Component gripper with multi-axis coordinated adjustment and buffering function

Abstract

The utility model relates to a kind of component gripper with multi-axis collaborative adjustment and buffering function, including base, the top of base is fixedly installed with XYZ adjustment unit, the front of XYZ adjustment unit is provided with XYZ adjustment unit magnetic switch, the top of XYZ adjustment unit is fixedly installed with top plate, the front of top plate is provided with pressure reducing valve, the bottom of base is fixedly installed with three-jaw pneumatic cylinder, the right side of base is provided with diffuse reflection sensor, the output end of three-jaw pneumatic cylinder is fixedly installed with gripper jaw, the bottom of gripper jaw is fixedly installed with connecting seat.The component gripper with multi-axis collaborative adjustment and buffering function is driven under the three-jaw pneumatic cylinder, gripper jaw completes opening and closing action, buffer pad absorbs movement end impact, simultaneously XYZ adjustment unit works with adjusting block, combined with diffuse reflection sensor and distance measuring sensor, fine adjustment each axis position and distribute load, finally complete the automation cycle of "positioning-gripping-transferring-releasing".

Description

Technical Field

[0001] This utility model relates to the field of mechanical gripper technology, specifically a component gripper with multi-axis coordinated adjustment and buffering functions. Background Technology

[0002] Mechanical grippers are key components of industrial robots, acting as end effectors to directly grasp workpieces or perform tasks, mimicking the gripping, transporting, and placing functions of a human hand. Common types include vacuum suction cups, soft grippers, parallel two-finger grippers, and multi-finger dexterous hands, each suitable for different scenarios: vacuum suction cups are suitable for smooth and lightweight items; soft grippers use flexible materials to grasp irregularly shaped and fragile items; parallel two-finger grippers have a simple structure and are commonly used in industry; multi-finger dexterous hands are considered a future trend due to their high degree of freedom.

[0003] For example, the mechanical gripper for valve components disclosed in Chinese Patent 201821376877.0 greatly improves the convenience of using the mechanical gripper body. The protective cover can protect the gripper when it is rotating, preventing the valve core from falling off due to the large rotation range.

[0004] However, traditional automated clamping mechanisms often use single-axis cylinders or motors for driving, resulting in insufficient positioning accuracy. Due to the lack of buffer design and precision pin hole fit, workpiece misalignment is easily caused. Furthermore, the multi-axis coordination is poor, with adjustments in the XYZ axis directions relying on independent modules, resulting in low integration and slow response speed. Therefore, a component gripper with multi-axis coordinated adjustment and buffering functions is proposed to solve the above problems. Utility Model Content

[0005] To address the shortcomings of existing technologies, this utility model provides a component gripper with multi-axis collaborative adjustment and buffering functions. It has advantages such as high precision, high response multi-degree-of-freedom motion control, and reduced impact of vibration on accuracy. It solves the problems of traditional automated clamping mechanisms that often use single-axis cylinders or motor drives, resulting in insufficient positioning accuracy, easy workpiece displacement due to lack of buffering design and precision pin hole fit; poor multi-axis collaboration, reliance on independent modules for adjustment in the XYZ axis directions, low integration, and slow response speed.

[0006] To achieve the above objectives, this utility model provides the following technical solution: a component gripper with multi-axis coordinated adjustment and buffering functions, comprising a base, an XYZ adjustment unit fixedly mounted on the top of the base, an XYZ adjustment unit magnetic switch provided on the front of the XYZ adjustment unit, a top plate fixedly mounted on the top of the XYZ adjustment unit, a pressure reducing valve provided on the front of the top plate, a three-jaw cylinder fixedly mounted on the bottom of the base, a diffuse reflection sensor provided on the right side of the base, a gripper fixedly mounted on the output end of the three-jaw cylinder, a connecting seat fixedly mounted on the bottom of the gripper, a buffer pad fixedly mounted on the inner side of the connecting seat, an adjustment block provided on the top of the base, an XYZ adjustment unit proximity switch provided on the back of the XYZ adjustment unit, and a distance measuring sensor fixedly mounted on the top of the top plate.

[0007] Furthermore, the XYZ adjustment unit is connected to the XYZ high-precision moving platform, and the pressure reducing valve is located on the front of the XYZ adjustment unit.

[0008] Furthermore, the three-jaw cylinder is located at the center of the bottom of the base, and three jaws are provided, each of which is fixedly connected to one of the three output ends of the three-jaw cylinder.

[0009] Furthermore, a bracket is fixedly installed on the right side of the base, and the diffuse reflection sensor is fixedly installed on the right side of the bracket.

[0010] Furthermore, three connecting seats are provided, and the connecting seats are movably installed below the base via grippers.

[0011] Furthermore, the buffer pads are respectively disposed on the inner side of the three connecting seats, and the buffer pads are polyurethane pads, while the adjustment block is located on the back of the XYZ adjustment unit.

[0012] Compared with the prior art, the technical solution of this application has the following beneficial effects:

[0013] 1. This component gripper with multi-axis coordinated adjustment and buffering function, driven by a three-jaw cylinder, completes the opening and closing action of the gripper, the buffer pad absorbs the impact at the end of the movement, and at the same time, the XYZ adjustment sheet works in conjunction with the adjustment block, combined with the diffuse reflection sensor and the distance sensor, to fine adjust the position of each axis and distribute the load, and finally complete the automated cycle of "positioning-clamping-transfer-release".

[0014] 2. This gripper with multi-axis coordinated adjustment and buffering functions adopts multi-axis coordinated drive, with a three-jaw cylinder as the core power source. Combined with XYZ adjustment units and adjustment blocks, it achieves high-precision, high-response multi-degree-of-freedom motion control. Utilizing buffering technology, the connecting seat is equipped with a polyurethane buffer pad to absorb end-effector impacts and reduce the impact of vibration on accuracy. Multiple sensors are combined: a diffuse reflection sensor detects the presence of the workpiece in real time to avoid empty gripping or missed gripping; a distance sensor monitors the distance between the grippers and the workpiece for adaptive gripping; and combined with XYZ adjustment magnetic switches and XYZ adjustment unit proximity switches, data fusion and real-time signal processing dynamically adjust cylinder pressure and motion trajectory. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the structure of this utility model;

[0016] Figure 2 This is a rear view of the present invention.

[0017] In the diagram: 1. Base; 2. XYZ adjustment unit; 3. XYZ adjustment unit magnetic switch; 4. Top plate; 5. Pressure reducing valve; 6. Three-jaw cylinder; 7. Diffuse reflection sensor; 8. Gripper; 9. Connecting seat; 10. Buffer pad; 11. Adjustment block; 12. XYZ adjustment unit proximity switch; 13. Distance sensor. Detailed Implementation

[0018] 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.

[0019] Please see Figure 1-2 This embodiment of a gripper with multi-axis coordinated adjustment and buffering functions includes a base 1, an XYZ adjustment unit 2 fixedly mounted on the top of the base 1, an XYZ adjustment unit magnetic switch 3 on the front of the XYZ adjustment unit 2, a top plate 4 fixedly mounted on the top of the XYZ adjustment unit 2, a pressure reducing valve 5 on the front of the top plate 4, a three-jaw cylinder 6 fixedly mounted on the bottom of the base 1, a diffuse reflection sensor 7 on the right side of the base 1, a gripper 8 fixedly mounted on the output end of the three-jaw cylinder 6, a connecting seat 9 fixedly mounted on the bottom of the gripper 8, a buffer pad 10 fixedly mounted on the inner side of the connecting seat 9, an adjustment block 11 on the top of the base 1, an XYZ adjustment unit proximity switch 12 on the back of the XYZ adjustment unit 2, and a distance measuring sensor 13 fixedly mounted on the top of the top plate 4.

[0020] Specifically, the XYZ adjustment unit 2 is mounted on the XYZ three-axis adjustment platform, enabling precise movement in the X, Y, and Z directions, including X-axis movement, Y-axis movement, and Z-axis movement. The couplings for each axis can be used to connect servo motors for automatic adjustment, or directly connected to a rotating disk for manual adjustment.

[0021] Specifically, the three-jaw cylinder 6 converts thermal energy into mechanical energy through the alternating working cycle of three cylinders. Its core principle includes the periodic operation of four strokes: intake, compression, power, and exhaust. When the intake valve opens, the piston moves down to create negative pressure and draws in the air-fuel mixture. When the intake and exhaust valves close, the piston moves up to compress the mixture, reaching a pressure of 8-15 bar. The spark plug ignites the mixture, and the high-temperature, high-pressure gas (approximately 2000°C) produced by combustion pushes the piston down, which in turn drives the crankshaft to rotate and output power via the connecting rod. When the exhaust valve opens, the piston moves up to expel the exhaust gas, completing the single-cylinder working cycle.

[0022] Specifically, the diffuse reflection sensor 7 is based on the law of reflection of light. When light shines on the surface of an object, if the surface is rough or dark, the light will scatter in all directions, forming diffuse reflection. The sensor detects these reflected rays to determine the presence, position, and distance information of a component.

[0023] Specifically, the ranging sensor 13 utilizes the principle that the intensity of infrared signal reflection varies depending on the distance to an obstacle to detect the distance of the obstacle. It has a pair of infrared signal emitting and receiving diodes. The emitting diode emits infrared signals of a specific frequency, and the receiving diode receives infrared signals of this frequency. When the infrared detection direction encounters an obstacle, the infrared signal is reflected back and received by the receiving diode. After processing, the signal is returned to the robot host through the digital sensor interface. The robot can then use the returned infrared signal to identify changes in the surrounding environment.

[0024] When implementing this procedure, please follow these steps:

[0025] 1) First, adjust the position of the base 1 by cooperating with the XYZ adjustment unit 2 and the adjustment block 11 so that it is in the position of the gripping component;

[0026] 2) Then, by combining the XYZ adjustment magnetic switch 3 and the XYZ adjustment unit proximity switch 12, the cylinder pressure and motion trajectory are dynamically adjusted through data fusion, real-time signal processing.

[0027] 3) Then, the three grippers 8 are controlled by the three-jaw cylinder 6 to retract and grab the part. During the grabbing, the buffer belt 10 and the part are used for gripping.

[0028] 4) Finally, the diffuse reflection sensor 7 detects the presence or absence of the workpiece in real time to avoid empty gripping or missed gripping, and the distance sensor 13 monitors the distance between the gripper and the workpiece to achieve adaptive gripping.

[0029] In summary, this gripper with multi-axis coordinated adjustment and buffering functions, driven by the three-jaw cylinder 6, enables the gripper 8 to open and close, while the buffer pad 10 absorbs the impact at the end of the motion. Simultaneously, the XYZ adjustment unit 2 and adjustment block 11 work together, combined with the diffuse reflection sensor 7 and the distance sensor 13, to fine-tune the position of each axis and distribute the load, ultimately completing an automated cycle of "positioning-clamping-transfer-release". Employing multi-axis coordinated drive, with the three-jaw cylinder 6 as the core power source, and combined with the XYZ adjustment unit 2 and adjustment block 11, high-precision, high-response multi-degree-of-freedom motion control is achieved. Utilizing buffering technology, the connecting seat 9 is equipped with a polyurethane buffer pad 10 to absorb the impact at the end of the motion, reducing the impact of vibration on accuracy. By combining multiple sensors, the diffuse reflection sensor 7 detects the presence of the workpiece in real time to avoid empty gripping or missed gripping, while the distance sensor 13 monitors the distance between the gripper and the workpiece to achieve adaptive gripping. At the same time, combined with the XYZ adjustment magnetic switch 3 and the XYZ adjustment unit proximity switch 12, data fusion is used to process signals in real time and dynamically adjust the cylinder pressure and movement trajectory. This solves the problems of traditional automated clamping mechanisms that often use single-axis cylinders or motor drives, resulting in insufficient positioning accuracy, lack of buffer design and precision pin hole fit, which easily leads to workpiece displacement; poor multi-axis coordination, and reliance on independent modules for XYZ axis adjustment, resulting in low integration and slow response speed.

[0030] 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.

[0031] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A component gripper with multi-axis coordinated adjustment and buffering function, comprising a base (1), characterized in that, An XYZ adjustment unit (2) is fixedly installed on the top of the base (1). An XYZ adjustment unit magnetic switch (3) is provided on the front of the XYZ adjustment unit (2). A top plate (4) is fixedly installed on the top of the XYZ adjustment unit (2). A pressure reducing valve (5) is provided on the front of the top plate (4). A three-jaw cylinder (6) is fixedly installed on the bottom of the base (1). A diffuse reflection sensor (7) is provided on the right side of the base (1). A gripper (8) is fixedly installed at the output end of the three-jaw cylinder (6). A connecting seat (9) is fixedly installed at the bottom of the gripper (8). A buffer pad (10) is fixedly installed on the inner side of the connecting seat (9). An adjustment block (11) is provided on the top of the base (1). An XYZ adjustment unit proximity switch (12) is provided on the back of the XYZ adjustment unit (2). A distance measuring sensor (13) is fixedly installed on the top of the top plate (4).

2. A component gripper with multi-axis coordinated adjustment and buffering function according to claim 1, characterized in that, The XYZ adjustment unit (2) is connected to the XYZ high-precision moving platform, and the pressure reducing valve (5) is located on the front of the XYZ adjustment unit (2).

3. A component gripper with multi-axis coordinated adjustment and buffering function according to claim 1, characterized in that, The three-jaw cylinder (6) is located at the center of the bottom of the base (1). There are three jaws (8), and the jaws (8) are fixedly connected to the three output ends of the three-jaw cylinder (6) respectively.

4. A component gripper with multi-axis coordinated adjustment and buffering function according to claim 1, characterized in that, A bracket is fixedly installed on the right side of the base (1), and the diffuse reflection sensor (7) is fixedly installed on the right side of the bracket.

5. A component gripper with multi-axis coordinated adjustment and buffering function according to claim 1, characterized in that, There are three connecting seats (9), and the connecting seats (9) are movably installed below the base (1) via the grippers (8).

6. A component gripper with multi-axis coordinated adjustment and buffering function according to claim 1, characterized in that, The buffer pads (10) are respectively disposed on the inner side of the three connecting seats (9), and the buffer pads (10) are polyurethane pads. The adjustment block (11) is located on the back of the XYZ adjustment unit (2).

Images