A parallel synchronous lifting and lowering rapid gripping head

Abstract

This utility model relates to the field of gripping device technology, specifically to a parallel synchronous lifting rapid gripping head, comprising: a mounting base; multiple gripping units arranged in parallel on the mounting base; each gripping unit includes: an end effector for performing gripping actions; a vertical buffer module, through which the end effector is connected to the mounting base; the vertical buffer module is configured to: allow the end effector to retract relative to the mounting base when subjected to a vertical force exceeding a first preset value, and automatically reset after the vertical force disappears, thus providing intelligent adaptive protection capabilities to the rigidly connected parallel gripping system. By combining a magnetic holding mechanism with a precisely settable release threshold with an elastic reset element, each gripping unit can independently perform vertical buffering retraction or lateral deflection to avoid material when encountering material with out-of-tolerance position or incorrect posture.

Description

Technical Field

[0001] This utility model relates to the field of gripping device technology, specifically a parallel synchronous lifting and lowering rapid gripping head. Background Technology

[0002] In the field of automated production, especially in material handling, palletizing and loading / unloading processes, devices are often used where multiple sets of end effectors are driven by a mounting base to perform parallel synchronous lifting and gripping.

[0003] However, most existing gripping heads of this type have rigid connection structures, and their gripping units lack effective overload protection mechanisms. When the material to be gripped deviates from the preset gripping position due to uneven stacking height, tilted posture, or inaccurate positioning, the rigidly connected end effector is highly susceptible to direct vertical or lateral rigid collisions with the material or surrounding equipment. Such collisions can lead to gripping failure and production interruption at best, and permanent deformation or damage to the end effector and its drive mechanism at worst, resulting in high equipment maintenance costs. Furthermore, traditional structures cannot detect such abnormal collisions, and the system often continues to operate under unknown fault conditions, potentially causing the scope of the fault to expand further.

[0004] Therefore, in view of the above situation, there is an urgent need to develop a parallel synchronous lifting and lowering rapid gripping head to overcome the shortcomings in current practical applications and meet current needs. Utility Model Content

[0005] The purpose of this invention is to provide a parallel synchronous lifting and lowering fast gripping head to solve the problems mentioned in the background art.

[0006] To achieve the above objectives, this utility model provides the following technical solution: a parallel synchronous lifting and lowering rapid gripping head, comprising:

[0007] Mounting substrate;

[0008] Multiple gripping units are arranged in parallel on the mounting base;

[0009] The crawling unit includes:

[0010] End effector used to perform grasping actions;

[0011] A vertical buffer module is provided, through which the end effector is connected to the mounting base. The vertical buffer module is configured to allow the end effector to retract relative to the mounting base when subjected to a vertical force exceeding a first preset value, and to automatically reset after the vertical force disappears.

[0012] The lateral buffer module is used to connect the end effector to the movable part of the vertical buffer module. The lateral buffer module is configured to allow the end effector to deflect relative to the vertical buffer module when subjected to a lateral force exceeding a second preset value, and to automatically reset after the lateral force disappears.

[0013] Specifically, by independently setting up vertical and lateral dual buffer modules for each gripping unit, the gripping head can avoid being damaged by excessively tall materials by vertically retreating when encountering materials with out-of-tolerance positions or incorrect postures, and can also avoid lateral obstructions by lateral deflection. After the obstacle is removed, it automatically resets, thereby greatly improving the equipment's adaptability to complex working conditions, protecting the mechanical structure from damage, and ensuring the speed and reliability of the parallel gripping process.

[0014] Preferably, the vertical buffer module includes:

[0015] A mounting base that is fixed to the mounting substrate;

[0016] A linear guide mechanism housed within a fixed base;

[0017] A movable plate that is slidably connected to a fixed base via a linear guide mechanism;

[0018] The first elastic reset element acts between the fixed base and the movable plate to provide the reset force of the movable plate;

[0019] And a first releasable retaining mechanism for holding the movable plate in a lower limit position under normal conditions.

[0020] The linear guide mechanism can be a slider slide rail module.

[0021] Specifically, the fixed seat and linear guide mechanism provide a stable and reliable vertical sliding connection for the movable plate, ensuring the linearity and smoothness of the retraction movement. Combined with the stable reset force provided by the first elastic reset element and the reliable holding of the lower limit position of the movable plate by the first releaseable holding mechanism, the end-operating component can smoothly retract and buffer when subjected to a preset vertical overload and accurately and automatically reset after the force disappears, thereby effectively avoiding rigid collisions and equipment damage caused by excessive material height.

[0022] Preferably, the lateral buffer module includes:

[0023] A rotating connection part is provided on the movable plate;

[0024] The swing arm is hinged to the movable plate by rotating the connecting part, and the end operating part is located at the end of the swing arm;

[0025] The second elastic reset element acts between the movable plate and the swing arm to provide the reset torque of the swing arm;

[0026] And a second releasable retaining mechanism for holding the swing arm in an initial position under normal conditions.

[0027] Specifically, the hinge between the swing arm and the movable plate is achieved by rotating the connecting part, providing the end effector with a flexible lateral deflection degree of freedom; the second elastic reset element provides a stable reset torque for the swing arm, ensuring that it can automatically return to the initial posture after the lateral force disappears; and the second releasable holding mechanism can reliably hold the swing arm in the initial posture under normal conditions, and only allows it to deflect when subjected to a lateral force exceeding a preset value. Thus, together they achieve effective buffering and overload protection against lateral collisions, significantly improving the adaptability and reliability of the gripper head under complex working conditions.

[0028] Preferably, the lateral buffer module further includes at least one buffer, the two ends of which are hinged to the movable plate and the swing arm, respectively, for damping the deflection motion of the swing arm.

[0029] The buffer can be a pneumatic damper.

[0030] Specifically, by hinged between the movable plate and the swing arm, a buffer can provide controllable damping force for the deflection motion of the swing arm, effectively consuming the kinetic energy generated during the deflection process, thereby quickly smoothing out the swing and avoiding rebound oscillation. This makes the end-operated component move more smoothly and reset more gently when encountering lateral impact, significantly improving the controllability of the buffering process and the stability of the entire mechanism.

[0031] Preferably, the first releasable holding mechanism and / or the second releasable holding mechanism are electromagnetic adsorption mechanisms, which linearly adjust the adsorption force by changing the input current of the electromagnet, and set the first preset value and the second preset value by adjusting the force.

[0032] Specifically, the first and second releasable holding mechanisms are concretized as electromagnetic adsorption mechanisms, which enable the first and second preset values ​​to be precisely adjusted linearly and steplessly by simply changing the input current of the electromagnet. This allows for flexible adaptation to the material gripping needs of different weights and working conditions without the need for mechanical replacement of parts, greatly improving the adaptability and intelligence level of the equipment.

[0033] The pose detection component consists of a photoelectric sensor and a reflective lens. The photoelectric sensor is installed at the bottom of the fixed base, and the reflective lens is located on the inside of the swing arm. The two work together.

[0034] Preferably, it also includes a pose detection component for detecting whether the end effector has deflected, and the pose detection component may be a photoelectric sensor.

[0035] Specifically, by setting up a pose detection component, the system can synchronously and in real time sense the vertical displacement of the end effector caused by the rising of the movable plate and the angular change caused by the deflection of the swing arm. This allows for comprehensive monitoring of whether the grasping unit experiences abnormal vertical or lateral interference, enabling the control system to promptly determine the fault type and trigger the corresponding protection program. This effectively prevents grasping failure, equipment damage, or program disorder caused by missing information under complex interference conditions, greatly improving the completeness of the entire grasping system's status monitoring and the intelligence of its decision-making.

[0036] Preferably, the end effector can be a gripper, a vacuum suction cup, or a hook.

[0037] Preferably, the first releasable retaining mechanism includes a first electromagnet disposed on a fixed base and a first magnetic block disposed on a movable plate and adapted to the first electromagnet.

[0038] Specifically, the electromagnetic adsorption holding mechanism, consisting of a first electromagnet and a first magnetic block, enables the movable plate to be stably and reliably held at the lower limit position and to be released quickly and controllably. Its magnetic action avoids mechanical jamming and wear, ensuring rapid response and smooth separation during vertical overload protection, and accurately controlling the release timing during power failure or current adjustment, thereby improving the working reliability and service life of the vertical buffer module.

[0039] Preferably, the second releasable retaining mechanism includes a second electromagnet located on the outside of the movable plate and a second magnetic block located on the swing arm and adapted to the second electromagnet.

[0040] Specifically, the electromagnetic adsorption mechanism, consisting of a second electromagnet located on the outside of the movable plate and a second magnetic block adapted to the swing arm, provides a stable holding force for the initial posture of the swing arm. Its separation and adsorption processes are free of mechanical wear and respond quickly, ensuring that the lateral buffer module can instantly release and deflect the force when encountering lateral impacts within a preset range. At the same time, it gives it the flexibility and intelligence to adjust the protection threshold through current, thereby significantly improving the reliability, response speed and service life of the lateral overload protection.

[0041] Compared with the prior art, this utility model provides a parallel synchronous lifting and lowering rapid gripping head, which has the following beneficial effects:

[0042] This system endows the rigidly connected parallel gripping system with intelligent adaptive protection capabilities. By combining a magnetic holding mechanism with a precisely set release threshold with an elastic reset element, each gripping unit can independently perform vertical buffering or lateral deflection to avoid material when its position is out of tolerance or its posture is incorrect. This transforms harmful rigid collisions into controllable flexible displacements, effectively preventing deformation or damage to the equipment due to overload. At the same time, its integrated posture monitoring function provides real-time status feedback for the system, greatly improving the gripping success rate, operational reliability, and overall intelligence level of the equipment under complex working conditions. Attached Figure Description

[0043] To more clearly illustrate the technical solutions in the embodiments of this utility model, the drawings used in the description of 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.

[0044] Figure 1 This is a schematic diagram of the front structure of this utility model;

[0045] Figure 2 This is a schematic diagram showing the positional relationship between the vertical buffer module and the lateral buffer module of this utility model;

[0046] Figure 3 This is a side view of the vertical buffer module and the lateral buffer module of this utility model;

[0047] Figure 4 This is one of the exploded views of the vertical buffer module and the lateral buffer module of this utility model;

[0048] Figure 5 This is a side view of the vertical buffer module of this utility model;

[0049] Figure 6 This is the second exploded view of the vertical buffer module and the lateral buffer module of this utility model.

[0050] In the figure: 10, mounting base; 20, end effector; 30, vertical buffer module; 310, fixed base; 320, linear guide mechanism; 330, movable plate; 340, first elastic reset element; 350, first releasable holding mechanism; 351, first electromagnet; 352, first magnetic block; 40, lateral buffer module; 410, rotating connection; 420, swing arm; 430, second elastic reset element; 440, second releasable holding mechanism; 441, second electromagnet; 442, second magnetic block; 450, buffer; 50, pose detection component. Detailed Implementation

[0051] 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.

[0052] In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; 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; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0053] Example:

[0054] Please see Figures 1-6 This utility model provides a technical solution: a parallel synchronous lifting and lowering rapid gripping head, comprising:

[0055] Mounting base 10;

[0056] Multiple gripping units are arranged in parallel on the mounting base 10;

[0057] The crawling unit includes:

[0058] End effector 20 for performing grasping actions;

[0059] The vertical buffer module 30 is used to connect the end effector 20 to the mounting base 10. The vertical buffer module 30 is configured to allow the end effector 20 to retract relative to the mounting base 10 when subjected to a vertical force exceeding a first preset value, and to automatically reset after the vertical force disappears.

[0060] The lateral buffer module 40 is connected to the movable part of the vertical buffer module 30 via the end effector 20. The lateral buffer module 40 is configured to allow the end effector 20 to deflect relative to the vertical buffer module 30 when subjected to a lateral force exceeding a second preset value, and to automatically reset after the lateral force disappears.

[0061] Specifically, by independently setting up vertical and lateral dual buffer modules for each gripping unit, the gripping head can avoid being damaged by excessively tall materials by vertically retreating when encountering materials with out-of-tolerance positions or incorrect postures, and can also avoid lateral obstructions by lateral deflection. After the obstacle is removed, it automatically resets, thereby greatly improving the equipment's adaptability to complex working conditions, protecting the mechanical structure from damage, and ensuring the speed and reliability of the parallel gripping process.

[0062] Preferably, the vertical buffer module 30 includes:

[0063] Fixing base 310 fixed to mounting base 10;

[0064] A linear guide mechanism 320 is provided within the fixed base 310;

[0065] The movable plate 330 is slidably connected to the fixed base 310 via the linear guide mechanism 320;

[0066] The first elastic reset element 340 acts between the fixed base 310 and the movable plate 330 to provide the reset force of the movable plate 330;

[0067] And a first releasable retaining mechanism 350 for holding the movable plate 330 in a lower limit position under normal conditions.

[0068] The linear guide mechanism 320 can be a slider rail module.

[0069] Specifically, the fixed base 310 and the linear guide mechanism 320 provide a stable and reliable vertical sliding connection for the movable plate 330, ensuring the linearity and smoothness of the retraction movement. Combined with the stable reset force provided by the first elastic reset element 340 and the reliable holding of the lower limit position of the movable plate 330 by the first releaseable holding mechanism 350, the end-operating component 20 can smoothly retract and buffer when subjected to a preset vertical overload and accurately and automatically reset after the force disappears, thereby effectively avoiding rigid collisions and equipment damage caused by excessive material height.

[0070] Preferably, the lateral buffer module 40 includes:

[0071] A rotating connection part 410 is provided on the movable plate 330;

[0072] The swing arm 420 is hinged to the movable plate 330 via the rotating connection part 410, and the end operating member 20 is provided at the end of the swing arm 420.

[0073] The second elastic reset element 430 acts between the movable plate 330 and the swing arm 420 to provide the reset torque of the swing arm 420.

[0074] And a second releasable holding mechanism 440, which is used to hold the swing arm 420 in an initial position under normal conditions.

[0075] Specifically, the hinge between the swing arm 420 and the movable plate 330 is achieved by rotating the connecting part 410, providing the end effector 20 with a flexible lateral deflection degree of freedom; the second elastic reset element 430 provides a stable reset torque for the swing arm 420, ensuring that it can automatically return to the initial posture after the lateral force disappears; and the second releasable holding mechanism 440 can reliably hold the swing arm 420 in the initial posture under normal conditions, and only allows it to deflect when subjected to a lateral force exceeding a preset value, thereby jointly achieving effective buffering and overload protection against lateral collisions, significantly improving the adaptability and reliability of the gripper head under complex working conditions.

[0076] Preferably, the lateral buffer module 40 further includes at least one buffer 450, the two ends of which are hinged to the movable plate 330 and the swing arm 420 respectively, for damping the deflection movement of the swing arm 420.

[0077] The buffer 450 can be a pneumatic damper.

[0078] Specifically, the buffer 450, which is hinged between the movable plate 330 and the swing arm 420, can provide controllable damping force for the deflection motion of the swing arm 420, effectively dissipating the kinetic energy generated during the deflection process, thereby quickly smoothing out the swing and avoiding rebound oscillation. This makes the end-operating component 20 move more smoothly and reset more gently when it encounters a lateral impact, significantly improving the controllability of the buffering process and the stability of the entire mechanism.

[0079] Preferably, the first releasable holding mechanism 350 and / or the second releasable holding mechanism 440 are electromagnetic adsorption mechanisms, which linearly adjust the adsorption force by changing the input current of the electromagnet, and set the first preset value and the second preset value by adjusting the force.

[0080] Specifically, the first releasable holding mechanism 350 and the second releasable holding mechanism 440 are embodied as electromagnetic adsorption mechanisms, so that the first preset value and the second preset value, namely the vertical and lateral overload protection thresholds, can be precisely adjusted linearly and steplessly by simply changing the input current of the electromagnet. Therefore, it can flexibly adapt to the material gripping needs of different weights and working conditions without mechanically replacing parts, which greatly improves the adaptability and intelligence level of the equipment.

[0081] The pose detection component 50 consists of a photoelectric sensor and a reflective lens. The photoelectric sensor is installed at the bottom of the fixed base 310, and the reflective lens is located inside the swing arm 420. The two work together.

[0082] Preferably, it also includes a pose detection component 50 for detecting whether the end effector 20 has deflected, and the pose detection component 50 may be a photoelectric sensor.

[0083] Specifically, by setting up the pose detection component 50, the system can synchronously and in real time sense the vertical displacement of the end effector 20 caused by the rise of the movable plate 330 and the angular change caused by the deflection of the swing arm 420. This allows for comprehensive monitoring of whether the grasping unit experiences abnormal vertical or lateral interference, enabling the control system to promptly determine the fault type and trigger the corresponding protection program. This effectively prevents grasping failure, equipment damage, or program disorder caused by missing information under complex interference conditions, greatly improving the integrity of the entire grasping system's status monitoring and the intelligence of its decision-making.

[0084] Preferably, the end effector 20 can be a gripper, a vacuum suction cup, or a hook.

[0085] Preferably, the first releasable retaining mechanism 350 includes a first electromagnet 351 disposed on the fixed base 310 and a first magnetic block 352 disposed on the movable plate 330 and adapted to the first electromagnet 351.

[0086] Specifically, the electromagnetic adsorption holding mechanism, consisting of the first electromagnet 351 and the first magnetic block 352, enables the movable plate 330 to be stably and reliably held at the lower limit position and to be released quickly and controllably. Its magnetic action avoids mechanical jamming and wear, ensuring rapid response and smooth separation during vertical overload protection, and accurately controlling the release timing during power failure or current adjustment, thereby improving the working reliability and service life of the vertical buffer module 30.

[0087] Preferably, the second releasable retaining mechanism 440 includes a second electromagnet 441 disposed on the outside of the movable plate 330 and a second magnetic block 442 disposed on the swing arm 420 and adapted to the second electromagnet 441.

[0088] Specifically, the electromagnetic adsorption mechanism formed by the second electromagnet 441 set on the outside of the movable plate 330 and the second magnetic block 442 adapted on the swing arm 420 provides a stable holding force for the initial posture of the swing arm 420. Its separation and adsorption process has no mechanical wear and responds quickly, ensuring that the lateral buffer module 40 can release and deflect the force instantly when it encounters a lateral impact within a preset range. At the same time, it gives it the flexibility and intelligence to adjust the protection threshold by current, thereby significantly improving the reliability, response speed and service life of the lateral overload protection.

[0089] It should be noted that the first elastic reset element 340 and the second elastic reset element 430 can be tension springs.

[0090] Working principle: In the initial state, each gripping unit locks the movable plate 330 of the vertical buffer module 30 at the lower limit position and holds the swing arm 420 of the lateral buffer module 40 in the initial posture through the first releasable holding mechanism 350 and the second releasable holding mechanism 440, respectively. When the mounting base 10 drives all end-operating components 20 to descend synchronously to perform gripping, if the vertical force borne by a certain end-operating component 20 due to the excessive height of the material exceeds the first preset value, the first releasable holding mechanism 350 will release, and the movable plate 330 will pull the first elastic reset element 340 and move upward along the linear guide mechanism 320. If the lateral force on a certain end-operating component 20 exceeds the second preset value due to material skewing, the second releaseable holding mechanism 440 will release, and the swing arm 420 will overcome the torque of the second elastic reset element 430 and deflect around the rotating connection 410, while the buffer 450 dampens this movement. Once the overload force disappears, each module will automatically and accurately reset under the action of the first elastic reset element 340 and the second elastic reset element 430, while the posture detection component 50 will monitor abnormal displacement and deflection throughout the process, providing real-time status feedback to the system, thereby ensuring that the grasping process is fast, safe and intelligent when dealing with complex working conditions.

[0091] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover 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 one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

Claims

1. A parallel synchronous lifting and lowering rapid gripping head, characterized in that, include: Mounting base (10); Multiple gripping units are arranged in parallel on the mounting base (10); The grasping unit includes: End effector (20) used to perform grasping actions; A vertical buffer module (30) is provided, through which the end effector (20) is connected to the mounting base (10); the vertical buffer module (30) is configured to allow the end effector (20) to retract relative to the mounting base (10) when subjected to a vertical force exceeding a first preset value, and to automatically reset after the vertical force disappears; A lateral buffer module (40) is provided, through which the end effector (20) is connected to the movable part of the vertical buffer module (30); the lateral buffer module (40) is configured to allow the end effector (20) to deflect relative to the vertical buffer module (30) when subjected to a lateral force exceeding a second preset value, and to automatically reset after the lateral force disappears.

2. The parallel synchronous lifting and lowering rapid gripping head according to claim 1, characterized in that: The vertical buffer module (30) includes: Fixing base (310) fixed to the mounting base (10); A linear guide mechanism (320) is provided in the fixed base (310); The movable plate (330) is slidably connected to the fixed base (310) via the linear guide mechanism (320); The first elastic reset element (340) acts between the fixed base (310) and the movable plate (330) to provide the reset force of the movable plate (330); And a first releasable retaining mechanism (350) for holding the movable plate (330) in a lower limit position under normal conditions.

3. The parallel synchronous lifting and lowering rapid gripping head according to claim 2, characterized in that: The lateral buffer module (40) includes: A rotating connection part (410) is provided on the movable plate (330); The swing arm (420) is hinged to the movable plate (330) via the rotating connection (410), and the end operation member (20) is provided at the end of the swing arm (420); The second elastic reset element (430) acts between the movable plate (330) and the swing arm (420) to provide the reset torque of the swing arm (420); And a second releasable holding mechanism (440) for holding the swing arm (420) in an initial position under normal conditions.

4. The parallel synchronous lifting and lowering rapid gripping head according to claim 3, characterized in that: The lateral buffer module (40) further includes at least one buffer (450), the two ends of which are hinged to the movable plate (330) and the swing arm (420) respectively, for damping the deflection movement of the swing arm (420).

5. A parallel synchronous lifting and lowering rapid gripping head according to claim 3, characterized in that: The first releasable retaining mechanism (350) and / or the second releasable retaining mechanism (440) are electromagnetic adsorption mechanisms. The adsorption force is linearly adjusted by changing the input current of the electromagnet, and the first preset value and the second preset value are set by adjusting the force.

6. The parallel synchronous lifting and lowering rapid gripping head according to claim 1, characterized in that: It also includes a pose detection component (50) for detecting whether the end effector (20) has deflected, and the pose detection component (50) may be a photoelectric sensor.

7. A parallel synchronous lifting and lowering rapid gripping head according to claim 1, characterized in that: The end effector (20) may be a gripper, a vacuum suction cup, or a hook.

8. A parallel synchronous lifting and lowering rapid gripping head according to claim 2, characterized in that: The first releasable retaining mechanism (350) includes a first electromagnet (351) disposed on the fixed base (310) and a first magnetic block (352) disposed on the movable plate (330) and adapted to the first electromagnet (351).

9. A parallel synchronous lifting rapid gripping head according to claim 3, characterized in that: The second releasable retaining mechanism (440) includes a second electromagnet (441) disposed on the outside of the movable plate (330) and a second magnetic block (442) disposed on the swing arm (420) and adapted to the second electromagnet (441).

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