Gripper device

Abstract

The application provides a hand claw device for grabbing materials. The hand claw device comprises a base, a translation mechanism, two adapter seats, two clamping mechanisms, two rotating mechanisms and two suction mechanisms. The translation mechanism is arranged on the base. The two adapter seats are connected to the translation mechanism. The translation mechanism can drive the two adapter seats to move towards or away from each other. Each adapter seat is provided with a clamping mechanism. The two adapter seats can drive the two clamping mechanisms to move towards each other so that the two clamping mechanisms clamp the materials. Each adapter seat is provided with a rotating mechanism. Each rotating mechanism can drive a clamping mechanism to rotate. The axes of rotation of the two clamping mechanisms coincide and are parallel to the direction of relative movement of the two adapter seats. Each adapter seat is provided with a suction mechanism. Each suction mechanism can suck the materials, and the directions in which the suction mechanisms suck the materials intersect the direction of relative movement of the two adapter seats. The hand claw device provided by the application can transport and overturn the materials, and has a simple structure.

Description

Technical Field

[0001] This application relates to the field of material conveying technology, and more specifically, to a gripper device. Background Technology

[0002] During the conveying process, some materials sometimes need to be conveyed directly, and sometimes they need to be flipped for conveying. In related technologies, an additional three-axis mechanism is required for flipping the materials, which complicates the structure of the conveying equipment. On the one hand, it increases equipment costs and makes maintenance difficult; on the other hand, it increases the space occupied by the equipment and affects the layout of other equipment. Utility Model Content

[0003] In view of this, this application provides a gripper device that can both transport and flip materials, and has a simple structure.

[0004] One embodiment of this application provides a gripper device for grasping materials. The gripper device includes a base, a translation mechanism, two adapter seats, two clamping mechanisms, two rotating mechanisms, and two suction mechanisms. The translation mechanism is disposed on the base. Both adapter seats are connected to the translation mechanism. The translation mechanism can drive the two adapter seats to move closer to or further apart from each other. Each adapter seat is provided with a clamping mechanism. The two adapter seats can drive the two clamping mechanisms to move closer to each other so that the two clamping mechanisms clamp materials. Each adapter seat is provided with a rotating mechanism. Each rotating mechanism can drive one clamping mechanism to rotate. The axes of rotation of the two clamping mechanisms coincide and are parallel to the direction of relative movement of the two adapter seats. Each adapter seat is provided with a suction mechanism. Each suction mechanism can suction materials, and the direction in which the suction mechanism suctions materials intersects the direction of relative movement of the two adapter seats.

[0005] By moving two transition seats relative to each other through a translation mechanism, materials can be clamped by bringing two clamping mechanisms closer together, thus facilitating material transport. Furthermore, the relative movement of the two transition seats allows the spacing between the two adsorption mechanisms to be adjusted to match the material size, enabling the two adsorption mechanisms to adsorb and fix the material, thereby transporting it. The gripper device can fix materials through different clamping or adsorption methods, allowing for the selection of different fixing methods according to different transport needs. Specifically, when clamping materials, the two clamping mechanisms can rotate under the drive of two rotating mechanisms, thereby flipping the material while clamping it, eliminating the need to switch to other mechanisms for separate flipping, simplifying the operation process. Moreover, the two clamping mechanisms not only perform the actions of clamping and transporting materials but can also work in conjunction with the rotating mechanisms to integrate the action of flipping materials, which helps simplify the structure of the gripper device, reduce the use and maintenance costs, minimize the space occupied by the gripper device, and facilitate integration with other equipment.

[0006] In some embodiments of this application, the clamping mechanism includes a first jaw, a second jaw, and a jaw seat. Both the first and second jaws are disposed on the jaw seat. The first jaw includes a pushing portion, a driving portion, and a clamping portion. The driving portion is drivingly connected to the pushing portion and the clamping portion. The pushing portion can withstand the pressure of the material and move relative to the jaw seat. When the pushing portion moves, the driving portion can drive the clamping portion to move towards the second jaw, so that the clamping portion and the second jaw can clamp the material.

[0007] When two clamping mechanisms approach each other to clamp material, the material compresses the pushing part as they move closer. This movement, transmitted through the drive unit, causes the clamping part to move towards the second gripper, allowing it to grip the material and improving its stability. While the two clamping mechanisms move closer together to clamp the material, each mechanism can independently and automatically clamp the material. This improves material clamping stability and enhances the automation level of the gripper device without requiring additional control steps.

[0008] In some embodiments of this application, the transmission part is rotatably mounted on the gripper seat. When the pusher part moves relative to the gripper seat, the pusher part can drive the transmission part to rotate relative to the gripper seat, so that the transmission part drives the clamping part to rotate toward the second gripper, so that the clamping part and the second gripper can clamp the material.

[0009] The transmission unit rotates relative to the gripper seat, so that the moving part can be linked to the action of the clamping part. The cooperation method is simple and reliable, so that the first and second grippers can stably clamp the material.

[0010] In some embodiments of this application, the clamping mechanism further includes a reset member. The reset member is disposed between the first gripper and the gripper seat. The reset member can apply a force to the first gripper, causing the clamping portion to move away from the second gripper, so that the clamping portion and the second gripper can release the material from their gripping.

[0011] By incorporating a reset mechanism, the clamping part can automatically disengage from the second gripper, thereby releasing the material. As the two clamping mechanisms move away from each other, the pressure of the material on the pushing part of the first gripper gradually decreases. Consequently, the force exerted by the reset mechanism on the first gripper gradually changes from being less than the pressure exerted by the material on the first gripper to being greater than the pressure exerted by the material on the first gripper. Therefore, during the process of the two clamping mechanisms moving away and releasing the material, each clamping mechanism can also release the material independently. The gripper device does not require additional control over the release of material by each clamping mechanism, thus improving the automation level of the gripper device.

[0012] In some embodiments of this application, the clamping mechanism further includes a limiting member. The limiting member is disposed on the gripper seat. The limiting member is capable of abutting against the material to prevent the material from pushing the pushed part relative to the gripper seat.

[0013] When two clamping mechanisms are close to each other and clamping materials, the limiting member can abut against the material, so that the material and the gripper seat are relatively fixed. The position of the push part relative to the gripper seat is limited by the material, so that the position of the clamping part moving towards the second gripper is limited by the linkage of the push part. This limits the clamping force of the first gripper and the second gripper in cooperating to clamp the material, which helps to avoid each clamping mechanism clamping the material too tightly and damaging the material.

[0014] In some embodiments of this application, the second gripper is fixedly disposed relative to the gripper seat.

[0015] When the same clamping mechanism holds materials, the second jaw is relatively fixed while the first jaw moves relative to it to hold the materials. Therefore, the clamping mechanism can use the second jaw as a reference for the relatively fixed position of the materials when clamping them, facilitating the unification of the clamping positions of the two clamping mechanisms and enabling each rotating mechanism to drive the corresponding clamping mechanism to rotate. When flipping materials, this helps avoid asynchronous rotation on both sides of the material, preventing interference between the clamping and rotating mechanisms on both sides, and avoiding damage from twisting of the materials.

[0016] In some embodiments of this application, the translation mechanism includes rotating wheels, a timing belt, and a translation drive. Two rotating wheels are provided, spaced apart on the base. Each rotating wheel is rotatably mounted relative to the base. The timing belt is wound around the two rotating wheels. Two adapter seats are fixedly connected to the timing belt. The translation drive can drive at least one rotating wheel to rotate, thereby rotating the timing belt. The rotation of the timing belt can cause the two adapter seats to move closer to or further apart from each other.

[0017] The translation drive unit drives the synchronous belt to rotate by driving the rotating wheel. In this configuration, the synchronous belt moves at the same speed at all points, so the two adapters move at the same speed, which makes it easy for the two clamping mechanisms to center and clamp the material. This can both clamp and fix the material and adjust the centering of the material position.

[0018] In some embodiments of this application, the translation mechanism includes a slide rail. The slide rail is disposed on the base. Two adapter seats are slidably disposed on the slide rail.

[0019] The two adapters slide along the slide rails, moving closer or further apart, which improves the stability of the adapter movement.

[0020] In some embodiments of this application, the translation mechanism further includes a displacement detection element. The displacement detection element is disposed on the base. The displacement detection element is capable of detecting the relative displacement between the base and at least one adapter.

[0021] Driven by the synchronous belt, the two adapters move equal distances. The displacement detection device can determine the relative positions of the two adapters to the base by detecting the position of one adapter relative to the base. This allows the relative positions of the two adapters to be accurately adapted to the size of the material, and also makes it convenient for the two adapters to adapt to materials of different sizes.

[0022] In some embodiments of this application, the base includes a first base body, a second base body, and a steering drive member. A translation mechanism and two adapter seats are disposed on the first base body. The first base body is rotatably disposed on the second base body. The steering drive member is capable of driving the first base body to rotate relative to the second base body.

[0023] Driven by the steering drive, the first seat can drive the translation mechanism and the two adapter seats to rotate relative to the second seat, so that the two adapter seats can synchronously adjust their relative rotation angle with the second seat, and the two adapter seats can move closer or further apart without affecting each other, so as to adjust the angle when the gripper device grabs or releases materials, thereby improving the applicability of the gripper device in various environments. Attached Figure Description

[0024] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings in the embodiments will be briefly described below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation on the scope.

[0025] Figure 1 This is a schematic diagram of the structure of a gripper device provided in an embodiment of this application; Figure 2 for Figure 1 A structural schematic diagram of the gripper device from another perspective; Figure 3 for Figure 1 A schematic diagram of the structure of the transfer base, clamping mechanism, rotating mechanism and adsorption mechanism working together; Figure 4 for Figure 3 Schematic diagram of cross section AA.

[0026] Explanation of key component symbols: 100-Hand gripper device; 10-Base; 11-First seat body; 12-Second seat body; 13-Steering drive component; 20-Translation mechanism; 21-Rotating wheel; 22-Synchronous belt; 23-Translation drive component; 24-Slide rail; 25-Displacement detection component; 30 - Adapter; 31 - Clamping part; 32 - Sliding part; 40-Clamping mechanism; 41-First gripper; 411-Pushing part; 412-Transmission part; 413-Clamping part; 42-Second gripper; 421-Guide slope; 43-Gripper seat; 44-Reset component; 45-Limiting component; 50 - Rotation mechanism; 60 - Adsorption mechanism; G - Gravity direction. Detailed Implementation

[0027] The technical solutions of the embodiments of this application will be described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments.

[0028] 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. The terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to be limiting of the application.

[0029] Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be interpreted as indicating or implying relative importance.

[0030] This application provides a gripper device for grasping materials. The gripper device includes a base, a translation mechanism, two adapter seats, two clamping mechanisms, two rotating mechanisms, and two suction mechanisms. The translation mechanism is located on the base. Both adapter seats are connected to the translation mechanism. The translation mechanism can drive the two adapter seats to move closer or further apart. Each adapter seat is equipped with a clamping mechanism. The two adapter seats can drive the two clamping mechanisms to move closer together so that the two clamping mechanisms clamp the material. Each adapter seat is equipped with a rotating mechanism. Each rotating mechanism can drive one clamping mechanism to rotate. The axes of rotation of the two clamping mechanisms coincide and are parallel to the direction of relative movement of the two adapter seats. Each adapter seat is equipped with a suction mechanism. Each suction mechanism can suction the material, and the direction in which the suction mechanism suctions the material intersects the direction of relative movement of the two adapter seats.

[0031] By moving two transition seats relative to each other through a translation mechanism, materials can be clamped by bringing two clamping mechanisms closer together, thus facilitating material transport. Furthermore, the relative movement of the two transition seats allows the spacing between the two adsorption mechanisms to be adjusted to match the material size, enabling the two adsorption mechanisms to adsorb and fix the material, thereby transporting it. The gripper device can fix materials through different clamping or adsorption methods, allowing for the selection of different fixing methods according to different transport needs. Specifically, when clamping materials, the two clamping mechanisms can rotate under the drive of two rotating mechanisms, thereby flipping the material while clamping it, eliminating the need to switch to other mechanisms for separate flipping, simplifying the operation process. Moreover, the two clamping mechanisms not only perform the actions of clamping and transporting materials but can also work in conjunction with the rotating mechanisms to integrate the action of flipping materials, which helps simplify the structure of the gripper device, reduce the use and maintenance costs, minimize the space occupied by the gripper device, and facilitate integration with other equipment.

[0032] The following detailed description of some embodiments of this application is provided in conjunction with the accompanying drawings. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0033] See Figure 1 One embodiment of this application provides a gripper device 100 for grasping materials (not shown). The materials may be workpieces, a carrier for placing workpieces, or a carrier on which workpieces are placed.

[0034] In some embodiments, the gripper device 100 includes a base 10, a translation mechanism 20, an adapter 30, a clamping mechanism 40, a rotation mechanism 50, and an adsorption mechanism 60.

[0035] The translation mechanism 20 is located on the base 10. There are two adapter seats 30, both of which are connected to the translation mechanism 20. The translation mechanism 20 can drive the two adapter seats 30 to move closer to or further apart from each other.

[0036] Two clamping mechanisms 40 are provided, one for each adapter 30. The two adapters 30 can drive the two clamping mechanisms 40 to move closer together so that the two clamping mechanisms 40 clamp the material. Two rotating mechanisms 50 are provided, one for each adapter 30. Each rotating mechanism 50 can drive one clamping mechanism 40 to rotate. The axes of rotation of the two clamping mechanisms 40 coincide and are parallel to the direction of relative movement of the two adapters 30. Two adsorption mechanisms 60 are provided, one for each adapter 30. Each adsorption mechanism 60 can adsorb material, and the direction in which the adsorption mechanism 60 adsorbs material intersects the direction of relative movement of the two adapters 30.

[0037] By moving the two transition seats 30 relative to each other through the translation mechanism 20, the two clamping mechanisms 40 can be brought closer together to clamp the material, thereby transporting it. Furthermore, the relative movement of the two transition seats 30 allows the spacing between the two adsorption mechanisms 60 to be adjusted to match the size of the material, enabling the two adsorption mechanisms 60 to adsorb and fix the material, thus transporting it. The gripper device 100 can fix materials through different clamping or adsorption methods, facilitating the selection of different fixing methods according to different transportation needs. Specifically, when clamping materials through the clamping mechanisms 40, the two clamping mechanisms 40 can rotate under the drive of the two rotating mechanisms 50, thereby flipping the material while clamping it, eliminating the need to switch to other mechanisms for separate flipping, simplifying the operation process. Moreover, the two clamping mechanisms 40 can not only be used to clamp and transport materials, but also integrate the flipping action with the rotating mechanisms 50, which helps to simplify the structure of the gripper device 100, reduce the use and maintenance costs of the gripper device 100, and minimize the space occupied by the gripper device 100, facilitating its integration with other devices.

[0038] In some embodiments, the base 10 includes a first base 11, a second base 12, and a steering drive 13. A translation mechanism 20 and two adapter seats 30 are disposed on the first base 11. The first base 11 is rotatably disposed on the second base 12. The steering drive 13 is capable of driving the first base 11 to rotate relative to the second base 12. The axis of rotation of the first base 11 relative to the second base 12 intersects the direction of relative movement of the two adapter seats 30; exemplaryly, the axis of rotation of the first base 11 relative to the second base 12 is perpendicular to the direction of relative movement of the two adapter seats 30.

[0039] Driven by the steering drive 13, the first seat 11 can drive the translation mechanism 20 and the two adapter seats 30 to rotate relative to the second seat 12, so that the two adapter seats 30 can synchronously adjust their relative rotation angle with the second seat 12, and the mutual approach or distance of the two adapter seats 30 is not affected, so as to adjust the angle when the gripper device 100 grasps or releases materials, and improve the applicability of the gripper device 100 in the environment.

[0040] Understandably, in some embodiments, the steering drive 13 is a motor to improve the accuracy of controlling the relative rotation angle of the first seat 11 and the second seat 12. In other embodiments, the steering drive 13 may also be a rotary cylinder, etc.

[0041] See Figure 1 and Figure 2In some embodiments, the translation mechanism 20 includes rotating wheels 21, a timing belt 22, and a translation drive 23. Two rotating wheels 21 are provided, spaced apart from each other on the base 10. Each rotating wheel 21 is rotatably disposed relative to the base 10. The timing belt 22 is wound around the two rotating wheels 21. Two adapter seats 30 are fixedly connected to the timing belt 22. The translation drive 23 can drive at least one rotating wheel 21 to rotate, thereby causing the timing belt 22 to rotate. The rotation of the timing belt 22 can cause the two adapter seats 30 to move closer to or further away from each other.

[0042] The translation drive 23 drives the synchronous belt 22 to rotate by driving the rotating wheel 21. In this configuration, the synchronous belt 22 moves at the same speed at all points, so the two adapter seats 30 move at the same speed, which makes it easy for the two clamping mechanisms 40 to center and clamp the material. This can both clamp and fix the material and adjust the centering of the material position.

[0043] Understandably, in some embodiments, the translation drive 23 drives one rotating wheel 21 to rotate, while the other rotating wheel 21 is driven to rotate via a timing belt 22, thus simplifying the cooperation structure between the translation drive 23 and the rotating wheel 21. In other embodiments, two translation drive 23s can be provided, each driving one of the two rotating wheels 21 to rotate. The timing belt 22 improves the accuracy of the relative movement of the two adapter seats 30, thus enabling the two adapter seats 30 to adaptively move the two clamping mechanisms 40 to different positions according to the size of different materials, demonstrating good adaptability to different materials.

[0044] In some embodiments, the translation drive 23 is a motor to precisely drive the rotating wheel 21 to rotate.

[0045] In some embodiments, the translation mechanism 20 further includes a slide rail 24. The slide rail 24 is disposed on the base 10. Two adapter seats 30 are slidably disposed on the slide rail 24 respectively. The two adapter seats 30 slide along the slide rail 24 and move closer or further apart from each other, improving the stability of the movement of the adapter seats 30.

[0046] It is understood that in some embodiments, multiple slide rails 24 are provided, and the multiple slide rails 24 are arranged in parallel and spaced apart. Each adapter 30 is slidably disposed on multiple slide rails 24 to improve the stability of the movement of the adapter 30.

[0047] In some embodiments, the translation mechanism 20 further includes a displacement detection element 25. The displacement detection element 25 is disposed on the base 10. The displacement detection element 25 can detect the relative displacement between the base 10 and at least one adapter 30. Driven by the synchronous belt 22, the two adapters 30 move equal distances. By detecting the position of one adapter 30 relative to the base 10, the displacement detection element 25 can determine the position of both adapters 30 relative to the base 10, thereby enabling the relative position of the two adapters 30 to accurately adapt to the size of the material and facilitating the adaptation of the two adapters 30 to materials of different sizes.

[0048] Understandably, in some embodiments, the displacement detection element 25 detects the relative displacement between the base 10 and one adapter 30, and the other adapter 30 can move synchronously via the timing belt 22, thereby simplifying the structure of the translation mechanism 20. In other embodiments, the displacement detection element 25 detects the relative displacement between the base 10 and each adapter 30, which can improve the position of each adapter 30 relative to the base 10, thus improving the accuracy of controlling the relative position of each adapter 30.

[0049] For example, the displacement detection element 25 can measure the relative movement distance of the adapter 30 in real time, or detect whether the adapter 30 has moved into place at a fixed point.

[0050] See Figure 2 and Figure 3 In some embodiments, the adapter 30 has a clamping portion 31 that clamps the timing belt 22 so that the adapter 30 is fixed relative to the timing belt 22.

[0051] In some embodiments, the adapter 30 has a sliding portion 32, which is slidably disposed on the slide rail 24 so that the adapter 30 can slide along the slide rail 24.

[0052] See Figure 1 and Figure 3 In some embodiments, the clamping mechanism 40 includes a first gripper 41, a second gripper 42, and a gripper seat 43. Both the first gripper 41 and the second gripper 42 are disposed on the gripper seat 43. The first gripper 41 includes a pushing portion 411, a transmission portion 412, and a clamping portion 413. The transmission portion 412 drives the pushing portion 411 and the clamping portion 413. The pushing portion 411 can move relative to the gripper seat 43 under the pressure of the material. When the pushing portion 411 moves, the transmission portion 412 can drive the clamping portion 413 to move towards the second gripper 42, so that the clamping portion 413 and the second gripper 42 can clamp the material. The distribution directions of the first gripper 41 and the second gripper 42 intersect the direction of relative movement of the two adapter seats 30 to facilitate material clamping; exemplarily, the distribution directions of the first gripper 41 and the second gripper 42 are perpendicular to the direction of relative movement of the two adapter seats 30.

[0053] When the two clamping mechanisms 40 approach each other to clamp the material, as they gradually move closer, the material compresses the pushing part 411, causing it to move. This movement of the pushing part 411, transmitted through the transmission part 412, enables the clamping part 413 to move towards the second gripper 42. This allows the clamping part 413 to cooperate with the second gripper 42 to clamp the material, improving the stability of the clamped material. While the two clamping mechanisms 40 approach each other to clamp the material, each clamping mechanism 40 can independently and automatically clamp the material. This improves the stability of the clamped material and enhances the automation level of the gripper device 100 without requiring additional control steps from the gripper device 100.

[0054] See Figure 4 In some embodiments, the transmission part 412 is rotatably mounted on the gripper seat 43. The pushing part 411 and the clamping part 413 are fixedly connected to the transmission part 412. When the pushing part 411 moves relative to the gripper seat 43, the pushing part 411 can drive the transmission part 412 to rotate relative to the gripper seat 43, so that the transmission part 412 drives the clamping part 413 to rotate toward the second gripper 42, so that the clamping part 413 and the second gripper 42 can clamp the material.

[0055] The transmission unit 412 rotates relative to the gripper seat 43, so that the push part 411 can move in conjunction with the clamping part 413. The cooperation method is simple and reliable, so that the first gripper 41 and the second gripper 42 can stably clamp the material.

[0056] It is understood that in some embodiments, the pushing part 411, the transmission part 412 and the clamping part 413 are integrally formed structures, which can improve the stability of clamping materials.

[0057] See Figure 1 and Figure 4 It is understood that in some embodiments, the axis of rotation of the transmission part 412 relative to the gripper seat 43 intersects the direction of relative movement of the two transition seats 30, and the direction of movement of the material pushing the pusher part 411 can be tangential to the direction of rotation of the pusher part 411, facilitating the rotation of the pusher part 411. For example, the axis of rotation of the transmission part 412 relative to the gripper seat 43 is perpendicular to the direction of relative movement of the two transition seats 30. In other embodiments, the axis of rotation of the transmission part 412 relative to the gripper seat 43 is parallel to the direction of relative movement of the two transition seats 30, and the pusher part 411 has an inclined surface that is inclined relative to the direction of relative movement of the two transition seats 30, so that the pusher part 411 rotates under the push of the material.

[0058] In other embodiments, the pushing part 411, the transmission part 412 and the clamping part 413 are slidably disposed on the gripper seat 43, and the pushing part 411, the transmission part 412 and the clamping part 413 are engaged by inclined surfaces so that when the pushing part 411 is pushed by the material, the clamping part 413 can move toward the second gripper 42 to clamp the material.

[0059] See Figure 1 and Figure 3 In some embodiments, the second gripper 42 is fixedly disposed relative to the gripper seat 43. When the same gripping mechanism 40 grips material, the second gripper 42 is relatively fixed while the first gripper 41 moves relative to grip the material. Therefore, the gripping mechanism 40 can use the second gripper 42 as a reference for the relatively fixed position of the material when gripping it, which facilitates the two gripping mechanisms 40 to unify the position of their respective gripping and fixing of the material, so that each rotating mechanism 50 can drive the corresponding gripping mechanism 40 to rotate. When flipping the material, it helps to avoid asynchronous rotation on both sides of the material, thereby avoiding interference between the gripping mechanisms 40 and the rotating mechanisms 50 on both sides of the material, and avoiding the problem of material torsion damage.

[0060] Understandably, in some embodiments, the second gripper 42 is provided with a guide ramp 421 to facilitate guiding the material to the side of the second gripper 42 facing the first gripper 41.

[0061] In other embodiments, the second gripper 42 may also be configured with multiple components in a movable fit. The structural form of the multiple components of the second gripper 42 may be the same as the fit form of the pushing part 411, the transmission part 412 and the clamping part 413 of the first gripper 41.

[0062] In some embodiments, in the same clamping mechanism 40, multiple sets of first grippers 41 and second grippers 42 are arranged in cooperation, and the arrangement directions of the multiple sets of first grippers 41 and second grippers 42 intersect the direction of relative movement of the two adapter seats 30, so as to improve the stability of clamping materials.

[0063] See Figure 1 and Figure 4 In some embodiments, the clamping mechanism 40 further includes a reset member 44. The reset member 44 is disposed between the first gripper 41 and the gripper seat 43. The reset member 44 can apply a force to the first gripper 41, causing the clamping part 413 to move away from the second gripper 42, so that the clamping part 413 and the second gripper 42 can release the material from clamping.

[0064] By setting a reset member 44, the clamping part 413 can automatically disengage from the second gripper 42, thereby releasing the material. As the two clamping mechanisms 40 move away from each other, the pressure of the material on the pushing part 411 of the first gripper 41 gradually decreases. Therefore, the force exerted by the reset member 44 on the first gripper 41 can gradually change from being less than the pressure of the material on the first gripper 41 to being greater than the pressure of the material on the first gripper 41. Thus, during the process of the two clamping mechanisms 40 moving away and releasing the material, each clamping mechanism 40 can also release the material independently. The gripper device 100 does not need to additionally control the release of material by each clamping mechanism 40, improving the automation level of the gripper device 100.

[0065] It is understood that in some embodiments, when the transmission part 412 is rotatably arranged and the pushing part 411 and the clamping part 413 are both fixedly connected to the transmission part 412, the reset member 44 is disposed between the pushing part 411 and the gripper seat 43. Then, while driving the first gripper 41 to reset, the reset member 44 can directly apply force to the pushing part 411 so that the pushing part 411 can push the material out of the clamping range of the first gripper 41 and the second gripper 42.

[0066] It is understood that in some embodiments, the reset member 44 itself has a relatively active stroke limitation relative to the gripper seat 43, or the first gripper 41 has a relatively active stroke limitation relative to the gripper seat 43, so as to limit the reset position of the first gripper 41 and facilitate the first gripper 41 to perform the next action of gripping the material.

[0067] In some embodiments, the reset member 44 is an elastic member that drives the first gripper 41 to reset via elastic force, making the reset of the first gripper 41 simple and convenient. For example, the reset member 44 may be a spring.

[0068] See Figure 1 and Figure 3 In some embodiments, the clamping mechanism 40 further includes a limiting member 45. The limiting member 45 is disposed on the gripper seat 43. The limiting member 45 can abut against the material to stop the material from pushing the pushed part 411 to move relative to the gripper seat 43. When the two clamping mechanisms 40 are close to each other and clamping the material, the limiting member 45 can abut against the material, so that the material is relatively fixed to the gripper seat 43. The position of the pushed part 411 relative to the gripper seat 43 is limited by the material, so that the position of the clamping part 413 moving towards the second gripper 42 in conjunction with the pushed part 411 is limited. This limits the clamping force of the first gripper 41 and the second gripper 42 in clamping the material, which helps to avoid the clamping mechanism 40 itself clamping the material too tightly and damaging the material.

[0069] Understandably, in some embodiments, the position of the limiting member 45 relative to the gripper seat 43 is adjustable to change the distance between the material and the gripper seat 43 due to the stopping by the limiting member 45, thereby controlling the distance the material pushes the pushed part 411 to move. This allows the distance the gripping part 413 moves toward the second gripper 42 to be adjustable, adapting to materials of different thicknesses. Here, "thickness" refers to the distance between the opposite sides of the portion of the material gripped by the first gripper 41 and the second gripper 42.

[0070] Understandably, in some embodiments, multiple limiting members 45 are provided to stably stop and limit the material.

[0071] In some embodiments, the gripper seat 43 is mounted on the rotating mechanism 50 so that the rotating mechanism 50 can drive the gripping mechanism 40 to rotate.

[0072] In some embodiments, the rotating mechanism 50 is a rotary cylinder, which can increase the speed at which the clamping mechanism 40 rotates, so that the clamping mechanism 40 can quickly rotate the material into place.

[0073] It is understood that in some embodiments, the two rotating mechanisms 50 can be connected to the same air source, or the two rotating mechanisms 50 can be connected to different air sources but with the same amount of air released, so that the two rotating mechanisms 50 can drive the two clamping mechanisms 40 to rotate by the same angle.

[0074] In other embodiments, the clamping mechanism 40 and the rotating mechanism 50 may be omitted, and the gripper device 100 grasps the material solely through the adsorption mechanism 60.

[0075] In some embodiments, each adsorption mechanism 60 has multiple adsorption sites to improve the stability of the adsorbed material.

[0076] In some embodiments, the two adsorption mechanisms 60 cooperate to adsorb the same material, thereby improving the stability of the adsorbed material. In other embodiments, each adsorption mechanism 60 can adsorb different materials, thereby improving the efficiency of material grasping.

[0077] In other embodiments, the adsorption mechanism 60 may be omitted, and the gripper device 100 may grasp the material solely through the clamping mechanism 40.

[0078] See Figure 1 and Figure 2 In some embodiments, when the gripper device 100 is in use, the rotation axis of the first seat 11 relative to the second seat 12 is parallel to the direction of gravity G, and the steering drive 13 drives the first seat 11 to rotate relative to the second seat 12 so that the distribution direction of the two adapter seats 30 is parallel to the opposite sides of the material.

[0079] When it is necessary to clamp the material, the translation drive 23 drives the rotating wheel 21 to rotate, and the synchronous belt 22 drives the two adapter seats 30 to move closer to each other in the horizontal direction perpendicular to the direction of gravity G. The two clamping mechanisms 40 clamp the material. After the gripper device 100 moves the material into place, the two clamping mechanisms 40 move away from each other and release the material.

[0080] If it is necessary to flip the material, after the material is clamped by the two clamping mechanisms 40, the two rotating mechanisms 50 drive the two clamping mechanisms 40 to rotate so that the material can be flipped.

[0081] When it is necessary to adsorb material, the translation drive 23 drives the rotating wheel 21 to rotate, and the synchronous belt 22 drives the two adapter seats 30 to move closer to each other in the horizontal direction perpendicular to the direction of gravity G. The two adsorption mechanisms 60 move to the material above the material in the direction of gravity G and align with the material. The two adsorption mechanisms 60 perform air suction to adsorb the material. After the gripper device 100 moves the material into place, the two adsorption mechanisms 60 stop air suction or air release and release the material.

[0082] Furthermore, those skilled in the art should recognize that the above embodiments are merely illustrative of this application and are not intended to limit this application. Any appropriate changes and variations made to the above embodiments within the essential spirit and scope of this application fall within the scope of this application's disclosure.

Claims

1. A gripper device for grasping materials, characterized in that, include: Base A translation mechanism is provided on the base; Both adapter seats are connected to the translation mechanism, which can drive the two adapter seats to move closer to or further away from each other; Two clamping mechanisms are provided, and each of the adapter seats is provided with one of the clamping mechanisms. The two adapter seats can drive the two clamping mechanisms to move closer to each other so that the two clamping mechanisms can clamp the material. Two rotating mechanisms are provided, each of the adapter seats is provided with one of the rotating mechanisms, each of the rotating mechanisms can drive one of the clamping mechanisms to rotate, and the axes of rotation of the two clamping mechanisms coincide and are both parallel to the direction of relative movement of the two adapter seats; Two adsorption mechanisms are provided, each of the adapter seats is provided with an adsorption mechanism, each of the adsorption mechanisms is capable of adsorbing the material, and the direction in which the adsorption mechanism adsorbs the material intersects with the direction in which the two adapter seats move relative to each other.

2. The gripper device according to claim 1, characterized in that, The clamping mechanism includes a first jaw, a second jaw, and a jaw seat. The first jaw and the second jaw are both disposed on the jaw seat. The first jaw includes a pushing part, a transmission part, and a clamping part. The transmission part is motive-connected to the pushing part and the clamping part. The pushing part can withstand the pressure of the material and move relative to the jaw seat. When the pushing part moves, the transmission part can drive the clamping part to move toward the second jaw, so that the clamping part and the second jaw can clamp the material.

3. The gripper device according to claim 2, characterized in that, The transmission part is rotatably mounted on the gripper seat. When the pusher part moves relative to the gripper seat, the pusher part can drive the transmission part to rotate relative to the gripper seat, so that the transmission part drives the clamping part to rotate toward the second gripper, so that the clamping part and the second gripper can clamp the material.

4. The gripper device according to claim 2, characterized in that, The clamping mechanism further includes a reset member disposed between the first gripper and the gripper seat. The reset member can apply a force to the first gripper, causing the clamping part to move away from the second gripper, so that the clamping part and the second gripper can release the clamping of the material.

5. The gripper device according to claim 2, characterized in that, The clamping mechanism further includes a limiting member disposed on the gripper seat. The limiting member is capable of abutting against the material to prevent the material from pushing the pushed part to move relative to the gripper seat.

6. The gripper device according to claim 2, characterized in that, The second gripper is fixedly disposed relative to the gripper seat.

7. The gripper device according to any one of claims 1 to 6, characterized in that, The translation mechanism includes rotating wheels, a synchronous belt, and a translation drive. There are two rotating wheels, which are spaced apart from each other on the base. The two rotating wheels are rotatably arranged relative to the base. The synchronous belt is wound around the two rotating wheels. Two adapter seats are fixedly connected to the synchronous belt. The translation drive can drive at least one of the rotating wheels to rotate, thereby driving the synchronous belt to rotate. The rotation of the synchronous belt can cause the two adapter seats to move closer to or further away from each other.

8. The gripper device according to claim 7, characterized in that, The translation mechanism includes a slide rail, which is disposed on the base, and the two adapter seats are respectively slidably disposed on the slide rail.

9. The gripper device according to claim 7, characterized in that, The translation mechanism further includes a displacement detection element disposed on the base, which is capable of detecting the relative displacement between the base and at least one of the adapter seats.

10. The gripper device according to any one of claims 1 to 6, characterized in that, The base includes a first seat, a second seat, and a steering drive. The translation mechanism and two adapter seats are disposed on the first seat, the first seat is rotatably disposed on the second seat, and the steering drive can drive the first seat to rotate relative to the second seat.

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