A modular multi-hand collaborative gripper system suitable for flexible production lines

Abstract

The utility model relates to a modularization multi-hand coordination mechanical gripper system suitable for flexible production line, including manipulator connecting portion, three gripper manipulator mechanism and double gripper manipulator mechanism. Manipulator connecting portion is the cuboid structure, and its both ends install three gripper and double gripper manipulator mechanism respectively, and the top is equipped with the interface for connecting with industrial robot. Three gripper manipulator mechanism includes the first casing with three guide grooves and three mechanical gripper assemblies, and double gripper manipulator mechanism includes the second casing with a guide groove and two mechanical gripper assemblies, and each mechanical gripper assembly includes the finger and drive mechanism, and the finger extends the casing through the guide groove and realizes the clamping action. The system can work simultaneously or independently, adapts to the grasping of different shape workpieces, has the advantages of modularization, coordinated control and quick switching, and is suitable for multi-task flexible production environment.

Description

Technical Field

[0001] This utility model relates to the technical field of sensors, and in particular to a modular multi-handed collaborative mechanical gripper system suitable for flexible production lines. Background Technology

[0002] Against the backdrop of the increasing development of intelligent manufacturing and flexible production, industrial production lines are placing higher demands on the flexibility and versatility of material handling and gripping equipment. Flexible production lines often involve workpieces of various shapes, sizes, and materials, posing a significant challenge to traditional single-type robotic gripper systems. Existing gripping devices are mostly fixed-structure, single-function robotic arms, such as three-point grippers or parallel grippers, which are only suitable for gripping objects with regular contours and lack the ability to adapt to complex workpieces, making it difficult to meet changing production needs.

[0003] To improve the adaptability of gripping systems to different workpieces, some studies have introduced solutions such as multi-finger dexterous grippers or pneumatic clamps. Although these solutions improve flexibility, they generally suffer from problems such as complex structure, high cost, and poor practicality, limiting their application in actual production. In addition, poor interchangeability between different grippers and independent control systems that are difficult to coordinate result in low efficiency and slow response of flexible production lines when dealing with product changes or task adjustments.

[0004] A key issue with existing gripping systems is the lack of a collaborative mechanism between multi-gripper modules. In flexible production lines, multiple grippers often need to simultaneously complete one or more gripping tasks. Without a unified scheduling and coordination mechanism, conflicts or improper coordination between grippers can easily occur, severely impacting operational stability and efficiency. Therefore, developing a modular gripper system that supports multi-gripper collaborative operation and allows for rapid replacement and expansion is a crucial requirement for improving flexible manufacturing capabilities.

[0005] In view of this, the inventors specifically designed a modular multi-arm collaborative mechanical gripper system suitable for flexible production lines, which led to this invention. Utility Model Content

[0006] The purpose of this application is to provide a modular multi-handed collaborative mechanical gripper system suitable for flexible production lines, which at least solves the problems of poor versatility, difficulty in expansion, and low collaborative control efficiency of mechanical gripper systems in flexible production lines.

[0007] To solve the above-mentioned technical problems, this utility model provides the following technical solution: This application provides a modular multi-arm collaborative robotic gripper system suitable for flexible production lines, comprising: a robotic gripper connector, which has a cuboid structure, with a first circular hole on its top surface for connection with an industrial robot, and multiple screw holes on its two outer sides; a three-jaw robotic gripper mechanism, mounted on one outer surface of the robotic gripper connector, the three-jaw robotic gripper mechanism including a first housing and three robotic gripper assemblies disposed therein, the first housing having three guide grooves, the robotic gripper assemblies including gripping fingers and a drive mechanism for driving the gripping fingers to move; and a two-jaw robotic gripper mechanism, mounted on the other outer surface of the robotic gripper connector, the two-jaw robotic gripper mechanism including a second housing and robotic gripper assemblies disposed therein, the second housing having a guide groove, the robotic gripper assemblies being driven by the drive mechanism, and the robotic gripper assemblies extending out of the second housing through the guide groove.

[0008] In a further embodiment, the drive mechanism includes a lead screw mechanism and a geared motor.

[0009] In a further embodiment, the lower surfaces of the first housing and the second housing are provided with four mounting holes for mounting screws to be fixedly connected to the robotic arm connection part, and a second circular hole is provided in the center for coaxial connection with the industrial robot.

[0010] In a further embodiment, the three guide grooves of the first housing extend outward from the center point of the first housing and are arranged symmetrically at 120° in the same horizontal plane.

[0011] In a further embodiment, the mechanical gripper assembly includes a gripper finger and a slider. The slider has a groove that engages with a guide groove on the upper surface of the first housing or the second housing to define the movement trajectory of the gripper finger.

[0012] In a further embodiment, the clamping finger is provided with a through hole to remove residual gas from the clamping area during the clamping process.

[0013] In a further embodiment, the two lead screws in the dual-claw manipulator mechanism are arranged coaxially to drive the corresponding sliders to move. The sliders are connected to the gripping fingers, which extend along the guide groove of the second housing to achieve the gripping action.

[0014] In a further embodiment, the geared motor is horizontally installed inside the first housing and the second housing, and the output shaft of the geared motor is coaxially connected to the lead screw to drive the lead screw to rotate and achieve gripper drive.

[0015] In a further embodiment, a transmission nut is mounted on the lead screw, and a slider is connected to the transmission nut to convert rotational motion into linear motion.

[0016] In a further embodiment, the slider and the gripper are an integral structure or connected by fasteners, and the end of the gripper is an arc-shaped structure.

[0017] Compared with the prior art, the present invention has the following advantages: By modularly integrating three-jaw and two-jaw robotic arm mechanisms into the connecting part of the robotic arm, and combining a unified installation interface and guide groove clamping structure, rapid switching and adaptation to workpieces of different shapes are achieved, effectively improving the versatility and scalability of flexible production lines. Compared with existing clamping devices with fixed structures and single functions, this system achieves efficient control and precise coordination of clamping motion through a combination of a lead screw mechanism and a slider-grip finger driven by a geared motor, avoiding motion conflicts when multiple robotic arms are working together. At the same time, each gripper finger structure is designed with grooves and gas vents, improving the stability and safety of gripping. It has significant advantages such as simple structure, easy maintenance, and collaborative control, making it suitable for multi-variety, small-batch production scenarios, and significantly improving the shortcomings of existing gripping systems in multi-task response and complex material adaptation.

[0018] The specific embodiments of this utility model will be described in further detail below with reference to the accompanying drawings. Attached Figure Description

[0019] in: Figure 1 This is a schematic diagram of the overall structure of the system of this utility model; Figure 2 This is a schematic diagram of the overall system structure of this utility model (Figure 2). Figure 3 This is a schematic diagram of the overall structure of the three-claw manipulator mechanism of this utility model; Figure 4 This is a schematic diagram of the overall structure of the two-jaw manipulator mechanism of this utility model; Figure 5 This is a schematic diagram of the overall structure of the first or second housing of this utility model; Figure 6 This is a schematic diagram of the overall structure of the mechanical claw assembly of this utility model.

[0020] Label Explanation: 1. Robot arm connection part; 11. First circular hole; 12. Screw hole; 2. Three-jaw robotic arm mechanism; 21. First housing; 3. Dual-claw robotic arm mechanism; 31. Second housing; 4. Mechanical gripper assembly; 41. Finger gripper; 42. Drive mechanism; 43. Slider; 44. Groove; 421. Lead screw mechanism; 422. Gear motor 5. Guide groove; 6. Mounting holes; 7. Second circular hole; 8. Hollow. Detailed Implementation

[0021] To make the technical problem to be solved, the technical solution, and the beneficial effects of this utility model clearer and more understandable, the present utility model will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this utility model and are not intended to limit this utility model.

[0022] like Figure 1 As shown, this utility model embodiment provides a modular multi-handed collaborative robotic gripper system suitable for flexible production lines, aiming to solve the problems of poor versatility, insufficient scalability, and low collaborative control efficiency of existing robotic arms. In particular, it provides a more efficient and flexible gripping solution in flexible production line scenarios involving the gripping of various types of workpieces with different shapes.

[0023] As shown in this embodiment, the system includes: a robotic arm connection part 1, a three-jaw robotic arm mechanism 2, and a two-jaw robotic arm mechanism 3.

[0024] like Figure 2 As shown, the robotic arm connecting part 1 is an intermediate connecting frame with a cuboid structure, serving as the assembly base for the three-jaw mechanism and the two-jaw mechanism. The top surface of the connecting part has a first circular hole 11 for connecting the entire system to the industrial robot arm via a flange or interface assembly, ensuring transmission stability and center alignment. The outer surfaces at both ends of the connecting part have several screw holes 12 for mounting the three-jaw robotic arm mechanism 2 and the two-jaw robotic arm mechanism 3, enabling modular structural arrangement and rapid assembly / disassembly.

[0025] like Figure 3 and Figure 5 The three-jaw manipulator mechanism 2 is mounted on one outer surface of the manipulator connector 1, and includes a first housing 21 and three manipulator assemblies 4 disposed therein. The first housing 21 has three guide grooves 5 that are at an angle of 120° to each other, and are evenly distributed outward from the center point of the housing. This symmetrical structural design allows the three jaws to close towards the center simultaneously, making it suitable for the stable gripping of circular or polygonal workpieces with strong symmetry.

[0026] like Figure 6As shown, each mechanical gripper assembly 4 includes a gripper finger 41, a slider 43, and a drive mechanism 42 for driving the slider 43 and the gripper finger 41. The drive mechanism 42 is preferably a combination structure consisting of a geared motor 422 and a lead screw mechanism 421. Specifically, the geared motor 422 is horizontally mounted inside the housing, and its output shaft is coaxially connected to the lead screw, driving the lead screw to rotate when it rotates; the lead screw and its transmission nut form a helical transmission structure, and the transmission nut is provided with a slider 43, which cooperates with the guide groove 5 on the housing to limit its linear motion trajectory; the front end of the slider 43 is connected to the gripper finger 41, and the gripper finger 41 can move outward or inward with the slider 43 to realize the gripping or releasing action.

[0027] Preferably, in order to improve the stability during clamping and adapt to complex workpiece surfaces, the clamping fingers 41 are provided with a through-hole structure 8, which is used to remove residual gas in the clamping area during the clamping process, reduce air pressure interference, and further enhance clamping reliability.

[0028] like Figure 4 and Figure 5 As shown, corresponding to the three-jaw structure, the two-jaw manipulator mechanism 3 is mounted on the outer surface of the other side of the manipulator connection part 1, including a second housing 31 and two manipulator assemblies 4 disposed inside it. The second housing 31 has a guide groove 5, and the two manipulator assemblies are arranged opposite each other on both sides of the guide groove 5, sharing one or two coaxially arranged lead screws. A set of drive mechanisms 42 controls the reciprocating linear motion of the corresponding sliders 43. The gripping fingers 41 move back and forth along the guide groove 5, also used for gripping square or planar workpieces, offering greater adaptability. The sliders 43 have grooves 44 that cooperate with the guide groove 5 to limit the movement trajectory of the gripping fingers 41.

[0029] The coexistence of the three-claw and two-claw structures in the same system enables the invention to not only flexibly grasp different types of materials, but also to achieve collaborative clamping tasks through single-sided, double-sided, or even multi-claw parallel operation, effectively improving the gripping efficiency and stability of the system and adapting to the characteristics and needs of modern flexible production lines with multiple categories and rapid switching.

[0030] like Figure 5 As shown, in a further preferred embodiment, both the three-jaw manipulator mechanism 2 and the two-jaw manipulator mechanism 3 have four mounting holes 6 on their lower surfaces for screw fixing to the manipulator connection part 1. A second circular hole 7 is also retained in the center of the housing for coaxial connection with the industrial robot's transmission interface. This structural design enhances modular interchangeability and system expandability, allowing users to quickly replace manipulator mechanisms of different forms or sizes according to actual needs without overall disassembly, significantly reducing equipment replacement and maintenance time.

[0031] Furthermore, to adapt to special gripping requirements, the gripping finger 41 in this system can be a one-piece injection-molded structure, or it can adopt a separate design of slider 43 and gripping finger 41, connected by fasteners. The end of the gripping finger 41 is preferably designed with an arc-shaped fitting structure, which can better fit the curved surface of the workpiece, enhance gripping stability, and prevent slippage or local damage to the workpiece.

[0032] In summary, this utility model uses the robotic arm connection part 1 as a standard interface platform, combined with a quickly replaceable three-jaw and two-jaw mechanism, and supplemented by a high-efficiency screw drive system and pneumatically optimized structure, to achieve multiple technical advantages such as multi-workpiece shape adaptation, collaborative motion scheduling, and modular expansion and upgrading. It is especially suitable for intelligent manufacturing production line scenarios that require highly flexible, high-precision clamping systems and frequent model changes.

[0033] The present invention has been described above with reference to the accompanying drawings. Obviously, the specific implementation of the present invention is not limited to the above-described manner. Any non-substantial improvements made using the inventive concept and technical solution of the present invention, or the direct application of the inventive concept and technical solution to other situations without modification, are all within the protection scope of the present invention.

Claims

1. A modular multi-arm collaborative robotic gripper system suitable for flexible production lines, characterized in that, include: The robotic arm connector has a rectangular structure. Its top surface has a first circular hole for connecting with an industrial robot, and its two outer sides have multiple screw holes. A three-jaw manipulator mechanism is installed on one outer surface of the manipulator connection part. The three-jaw manipulator mechanism includes a first housing and three manipulator assemblies disposed inside it. The first housing is provided with three guide grooves. The manipulator assemblies include grippers and a drive mechanism for driving the grippers to move. A dual-claw manipulator mechanism is installed on the outer surface of the other side of the manipulator connection part. The dual-claw manipulator mechanism includes a second housing and a mechanical claw assembly disposed inside it. The second housing is provided with a guide groove. The mechanical claw assembly is driven by a drive mechanism and extends out of the second housing through the guide groove.

2. The modular multi-arm collaborative robotic gripper system suitable for flexible production lines according to claim 1, characterized in that, The drive mechanism includes a lead screw mechanism and a geared motor.

3. A modular multi-arm collaborative robotic gripper system suitable for flexible production lines according to claim 2, characterized in that, The lower surfaces of the first housing and the second housing are provided with four mounting holes for mounting screws to be fixedly connected to the connecting part of the robot arm, and a second circular hole is provided in the center for coaxial connection with the industrial robot.

4. A modular multi-arm collaborative robotic gripper system suitable for flexible production lines according to claim 3, characterized in that, The three guide grooves of the first housing extend outward from the center point of the first housing and are arranged symmetrically at 120° in the same horizontal plane.

5. A modular multi-arm collaborative robotic gripper system suitable for flexible production lines according to claim 2, characterized in that, The mechanical gripper assembly includes a gripper finger and a slider. The slider has a groove that engages with a guide groove on the upper surface of the first housing or the second housing to define the movement trajectory of the gripper finger.

6. A modular multi-arm collaborative robotic gripper system suitable for flexible production lines according to claim 5, characterized in that, The clamping fingers have through holes to remove residual gas from the clamping area during the clamping process.

7. A modular multi-arm collaborative robotic gripper system suitable for flexible production lines according to claim 5, characterized in that, The two lead screws in the dual-claw manipulator mechanism are arranged coaxially and drive the corresponding sliders to move. The sliders are connected to the gripping fingers, which extend along the guide groove of the second housing to achieve the gripping action.

8. A modular multi-arm collaborative robotic gripper system suitable for flexible production lines according to claim 5, characterized in that, The geared motor is horizontally installed inside the first housing and the second housing. The output shaft of the geared motor is coaxially connected to the lead screw to drive the lead screw to rotate and realize the gripper drive.

9. A modular multi-arm collaborative robotic gripper system suitable for flexible production lines according to claim 8, characterized in that, The slider and the clamping finger are an integral structure or connected by fasteners, and the end of the clamping finger has an arc-shaped structure.

Images