, such as Figures 1-2 As shown, the linkage transmission assembly includes: a driving gear 402, two driven gears 403, two first connecting rods 404, two second connecting rods 405, two third connecting rods 406, multiple first transmission holes 407, multiple second transmission holes 408, multiple first transmission components 409, and multiple second transmission components 410. The driving gear 402 is sleeved on the output end of the motor 401; the two driven gears 403 are rotatably disposed on the top of the mounting plate 100 and located on both sides of the driving gear 402, meshing with the driving gear 402; one end of one first connecting rod 404 is connected to one driven gear 403, and one end of the other first connecting rod 404 is connected to the other driven gear 403; one end of one second connecting rod 405 is hinged to the other end of one first connecting rod 404, and one end of the other second connecting rod 405 is hinged to the other end of the other first connecting rod 404; one end of one third connecting rod 406 is hinged to the other end of one second connecting rod 405, and one end of the other third connecting rod 406 is hinged to the other end of the first connecting rod 404; One end of 06 is hinged to the other end of another second link 405; multiple first transmission holes 407 are opened on the top of the mounting plate 100; multiple second transmission holes 408 are opened on the top of the mounting plate 100 and are offset from the multiple first transmission holes 407; the top ends of multiple first transmission components 409 are all connected to one of the third links 406, and the bottom ends of multiple first transmission components 409 pass through multiple first transmission holes 407 respectively and are connected to multiple first clamping parts 200 one by one; the top ends of multiple second transmission components 410 are all connected to another third link 406, and the bottom ends of multiple second transmission components 410 pass through multiple second transmission holes 408 respectively and are connected to multiple second clamping parts 300 one by one.

[0043] Furthermore, such as Figure 2As shown, a parallel gripper according to an embodiment of the present invention further includes a guide assembly for guiding the movement of a plurality of first clamping parts 200 and a plurality of second clamping parts 300. The guide assembly includes a pair of mounting seats 501 and two guide rods 502. The pair of mounting seats 501 are disposed on both sides of the bottom of the mounting plate 100; the two guide rods 502 are both located between the pair of mounting seats 501, and both guide rods 502 pass through the plurality of first clamping parts 200 and the plurality of second clamping parts 300. The guide rods 502 allow for stable guided movement of the plurality of first clamping parts 200 and the plurality of second clamping parts 300.

[0044] Furthermore, such as Figure 2 As shown, a parallel gripper guide assembly according to an embodiment of the present invention further includes: two support seats 503, which are respectively used to support two guide rods 502.

[0045] Furthermore, such as Figure 2 As shown, the bottom of the first clamping part 200 is provided with a detachable first clamping jaw 601, and the bottom of the second clamping part 300 is provided with a detachable second clamping jaw 602. It has strong expandability, can replace different clamping jaws, adapt to various needs, supports automated control, and is easy to integrate.

[0046] Working principle:

[0047] When multiple items need to be clamped, the control motor 401 operates, the drive gear 402 rotates, which in turn drives the two driven gears 403 to rotate. Power is transmitted through the two first links 404, the two second links 405, and the two third links 406, causing multiple first transmission components 409 and multiple second transmission components 410 to move in opposite directions. Correspondingly, multiple first clamping parts 200 and multiple second clamping parts 300 move closer to each other, and the items are grasped through the first gripper 601 and the second gripper 602. When it is necessary to release the grasped items, the motor 401 reverses.

[0048] Above, refer to Figures 1-2 A parallel gripper according to an embodiment of the present invention is described, which has the following beneficial effects:

[0049] 1. Simplified structure: Modular design is adopted to reduce the number of parts, optimize the transmission system, and improve structural compactness.

[0050] 2. Synchronous control mechanical hard synchronization structure to ensure synchronous movement of the left and right grippers.

[0051] 3. Reduced cost: Single-motor 401 drive saves costs compared to multi-motor 401 solutions. Lightweight design reduces material consumption.

[0052] 4. Highly expandable, with interchangeable grippers to meet various needs, supports automated control, and is easy to integrate.

[0053] It should be noted that, in this specification, the terms "comprising," "including," or any other variations thereof are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0054] Although the present invention has been described in detail through the above preferred embodiments, it should be understood that the above description should not be considered as a limitation of the present invention. Various modifications and substitutions to the present invention will be apparent to those skilled in the art after reading the above content. Therefore, the scope of protection of the present invention should be defined by the appended claims.

Claims

1. A parallel gripper characterized by, Include: Mounting plate; A plurality of first clamping parts are provided at the bottom of the mounting plate in a guide-movable manner; A plurality of second clamping parts are provided at the bottom of the mounting plate in a guide-movable manner, and each of the second clamping parts is directly opposite to the plurality of first clamping parts; A drive module is connected to the mounting plate, the plurality of first clamping parts, and the plurality of second clamping parts, and is used to simultaneously drive the plurality of first clamping parts and the plurality of second clamping parts to move closer to or separate from each other.

2. The parallel gripper of claim 1, wherein, The driver module includes: A motor is disposed at the bottom of the mounting plate, and the output end of the motor passes through the mounting plate; A transmission assembly is provided, which connects the motor and the mounting plate, the plurality of first clamping parts, and the plurality of second clamping parts, and is used to transmit the driving force of the motor to the plurality of first clamping parts and the plurality of second clamping parts.

3. The parallel gripper of claim 2, wherein, The linkage drive assembly includes: A drive gear, which is sleeved on the output end of the motor; Two driven gears are rotatably disposed on the top of the mounting plate and located on both sides of the driving gear, meshing with the driving gear; Two first links, one end of which is connected to one of the driven gears, and the other end of which is connected to the other driven gear; Two second links, one end of which is hinged to the other end of one of the first links, and the other end of which is hinged to the other end of the first link; Two third links, one end of which is hinged to the other end of one of the second links, and one end of the other third link is hinged to the other end of the other second link; A plurality of first transmission holes are formed on the top of the mounting plate; Multiple second transmission holes are provided, which are opened on the top of the mounting plate and are offset from the multiple first transmission holes. Multiple first transmission components, the top ends of which are connected to one of the third connecting rods, and the bottom ends of which pass through the multiple first transmission holes and are connected to the multiple first clamping parts one by one; Multiple second transmission components are provided, the top ends of which are connected to another third connecting rod, and the bottom ends of which pass through the multiple second transmission holes and are connected to the multiple second clamping parts in a corresponding manner.

4. The parallel gripper of claim 1, wherein, It also includes: a guide assembly for guiding the movement of the plurality of first clamping parts and the plurality of second clamping parts.

5. The parallel gripper of claim 4, wherein, The guiding component includes: A pair of mounting bases, the pair of mounting bases being disposed on both sides of the bottom of the mounting plate; Two guide rods are located between the pair of mounting bases, and both guide rods pass through the plurality of first clamping parts and the plurality of second clamping parts.

6. The parallel gripper of claim 5, wherein, The guide assembly further includes two support seats, which are used to support the two guide rods respectively.

7. The parallel gripper of claim 1 wherein, The bottom of the first clamping part is provided with a detachable first clamping jaw, and the bottom of the second clamping part is provided with a detachable second clamping jaw.

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