Plug-in hand device

Abstract

The utility model discloses a plug -in hand device, it includes installation flange, intermediate plate, connecting block, pneumatic execution unit, first clamp jaw, second clamp jaw, first fluid control valve and second fluid control valve. Installation flange is fixed in the top of intermediate plate, and the bottom of intermediate plate is fixedly connected with the fixed end of pneumatic execution unit through connecting block, and the output end of pneumatic execution unit is fixedly connected with first clamp jaw, wherein the cross section of first clamp jaw and second clamp jaw is L type, and first clamp jaw and second clamp jaw are detachably fixedly connected through bolt. The utility model solves the technical problem that the existing pneumatic clamp jaw is only single action execution unit in the technical field such as industrial automation, realizes the automation operation and needs to be additionally matched with control unit, solenoid valve and carries out complex wiring connection gas modification, and the component integration degree is low, and the maintenance needs the whole overhaul to lead to the high cost, and it is difficult to adapt to the technical problem of efficient convenient automation demand.

Description

Technical Field

[0001] This utility model relates to the fields of industrial automation, medical health, and life service technology, and specifically to a plug-in hand device. Background Technology

[0002] In fields such as industrial automation, healthcare, and consumer services, the demand for high-precision gripping and assembly is increasing. Plug-in hand devices, as key execution components for human-robot collaboration, have been widely used in tasks such as high-precision assembly, assisted surgery, and rehabilitation training, becoming core equipment for expanding the boundaries of human-robot collaboration. Currently, the mainstream hand devices on the market are mainly divided into two categories: electric grippers and pneumatic grippers. Among them, electric grippers, such as New-Era's EL CT1 series, can be plugged and used with CRX collaborative robots and can be intuitively programmed via a tablet. Pneumatic grippers, such as SMC's JM HZ2-X7400B-CRX pneumatic gripper unit, play an important role in scenarios such as automotive parts assembly, 3C electronics manufacturing, and food and pharmaceutical sorting due to their advantages of small size, light weight, and ±0.01mm repeatability, effectively improving production efficiency.

[0003] However, existing pneumatic grippers serve only as single-action units. To achieve automated operation, they require additional control units and solenoid valves, along with complex wiring and air connection modifications. This process is cumbersome and demands a high level of operational expertise, increasing the time and difficulty of automation deployment and failing to meet the need for rapid adaptation to different scenarios. Furthermore, traditional hand-held devices suffer from insufficient space utilization, low component integration, and often require complete overhaul for maintenance, further increasing usage and maintenance costs. They cannot adequately meet the current demand in various fields for efficient, convenient, and low-cost automated equipment. Utility Model Content

[0004] The purpose of this utility model is to overcome the above-mentioned technical deficiencies and provide a plug-in hand device that solves the technical problems in the fields of industrial automation, medical health, and life service technology. Existing pneumatic grippers are only single action execution units. To achieve automated operation, they need to be equipped with additional control units and solenoid valves and undergo complex wiring and air connection modifications. In addition, the low integration of components and the need for overall maintenance lead to high costs, making it difficult to adapt to the technical needs of efficient and convenient automation.

[0005] To achieve the above technical objectives, the present invention provides a plug-in hand device, comprising: The system comprises a mounting flange, an intermediate plate, a connecting block, a pneumatic actuator, a first gripper, a second gripper, a first fluid control valve, and a second fluid control valve. The mounting flange is fixed to the top of the intermediate plate. The bottom of the intermediate plate is fixedly connected to the fixed end of the pneumatic actuator via the connecting block. The output end of the pneumatic actuator is bolted to the first gripper. The cross-sections of the first gripper and the second gripper are both L-shaped. The first gripper and the second gripper are detachably fixedly connected by bolts. The contact surfaces of the first gripper and the second gripper are provided with meshing teeth to adjust the distance between the two second grippers.

[0006] Compared with the prior art, the beneficial effects of this utility model include: 1. Simplified automation deployment: The first fluid control valve, the second fluid control valve, terminal block and other control and execution components are integrated into one unit. It can work by simply connecting to a positive pressure air source and electrical wiring. No additional control unit configuration or complex modification is required. Even non-professionals can get started quickly, which greatly shortens the deployment time.

[0007] 2. Improve space utilization: By optimizing the internal structure, all components are integrated into a compact cavity, and external equipment can be connected through only the top mounting flange, adapting to various work space-constrained scenarios and enhancing the equipment's versatility.

[0008] 3. Reduced maintenance costs: The modular design allows for the individual disassembly and replacement of components such as the first and second fluid control valves and terminal blocks, eliminating the need for overall overhaul and reducing maintenance time and material costs. At the same time, the integrated structure reduces connection nodes and lowers the probability of failure.

[0009] 4. Achieve precise adjustment: The first and second grippers achieve 2mm-level step adjustment through tooth meshing, which can quickly adapt to the gripping needs of workpieces of different sizes without the need to replace the grippers, thus improving work efficiency and adaptability. Attached Figure Description

[0010] Figure 1 This is a three-dimensional structural diagram of the first and second grippers of the plug-in hand device provided by this utility model when they are open. Figure 2 This is a schematic diagram of the closed three-dimensional structure of the first and second grippers of the plug-in hand device provided by this utility model; Figure 3 This is a schematic diagram of the internal structure of the plug-in hand device provided by this utility model. Figure 1 ; Figure 4 This is a schematic diagram of the internal structure of the plug-in hand device provided by this utility model. Figure 2 ; Figure 5This is a schematic diagram of the connection structure between the first gripper and the second gripper provided by this utility model. Detailed Implementation

[0011] To make the objectives, technical solutions, and advantages of this utility model clearer, 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 merely illustrative of the present utility model and are not intended to limit the present utility model.

[0012] It should be noted that when an element is referred to as being "fixed to" another element, it can be directly attached to the other element or there may be an intervening element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or there may be an intervening element. The terms "vertical," "horizontal," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only possible implementation.

[0013] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0014] Please see Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 This embodiment provides a plug-in hand device, including a flange 1, an intermediate plate 2, a connecting block 3, a pneumatic actuator 4, a first gripper 5, a second gripper 6, a first fluid control valve 7, a second fluid control valve 8, a terminal block 9, and a silencer 10.

[0015] Furthermore, the mounting flange 1 is fixed to the top of the intermediate plate 2. Specifically, the mounting flange 1 is fixed to the top of the intermediate plate 2 by four hexagon socket head cap screws, and the mounting flange 1 is used for connection with external multi-joint equipment.

[0016] Furthermore, the bottom of the intermediate plate 2 is fixedly connected to the fixed end of the pneumatic actuator 4 via the connecting block 3. The output end of the pneumatic actuator 4 is bolted to the first gripper 5, wherein the cross-section of both the first gripper 5 and the second gripper 6 is L-shaped, and the first gripper 5 and the second gripper 6 are detachably fixedly connected by bolts. The contact surfaces of the first gripper 5 and the second gripper 6 are each provided with meshing teeth 6A to adjust the distance between the two second grippers 6. Specifically, there are two of each of the first gripper 5 and the second gripper 6, wherein the first gripper 5 is fixedly connected to the piston rod of the pneumatic actuator 4 to realize the opening and closing of the first gripper 5.

[0017] Preferably, the pneumatic actuator 4 is a parallel cylinder.

[0018] Furthermore, when the maximum relative distance between the two first grippers 5 or second grippers 6 needs to be adjusted, the bolts fixing the first gripper 5 and the second gripper 6 can be loosened, allowing them to move a fixed number of teeth relative to each other, and then the bolts can be used to fix the connection again. In this embodiment, each relative movement of one tooth results in an actual displacement of 2mm. By adjusting the relative position of the two grippers, products of different sizes can be accommodated, and the adjustment is more convenient, greatly improving work efficiency.

[0019] Furthermore, an air inlet 2C is provided on one side of the intermediate plate 2, and a first air outlet 2A and a second air outlet 2B are provided on the other side of the intermediate plate 2. The air inlet 2C is connected to the first air outlet 2A and the second air outlet 2B. The pneumatic actuator 4 is provided with a first connector 4A corresponding to the first air outlet 2A, a second connector 4B corresponding to the second air outlet 2B, and a first sensing unit 11 and a second sensing unit 12 for detecting the opening and closing state of the first gripper 5.

[0020] Preferably, the first sensing unit 11 and the first sensing unit 11 are selected as magnetic switches for detecting the extreme position of the piston rod in the pneumatic actuator 4.

[0021] Furthermore, the first fluid control valve 7 and the second fluid control valve 8 are arranged side by side on the front of the intermediate plate 2, and a terminal block 9 is provided on the back of the intermediate plate 2 for centralized and organized electrical wiring. A silencer 10 is provided on one side of the intermediate plate 2, and the input end of the silencer 10 is connected to the first fluid control valve 7 and the second fluid control valve 8 to reduce exhaust noise and assist in the exhaust of the pneumatic circuit.

[0022] Specifically, the silencer 10 in this embodiment has the following advantages: 1. Assisting pneumatic circuit exhaust to ensure smooth gripper movement: In the closed-loop operation cycle of the opening and closing of the first gripper 5, when the first fluid control valve 7 or the second fluid control valve 8 switches states, the original gas in the pneumatic actuator 4 needs to be discharged to avoid air pressure hindering the movement of the first gripper 5. At this time, the gas can be discharged through a designated path. The silencer 10 provides a stable channel for exhaust, ensuring smooth airflow release and ensuring that the first gripper 5 can quickly and smoothly complete the state switching from open to closed or from closed to open, avoiding action jamming caused by poor exhaust; 2. Reducing exhaust noise and optimizing the working environment: When gas is discharged at high speed from the pneumatic actuator 4, noise is easily generated. The silencer 10 can buffer and disperse the high-speed airflow through its internal structure (such as porous noise reduction materials, labyrinth exhaust channels, etc.), greatly reducing the noise generated during exhaust, reducing noise interference to the surrounding environment when the device is used in industrial automation, medical and health and other scenarios, and improving the comfort of the working environment.

[0023] Furthermore, the first fluid control valve 7, the second fluid control valve 8, the terminal block 9, and other components are integrated with the pneumatic actuator 4 via the intermediate plate 2. It only requires a positive pressure air source and electrical wiring to operate, eliminating the need for additional control units and complex modifications. Even non-professionals can quickly get started, significantly shortening deployment time and simplifying automation deployment. Simultaneously, the internal structure is integrated within the device's cavity, allowing connection to external equipment via the top mounting flange 1. This adapts to various space-constrained operating scenarios, enhancing the device's versatility and improving its space utilization.

[0024] Furthermore, the first sensing unit 11, the second sensing unit 12, the first fluid control valve 7, and the second fluid control valve 8 are all electrically connected to the terminal block 9. The first fluid control valve 7 is connected to the first air outlet 2A, and the second fluid control valve 8 is connected to the second air outlet 2B.

[0025] Preferably, both the first fluid control valve 7 and the second fluid control valve 8 are solenoid valves used to control the switching of airflow.

[0026] Specifically, the terminal block 9 is used to centrally organize electrical boundaries and achieve integrated design. The terminal block 9 is fixed to the intermediate plate 2 inside the device cavity by screws, serving as a unified electrical wiring hub. On one hand, it receives wiring for controlling the operation of the first fluid control valve 7 and the second fluid control valve 8; on the other hand, it aggregates the signal lines of the first sensing unit 11 and the second sensing unit 12 in their open and closed states. The previously disorganized wiring allows the components to be fully integrated into the cavity, retaining only external electrical wiring interfaces, thus contributing to a compact integrated structure. Simultaneously, it simplifies wiring operations and maintenance, lowering the barrier to entry. Thanks to the centralized wiring function of the terminal block 9, external electrical wiring does not need to be directly and complexly connected to each solenoid valve and sensor; it only needs to be connected to the terminal block 9 to complete the electrical conduction of the entire device, greatly simplifying the wiring process. If subsequent maintenance of the electrical circuit is required, the wiring nodes can be quickly located through the terminal block 9 without disassembling other internal components, reducing maintenance difficulty and aligning with the device's design goal of "simplified operation and quick learning even for beginners."

[0027] Furthermore, when the first fluid control valve 7 is powered on by the signal from the first sensing unit 11, the airflow passes sequentially through the second fluid control valve 8, the first air outlet 2A, and the first connector 4A into the pneumatic actuator 4, driving the two first grippers 5 to open relative to each other. At the same time, the second fluid control valve 8 is de-energized, and the original gas in the pneumatic actuator 4 is discharged sequentially through the second connector 4B, the second air outlet 2B, the second fluid control valve 8, and the silencer 10.

[0028] Furthermore, when the second fluid control valve 8 is powered on by the signal from the second sensing unit 12, the airflow sequentially passes through the second fluid control valve 8, the second air outlet 2B, and the second connector 4B into the pneumatic actuator 4, driving the two first grippers 5 to close relative to each other. At the same time, the first fluid control valve 7 is de-energized, and the original gas in the pneumatic actuator 4 is sequentially discharged through the first connector 4A, the first air outlet 2A, the first fluid control valve 7, and the silencer 10, forming a periodic action cycle to complete the gripping and releasing operation of the first gripper 5 and the second gripper 6.

[0029] Specifically, in this embodiment, when the external control system issues a gripping command, the first sensing unit 11 detects that the first gripper 5 is in an initial closed state and sends an electrical signal to the first fluid control valve 7 through the terminal block 9. The first fluid control valve 7 is energized and reversed, and compressed air enters the rodless chamber of the pneumatic actuator 4 through the first air outlet 2A and the first connector 4A, pushing the first gripper 5 to open to the set position. At this time, the second sensing unit 12 is triggered and sends a feedback signal. When a release command is received, the second fluid control valve 8 is energized and reversed, and compressed air enters the rod chamber of the pneumatic actuator 4 through the second air outlet 2B and the second connector 4B, driving the second gripper 6 to close, completing one gripping cycle.

[0030] Furthermore, the device also includes a housing 13, which covers the mounting flange 1, intermediate plate 2, connecting block 3, first fluid control valve 7, second fluid control valve 8, terminal block 9, and silencer. Only the electrical connection wire 14 and the air inlet 2C are exposed on the exterior of the housing. Working principle: The plug-in hand device provided by this utility model includes a mounting flange 1, an intermediate plate 2, a connecting block 3, a pneumatic actuator 4, a first gripper 5, a second gripper 6, a first fluid control valve 7, and a second fluid control valve 8; the mounting flange 1 is fixed to the top of the intermediate plate 2; the bottom of the intermediate plate 2 is fixedly connected to the fixed end of the pneumatic actuator 4 through the connecting block 3; the output end of the pneumatic actuator 4 is bolted to the first gripper 5, wherein the cross-section of the first gripper 5 and the second gripper 6 are both L-shaped; the first gripper 5 and the second gripper 6 are detachably fixedly connected by bolts; the contact surfaces of the first gripper 5 and the second gripper 6 are provided with meshing teeth to adjust the distance between the two second grippers 6.

[0031] Specifically, when the first fluid control valve 7 receives the signal from the first sensing unit 11 and is powered on, the airflow passes through the second fluid control valve 8, the first air outlet 2A and the first connector 4A in sequence and enters the pneumatic actuator 4, driving the two first grippers 5 to open relative to each other. At the same time, the second fluid control valve 8 is de-energized, and the original gas in the pneumatic actuator 4 is discharged through the second connector 4B, the second air outlet 2B, the second fluid control valve 8 and the silencer 10 in sequence.

[0032] When the second fluid control valve 8 is powered on by the signal from the second sensing unit 12, the airflow passes through the second fluid control valve 8, the second air outlet 2B, and the second connector 4B in sequence into the pneumatic actuator 4, driving the two first grippers 5 to close relative to each other. At the same time, the first fluid control valve 7 is de-energized, and the original gas in the pneumatic actuator 4 is discharged through the first connector 4A, the first air outlet 2A, the first fluid control valve 7, and the silencer 10 in sequence, forming a periodic action cycle to complete the gripping and releasing operation of the first gripper 5 and the second gripper 6.

[0033] The alternating actions described above form a periodic cycle, thereby achieving stable gripping and release of the first gripper 5 and the second gripper 6.

[0034] The specific embodiments of this utility model described above do not constitute a limitation on the scope of protection of this utility model. Any other corresponding changes and modifications made based on the technical concept of this utility model should be included within the scope of protection of the claims of this utility model.

Claims

1. A plug-in hand device, characterized in that, The device includes a mounting flange, an intermediate plate, a connecting block, a pneumatic actuator, a first gripper, a second gripper, a first fluid control valve, and a second fluid control valve. The mounting flange is fixed to the top of the intermediate plate. The bottom of the intermediate plate is fixedly connected to the fixed end of the pneumatic actuator via the connecting block. The output end of the pneumatic actuator is bolted to the first gripper. The cross-sections of the first gripper and the second gripper are both L-shaped. The first gripper and the second gripper are detachably fixedly connected by bolts. The contact surfaces of the first gripper and the second gripper are provided with meshing teeth to adjust the distance between the two second grippers.

2. The plug-in hand device according to claim 1, characterized in that, An air inlet is provided on one side of the intermediate plate, and a first air outlet and a second air outlet are provided on the other side of the intermediate plate; the air inlet is connected to the first air outlet and the second air outlet; the pneumatic actuator is provided with a first connector connected to the first air outlet, a second connector connected to the second air outlet, and a first sensing unit and a second sensing unit for detecting the opening and closing state of the first gripper.

3. The plug-in hand device according to claim 2, characterized in that, The first fluid control valve and the second fluid control valve are arranged side by side on the front of the intermediate plate; a terminal block is provided on the back of the intermediate plate for centralized and organized electrical wiring; a silencer is provided on one side of the intermediate plate, and the input end of the silencer is connected to the first fluid control valve and the second fluid control valve to reduce exhaust noise and assist in the exhaust of the pneumatic circuit.

4. The plug-in hand device according to claim 3, characterized in that, The first sensing unit, the second sensing unit, the first fluid control valve, and the second fluid control valve are all electrically connected to the terminal block; the first fluid control valve is connected to the first air outlet, and the second fluid control valve is connected to the second air outlet.

5. The plug-in hand device according to claim 4, characterized in that, When the first fluid control valve receives a signal from the first sensing unit and is powered on, the airflow passes through the second fluid control valve, the first air outlet, and the first connector in sequence and enters the pneumatic actuator, driving the two first grippers to open relative to each other. At the same time, the second fluid control valve is de-energized, and the original gas in the pneumatic actuator is discharged through the second connector, the second air outlet, the second fluid control valve, and the silencer in sequence.

6. The plug-in hand device according to claim 5, characterized in that, When the second fluid control valve receives the signal from the second sensing unit and is powered on, the airflow sequentially passes through the second fluid control valve, the second air outlet, and the second connector into the pneumatic actuator, driving the two first grippers to close relative to each other. At the same time, the first fluid control valve is de-energized, and the original gas in the pneumatic actuator is sequentially discharged through the first connector, the first air outlet, the first fluid control valve, and the silencer, forming a periodic action cycle to complete the gripping and releasing operation of the first and second grippers.

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