Variable span pick and place gripper

Abstract

The application discloses a variable-distance taking and placing hand claw, which comprises a first base plate, a second base plate arranged opposite to the first base plate and moving close to or away from the first base plate, a first finger assembly with a plurality of first fingers and a plurality of first linkages, a second finger assembly with a plurality of second fingers and a plurality of second linkages, and a driving assembly connected with the first finger assembly and the second finger assembly respectively, wherein the plurality of first fingers and the plurality of second fingers are respectively and respectively arranged on the first base plate and the second base plate in a sliding mode, each first linkage is connected between two adjacent first fingers, each second linkage is connected between two adjacent second fingers, and the driving assembly drives the first finger assembly and the second finger assembly to move synchronously, so that the distance between any two adjacent first fingers and the distance between any two adjacent second fingers are synchronously converted between a first distance and a second distance. The variable-distance taking and placing hand claw meets the requirement of transferring materials between trays with different distances.

Description

Technical Field

[0001] This application relates to the field of material handling gripper technology, specifically to a variable-distance handling gripper. Background Technology

[0002] In the production process, materials typically need to be transferred from one tray to another, and the spacing between the materials on the two trays often differs due to variations in their processing steps. Currently, the most common method is to manually transfer materials between the two trays with different spacing, that is, manually picking, aligning, and placing the materials one by one. However, this manual operation method suffers from problems such as high labor intensity, low transfer efficiency, and susceptibility to placement errors due to fatigue, making it difficult to meet the production requirements for the efficiency and accuracy of material transfer between two trays with different spacing. Utility Model Content

[0003] In view of the above, it is necessary to propose a variable-pitch pick-and-place gripper to meet the needs of transferring materials between trays with different pitches, reduce the labor intensity of manual labor, and improve the efficiency and accuracy of material transfer.

[0004] This application provides a variable-distance gripper, comprising: a first substrate; a second substrate disposed opposite to the first substrate, wherein the second substrate and the first substrate can move closer to or further away from each other; a first gripper assembly comprising a plurality of first grippers and a plurality of first linkages, wherein the plurality of first grippers are spaced apart and each is slidably disposed on the side of the first substrate facing the second substrate, and each first linkage is movably connected between two adjacent first grippers; a second gripper assembly comprising a plurality of second grippers and a plurality of second linkages, wherein the plurality of second grippers are spaced apart and each is slidably disposed on the side of the second substrate facing the first substrate, and each second linkage is movably connected between two adjacent second grippers, wherein the plurality of second grippers corresponds one-to-one with the plurality of first grippers; and a driving assembly connected to the first gripper assembly and the second gripper assembly respectively, driving the first gripper assembly and the second gripper assembly to move synchronously, such that the distance between any two adjacent first grippers and the distance between any two adjacent second grippers are synchronously switched between a first distance and a second distance.

[0005] In some embodiments, each of the first fingers has two first protrusions on the side facing the first substrate, the first linkage is an annular belt structure, and each of the first linkages is sleeved on the first protrusions of two adjacent first fingers; each of the second fingers has two second protrusions on the side facing the second substrate, the second linkage is an annular belt structure, and each of the second linkages is sleeved on the second protrusions of two adjacent second fingers.

[0006] In some embodiments, the variable-pitch gripper further includes a first guide rail and a second guide rail. The first guide rail is disposed on the side of the first substrate facing the second substrate, and the second guide rail is disposed on the side of the second substrate facing the first substrate. The first gripper assembly further includes a plurality of first sliders, each of which corresponds to a plurality of first grippers. Each first slider is slidably disposed on the first guide rail, and each first gripper is connected to a corresponding first slider. The second gripper assembly further includes a plurality of second sliders, each of which corresponds to a plurality of second grippers. Each second slider is slidably disposed on the second guide rail, and each second gripper is connected to a corresponding second slider.

[0007] In some embodiments, the drive assembly includes a first linkage assembly, a second linkage assembly, and a drive member. The two ends of the first linkage assembly are respectively connected to the two outermost first grippers among a plurality of first grippers. The two ends of the second linkage assembly are respectively connected to the two outermost second grippers among a plurality of second grippers. The drive member is connected to both the first linkage assembly and the second linkage assembly. The drive member drives the first linkage assembly and the second linkage assembly to move synchronously, thereby moving the two outermost first grippers. This movement is then amplified by the first linkage member connected to the two outermost first grippers, which in turn amplifies the movement of the remaining first grippers. Simultaneously, the movement of the two outermost second grippers is also amplified by the second linkage member connected to the two outermost second grippers.

[0008] In some embodiments, the first linkage assembly includes a first connecting rod, two first rotating rods, and two first connecting members. The first connecting rod is connected to the driving member. One end of each of the two first rotating rods is rotatably connected to both ends of the first connecting rod. The two first connecting members are respectively connected to the two outer first grippers. The two first connecting members are respectively connected to the other ends of the two first rotating rods and are rotatably connected. The second linkage assembly includes a second connecting rod, two second rotating rods, and two second connecting members. The second connecting rod is connected to the driving member. One end of each of the two second rotating rods is rotatably connected to both ends of the second connecting rod. The two second connecting members are respectively connected to the two outer second grippers. The two second connecting members are respectively connected to the other ends of the two second rotating rods and are rotatably connected.

[0009] In some embodiments, the drive assembly further includes a fixed shaft, which is fixedly disposed on the drive member, and the two ends of the fixed shaft are slidably disposed on the first connecting rod and the second connecting rod, respectively, so that the drive member is connected to the first connecting rod and the second connecting rod respectively.

[0010] In some embodiments, the first linkage assembly further includes a first guide rod and a first elastic element. One end of the first guide rod is connected to the middle first gripper finger among a plurality of first gripper fingers, and the other end of the first guide rod is slidably connected to the first connecting rod. The first elastic element is sleeved on the first guide rod and abuts against the first connecting rod and the middle first gripper finger. The second linkage assembly includes a second guide rod and a second elastic element. One end of the second guide rod is connected to the middle second gripper finger among a plurality of second gripper fingers, and the other end of the second guide rod is slidably connected to the second connecting rod. The second elastic element is sleeved on the second guide rod and abuts against the second connecting rod and the middle second gripper finger.

[0011] In some embodiments, the variable-pitch gripper further includes a first handle and a second handle, the first handle being connected to the first substrate and the second handle being connected to the second substrate. By pinching or separating the first handle and the second handle, the first substrate and the second substrate are brought closer to or moved away from each other, thereby bringing the first finger gripper assembly and the second finger gripper assembly closer to or away from each other.

[0012] In some embodiments, the variable-pitch pick-and-place gripper further includes a handle guide rod and a handle elastic element. The two ends of the handle guide rod are slidably inserted through the first handle and the second handle, respectively, and the handle elastic element is sleeved on the handle guide rod and abuts against the first handle and the second handle.

[0013] In some embodiments, the variable-pitch pick-and-place gripper further includes a substrate guide rod and a substrate elastic member. The two ends of the substrate guide rod are slidably disposed on the first substrate and the second substrate, respectively, and the substrate elastic member is sleeved on the substrate guide rod and abuts against the first substrate and the second substrate.

[0014] In actual use, the aforementioned variable-pitch gripper is defined initially as having a first distance between any two adjacent first grippers and a first distance between any two adjacent second grippers. The variable-pitch gripper transfers material from a first tray with a first distance to a second tray with a second distance, where the second distance is greater than the first distance. This brings the first and second substrates closer together, thereby causing the first and second gripper assemblies to move closer together. This allows the multiple first grippers of the first gripper assembly and the multiple second grippers of the second gripper assembly to move closer together, enabling the multiple first and second grippers to grasp multiple materials at a distance of the first distance from the first tray at a time. After the variable-pitch gripper grasps multiple materials from the first tray, the drive assembly drives the first and second gripper assemblies to move synchronously. Through the linkage of the first and second linkage components, the distance between any two adjacent first grippers and the distance between any two adjacent second grippers are synchronously adjusted to the second distance. After the spacing between the first and second substrates and the spacing between any two adjacent second grippers are simultaneously adjusted to the second distance, the first substrate and the second substrate move away from each other, thereby causing the first gripper assembly and the second gripper assembly to move away from each other. This allows the multiple first grippers of the first gripper assembly and the multiple second grippers of the second gripper assembly to move away from each other, so that multiple materials with a spacing of the second distance can be placed on the second tray, thereby realizing the transfer of materials. After the variable-pitch gripper places the material on the second tray, the drive assembly drives the first gripper assembly and the second gripper assembly to move in opposite directions, so that the spacing between any two adjacent first grippers and the spacing between any two adjacent second grippers are simultaneously adjusted to the first distance, and so on in a repeated cycle.

[0015] The variable-pitch gripper provided in this application embodiment, through the coordinated operation of the first substrate, the second substrate, the first gripper finger assembly, the second gripper finger assembly, and the drive assembly, achieves synchronous gripping, variable-pitch, and release of multiple materials. This meets the need for transferring materials between trays with different pitches, completely changing the traditional manual method of transferring materials one by one, reducing material transfer time, lowering labor intensity, and improving material transfer efficiency. Furthermore, by controlling the synchronous movement of the first and second gripper finger assemblies through the drive assembly, and by ensuring the uniformity and consistency of the pitch change between any two adjacent first gripper fingers and any two adjacent second gripper fingers through the first and second linkage components, it can accurately match different pitch requirements for picking and placing materials, avoiding errors such as misalignment and omissions that are easily caused by manual operation, thus improving the accuracy of material transfer. The use of the first substrate, the second substrate, and the symmetrically arranged first and second gripper finger assemblies on them results in a reasonable structural layout and coordinated, stable operation, which helps improve the reliability and service life of the variable-pitch gripper. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the variable-distance pick-and-place gripper provided in the embodiments of this application.

[0017] Figure 2 yes Figure 1 The diagram shows an exploded view of the variable-pitch gripper.

[0018] Figure 3 yes Figure 1 The diagram shows an exploded view of the variable-pitch gripper from another perspective.

[0019] Key component symbols: Variable pitch gripper 100, first base plate 10, second base plate 20, first gripper finger assembly 30, first gripper finger 31, first protrusion 311, first linkage member 32, first slider 33, second gripper finger assembly 40, second gripper finger 41, second protrusion 411, second linkage member 42, second slider 43, drive assembly 50, first connecting rod assembly 51, first connecting rod 511, first rotating rod 512, first connecting member 513, first guide... Rod 514, first elastic element 515, second connecting rod assembly 52, second connecting rod 521, second rotating rod 522, second connecting member 523, second guide rod 524, second elastic element 525, driving member 53, connecting part 531, pressing part 532, fixed shaft 54, first guide rail 60, second guide rail 65, first handle 70, second handle 75, handle guide rod 80, handle elastic element 85, substrate guide rod 90, substrate elastic element 95, material 200. Detailed Implementation

[0020] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this application, and should not be construed as limiting this application.

[0021] In the description of this application, it should be understood that the terms indicating orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include one or more of the stated features. In the description of this application, it should be noted that "a plurality of" means two or more, unless otherwise explicitly specified.

[0022] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the term "connection" should be interpreted broadly. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, an electrical connection, or a connection that allows communication between the two components; it can be a direct connection or an indirect connection through an intermediate medium; it can be the internal communication between two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0023] The following will describe some embodiments of this application in detail with reference to the accompanying drawings.

[0024] Please see Figure 1 This application provides a variable-pitch pick-and-place gripper 100. This gripper 100 can transfer materials 200 between trays (not shown) with different pitches. In this embodiment, the trays with different pitches are defined as a first tray and a second tray. The distance between adjacent materials 200 on the first tray is a first distance, and the distance between adjacent materials 200 on the second tray is a second distance. The first distance is less than the second distance. It is understood that in other embodiments, the first distance may be greater than the second distance, and this application does not specifically limit this.

[0025] Please refer to the above. Figure 1 , Figure 2 and Figure 3 In this embodiment, the variable-pitch gripper 100 includes a first substrate 10, a second substrate 20 disposed opposite to the first substrate 10 and capable of approaching or moving away from the first substrate 10, a first gripper assembly 30 having multiple first grippers 31 and multiple first linkage members 32, a second gripper assembly 40 having multiple second grippers 41 and multiple second linkage members 42, and a drive assembly 50 respectively connected to the first gripper assembly 30 and the second gripper assembly 40. The first substrate 10 supports the first gripper assembly 30, and the second substrate 20 supports the second gripper assembly 40. The first substrate 10 and the second substrate 20 approach or move away from each other to drive the first gripper assembly 30 and the second gripper assembly 40 to approach or move away from each other, so that the multiple first grippers 31 and the multiple second grippers 41 can act synchronously to grasp or release multiple materials 200. The drive assembly 50 drives the first gripper assembly 30 and the second gripper assembly 40 to move synchronously, so that the distance between any two adjacent first grippers 31 and the distance between any two adjacent second grippers 41 are synchronously switched between a first distance and a second distance. In this embodiment, the first substrate 10 and the second substrate 20 are symmetrically arranged, and the first finger clamping assembly 30 and the second finger clamping assembly 40 are symmetrically arranged.

[0026] In this embodiment, the first substrate 10 and the second substrate 20 are brought closer together by manual operation. To enable the first substrate 10 and the second substrate 20 to automatically reset, the variable-pitch gripper 100 also includes substrate guide rods 90 and substrate elastic members 95. There are two substrate guide rods 90 and two substrate elastic members 95. The two substrate guide rods 90 are spaced apart, with both ends of each substrate guide rod 90 slidingly passing through the first substrate 10 and the second substrate 20, respectively. The substrate elastic member 95 is sleeved on the corresponding substrate guide rod 90 and abuts between the first substrate 10 and the second substrate 20. In this embodiment, the substrate elastic member 95 is a spring, and the two ends of the substrate guide rod 90 slide through the first substrate 10 and the second substrate 20 via linear bearings.

[0027] Thus, by setting the aforementioned substrate guide rod 90 and substrate elastic member 95, when the first substrate 10 and the second substrate 20 are manually moved closer together so that the multiple first gripper fingers 31 and the multiple second gripper fingers 41 can grasp multiple materials 200, the first substrate 10 and the second substrate 20 compress the substrate elastic member 95, causing the substrate elastic member 95 to generate elastic force. When the first substrate 10 and the second substrate 20 are manually released, the substrate elastic member 95 releases the elastic force, and the first substrate 10 and the second substrate 20 move away from each other under the action of the elastic force of the substrate elastic member 95, thereby achieving the effect of automatic reset of the first substrate 10 and the second substrate 20. In addition, by setting the aforementioned substrate guide rod 90, the stability and accuracy of the movement between the first substrate 10 and the second substrate 20 are ensured, and the multiple first gripper fingers 31 and the multiple second gripper fingers 41 can cooperate smoothly to grasp or release multiple materials 200, thereby improving the accuracy of the multiple first gripper fingers 31 and the multiple second gripper fingers 41 in grasping or releasing multiple materials 200.

[0028] To facilitate manual operation by bringing the first substrate 10 and the second substrate 20 closer together or further apart, in this embodiment, the variable-pitch gripper 100 further includes a first handle 70 and a second handle 75. The first handle 70 is connected to the first substrate 10, and the second handle 75 is connected to the second substrate 20. By squeezing or separating the first handle 70 and the second handle 75, the first substrate 10 and the second substrate 20 can be brought closer together or further apart, thereby bringing the first gripper assembly 30 and the second gripper assembly 40 closer together or further apart. Thus, by providing the aforementioned first handle 70 and second handle 75, the operator only needs to squeeze the first handle 70 and the second handle 75 to bring the first substrate 10 and the second substrate 20 closer together, and only needs to release the first handle 70 and the second handle 75 to move the first substrate 10 and the second substrate 20 further apart under the elastic force of the substrate elastic member 95. This simplifies operation and improves the convenience of manual operation.

[0029] To further ensure the automatic reset effect of the first substrate 10 and the second substrate 20, in this embodiment, the variable-pitch gripper 100 further includes a handle guide rod 80 and a handle elastic member 85. There are two handle guide rods 80 and two handle elastic members 85. The two handle guide rods 80 are spaced apart, with both ends of each handle guide rod 80 slidingly passing through the first handle 70 and the second handle 75, respectively. The handle elastic member 85 is sleeved on the corresponding handle guide rod 80 and abuts between the first handle 70 and the second handle 75. In this embodiment, the handle elastic member 85 can be a spring, and the two ends of the handle guide rod 80 slide through the first handle 70 and the second handle 75 via linear bearings.

[0030] Thus, by setting the handle guide rod 80 and handle elastic element 85 as described above, when the first handle 70 and the second handle 75 are manually squeezed, the first handle 70 and the second handle 75 compress the handle elastic element 85, causing the handle elastic element 85 to generate elastic force; when the first handle 70 and the second handle 75 are manually released, the handle elastic element 85 releases the elastic force, and the first handle 70 and the second handle 75 move away from each other under the action of the elastic force of the handle elastic element 85, avoiding the reduction of the reset effect of the substrate elastic element 95 due to the addition of the first handle 70 and the second handle 75. The handle elastic element 85 further ensures that the first substrate 10 and the second substrate 20 achieve the effect of automatic reset. In addition, by setting the handle guide rod 80 as described above, the stability and accuracy of the movement between the first handle 70 and the second handle 75 are ensured, avoiding the impact on the accuracy of the multiple first gripping fingers 31 and the multiple second gripping fingers 41 in grasping or releasing multiple materials 200 due to the addition of the first handle 70 and the second handle 75.

[0031] In this embodiment, a plurality of first gripping fingers 31 are spaced apart and slidably disposed on the side of the first substrate 10 facing the second substrate 20. Each first linkage 32 is movably connected between two adjacent first gripping fingers 31. The sliding of the plurality of first gripping fingers 31 on the first substrate 10 does not affect each other, and a first linkage 32 is disposed between two adjacent first gripping fingers 31. In this embodiment, the number of first gripping fingers 31 is fifteen. The shape of the first gripping fingers 31 can be adapted to the material 200 to be transferred, and this embodiment does not specifically limit this. It is understood that in other embodiments, the number of first gripping fingers 31 may be more or less, and can be set according to the actual situation.

[0032] In this embodiment, each first finger 31 has two first protrusions 311 on the side facing the first substrate 10. The first linkage 32 is an annular belt structure, and each first linkage 32 is sleeved on the first protrusions 311 of two adjacent first fingers 31. In this embodiment, the two first protrusions 311 on each first finger 31 are vertically arranged, and the multiple first linkages 32 are arranged in layers and staggered. Thus, by setting the first protrusions 311 and defining the specific shape of the first linkages 32, when the first finger 31 moves, the first finger 31 drives the first linkage 32 connected to it, and then the first linkage 32 pulls the adjacent first finger 31 to move. The distance between two first fingers 31 is limited by the first linkage 32, thereby ensuring the uniformity and consistency of the spacing change between the two first fingers 31.

[0033] Understandably, in other embodiments, the two first protrusions 311 on each first finger 31 may also be arranged horizontally, diagonally, or in other ways. The connection method between the multiple first linkages 32 and the corresponding first protrusions 311 can be adapted according to the size of the first finger 31, the distance between them, and the setting position of the first protrusions 311. This application embodiment does not specifically limit this.

[0034] In this embodiment, multiple second gripping fingers 41 are spaced apart and slidably disposed on the side of the second substrate 20 facing the first substrate 10. Each second linkage 42 is movably connected between two adjacent second gripping fingers 41. The sliding of the multiple second gripping fingers 41 on the second substrate 20 does not affect each other, and a second linkage 42 is disposed between two adjacent second gripping fingers 41. In this embodiment, the multiple second gripping fingers 41 are arranged in a one-to-one correspondence with the multiple first gripping fingers 31, and the number of second gripping fingers 41 is also fifteen. The shape of the second gripping fingers 41 can be adapted to the material 200 to be transferred, and this embodiment does not specifically limit this. It is understood that in other embodiments, the number of second gripping fingers 41 may be more or less, and can be set according to the actual situation.

[0035] In this embodiment, each second finger 41 has two second protrusions 411 protruding from the side facing the second substrate 20. The second linkage 42 is an annular belt structure, and each second linkage 42 is sleeved on the second protrusions 411 of two adjacent second fingers 41. In this embodiment, the two second protrusions 411 on each second finger 41 are vertically arranged, and the multiple second linkages 42 are arranged in layers and staggered. Thus, by setting the aforementioned second protrusions 411 and defining the specific shape of the second linkages 42, when the second finger 41 moves, the second finger 41 drives the connected second linkage 42, and then the second linkage 42 pulls the adjacent second finger 41 to move. The distance between two second fingers 41 is limited by the second linkage 42, thereby ensuring the uniformity and consistency of the spacing change between the two second fingers 41.

[0036] Understandably, in other embodiments, the two second protrusions 411 on each second finger 41 may also be arranged horizontally, diagonally, or in other ways. The connection method between the multiple second linkages 42 and the corresponding second protrusions 411 can be adapted to the size of the second finger 41, the distance between them, and the setting position of the second protrusions 411. This application embodiment does not specifically limit this.

[0037] In this embodiment, the variable-pitch gripper 100 further includes a first guide rail 60 and a second guide rail 65. The first guide rail 60 is disposed on the side of the first substrate 10 facing the second substrate 20, and the second guide rail 65 is disposed on the side of the second substrate 20 facing the first substrate 10. The first gripper assembly 30 further includes a plurality of first sliders 33, each corresponding to a plurality of first grippers 31. Each first slider 33 is slidably disposed on the first guide rail 60, and each first gripper 31 is connected to a corresponding first slider 33. The second gripper assembly 40 further includes a plurality of second sliders 43, each corresponding to a plurality of second grippers 41. Each second slider 43 is slidably disposed on the second guide rail 65, and each second gripper 41 is connected to a corresponding second slider 43. In this embodiment, there are two first guide rails 60, which are vertically spaced on the first substrate 10. The plurality of first sliders 33 are arranged in two layers and are respectively connected to the corresponding first grippers 31. There are two second guide rails 65, which are arranged vertically on the substrate. The multiple second sliders 43 are arranged in two layers and are respectively connected to the corresponding second clips 41.

[0038] Thus, by setting the first guide rail 60, the first slider 33, the second guide rail 65, and the second slider 43, the multiple first gripper fingers 31 and the multiple second gripper fingers 41 can be slidably disposed on the first substrate 10 and the second substrate 20, respectively. The first guide rail 60 and the second guide rail 65 can also ensure the stability and accuracy of the multiple first gripper fingers 31 and the multiple second gripper fingers 41 when they move, and ensure the uniformity and consistency of the spacing change between any two adjacent first gripper fingers 31 and any two adjacent second gripper fingers 41.

[0039] In this embodiment, the driving component 50 drives the first finger gripper component 30 and the second finger gripper component 40 to move synchronously, so that the distance between any two adjacent first finger grippers 31 and the distance between any two adjacent second finger grippers 41 are synchronously switched between the first distance and the second distance. Specifically, the drive assembly 50 includes a first link assembly 51, a second link assembly 52, and a drive member 53. The two ends of the first link assembly 51 are respectively connected to the two outermost first grippers 31 among a plurality of first grippers 31. The two ends of the second link assembly 52 are respectively connected to the two outermost second grippers 41 among a plurality of second grippers 41. The drive member 53 is connected to the first link assembly 51 and the second link assembly 52. ​​The drive member 53 drives the first link assembly 51 and the second link assembly 52 to move synchronously, thereby moving the two outermost first grippers 31. In turn, the other first grippers 31 are moved in conjunction with the first linkage member 32 connected to the two outermost first grippers 31, and the two outermost second grippers 41 are moved synchronously. In turn, the other second grippers 41 are moved in conjunction with the second linkage member 42 connected to the two outermost second grippers 41.

[0040] Thus, by setting up the first linkage assembly 51, the second linkage assembly 52, and the driving member 53, the driving member 53 drives the first linkage assembly 51 and the second linkage assembly 52 to move synchronously. The first linkage assembly 51 drives the two outer first gripper fingers 31 to move, and then, through the first linkage member 32 connected to the two outer first gripper fingers 31, it links the remaining first gripper fingers 31 to move, so that the distance between any two adjacent first gripper fingers 31 is the same. At the same time, the second linkage assembly 52 drives the two outer second gripper fingers 41 to move, and then, through the second linkage member 42 connected to the two outer second gripper fingers 41, it links the remaining second gripper fingers 41 to move, so that the distance between any two adjacent second gripper fingers 41 is the same, while ensuring the synchronicity of the spacing conversion between the first gripper finger assembly 30 and the second gripper finger assembly 40.

[0041] In this embodiment, the driving member 53 includes a connecting portion 531 and a pressing portion 532. The connecting portion 531 is connected to the first link assembly 51 and the second link assembly 52, respectively. The pressing portion 532 is generally T-shaped. Thus, by pressing the pressing portion 532, the pressing portion 532 drives the connecting portion 531 and the first link assembly 51 and the second link assembly 52 connected to the connecting portion 531 to move downward synchronously.

[0042] In this embodiment, the first linkage assembly 51 includes a first connecting rod 511, two first rotating rods 512, and two first connecting members 513. The first connecting rod 511 is connected to the connecting portion 531 of the driving member 53. In this embodiment, the shape of the first connecting rod 511 is not specifically limited. One end of each of the two first rotating rods 512 is rotatably connected to both ends of the first connecting rod 511. The two first connecting members 513 are respectively connected to the two outer first grippers 31 one-to-one. The two first connecting members 513 are respectively connected to the other ends of the two first rotating rods 512 one-to-one and rotatably connected. Thus, by setting the specific structure of the first linkage assembly 51, when the driving member 53 drives the first connecting rod 511 to move downward, the first connecting rod 511 squeezes the two first rotating rods 512 at both ends to move outward. The two first rotating rods 512 respectively drive the corresponding first connecting members 513 and the outer first grippers 31 to move outward, thereby causing the outer first grippers 31 to move.

[0043] In this embodiment, the first linkage assembly 51 further includes a first guide rod 514 and a first elastic element 515. One end of the first guide rod 514 is connected to the middle first clamping finger 31 among a plurality of first clamping fingers 31, and the other end of the first guide rod 514 is slidably connected to the first connecting rod 511. The first elastic element 515 is sleeved on the first guide rod 514 and abuts against the first connecting rod 511 and the middle first clamping finger 31. In this embodiment, the other end of the first guide rod 514 is slidably connected to the first connecting rod 511 through a linear bearing, the first elastic element 515 is a spring, and the middle first clamping finger 31 does not move. Thus, by setting the first guide rod 514 and the first elastic element 515 as described above, when the first connecting rod 511 moves downward, it compresses the first elastic element 515, causing the first elastic element 515 to generate elastic force; when the driving member 53 is released, the first connecting rod 511 moves upward under the elastic force of the first elastic element 515 and drives the two first rotating rods 512 to move inward, thereby causing the outer first gripper 31 to move inward, so as to change the distance between any two adjacent first gripper 31.

[0044] In this embodiment, the second linkage assembly 52 includes a second connecting rod 521, two second rotating rods 522, and two second connecting members 523. The second connecting rod 521 is connected to the connecting portion 531 of the driving member 53. The shape of the second connecting rod 521 is not specifically limited in this embodiment. One end of each of the two second rotating rods 522 is rotatably connected to both ends of the second connecting rod 521. The two second connecting members 523 are respectively connected to the two outer second grippers 41 one-to-one, and the other ends of the two second rotating rods 522 are also rotatably connected to each other. Thus, by setting the specific structure of the second linkage assembly 52, when the driving member 53 drives the second connecting rod 521 to move downwards, the second connecting rod 521 presses the two second rotating rods 522 at both ends to move outwards. The two second rotating rods 522 respectively drive the corresponding second connecting members 523 and the outer second grippers 41 to move outwards, thereby causing the outer second grippers 41 to move.

[0045] In this embodiment, the second linkage assembly 52 further includes a second guide rod 524 and a second elastic element 525. One end of the second guide rod 524 is connected to the middle second finger 41 among a plurality of second finger 41s, and the other end of the second guide rod 524 is slidably connected to the second connecting rod 521. The second elastic element 525 is sleeved on the second guide rod 524 and abuts against the second connecting rod 521 and the middle second finger 41. In this embodiment, the other end of the second guide rod 524 is slidably connected to the second connecting rod 521 through a linear bearing, the second elastic element 525 is a spring, and the middle second finger 41 does not move. Thus, by setting the second guide rod 524 and the second elastic element 525 as described above, when the second connecting rod 521 moves downward, it compresses the second elastic element 525, causing the second elastic element 525 to generate elastic force; when the driving member 53 is released, the second connecting rod 521 moves upward under the elastic force of the second elastic element 525 and drives the two second rotating rods 522 to move inward, thereby causing the outer second gripper 41 to move inward, so as to change the distance between any two adjacent second grippers 41.

[0046] In this embodiment, the drive assembly 50 further includes a fixed shaft 54. The fixed shaft 54 ​​is fixedly inserted through the drive member 53, and its two ends are slidably inserted through the first connecting rod 511 and the second connecting rod 521, respectively, so that the drive member 53 is connected to the first connecting rod 511 and the second connecting rod 521. In this embodiment, there are two fixed shafts 54, which are spaced apart. The fixed shafts 54 are fixedly inserted through the connecting portion 531 of the drive member 53, and their two ends are slidably inserted through the first connecting rod 511 and the second connecting rod 521 via linear bearings. Thus, by setting the fixed shafts 54, the drive member 53 is connected to the first connecting rod 511 and the second connecting rod 521, and the drive member 53 can drive the first connecting rod 511 and the second connecting rod 521 to move downwards, while the first connecting rod 511 and the second connecting rod 521 can move closer to or further away from each other.

[0047] Understandably, in other embodiments, the drive member 53 may be connected to the first connecting rod 511 and the second connecting rod 521 in other ways.

[0048] In actual use, the variable-pitch pick-and-place gripper 100 of this embodiment defines the initial state as the distance between any two adjacent first grippers 31 and the distance between any two adjacent second grippers 41 as the first distance. The variable-pitch pick-and-place gripper 100 transfers the material 200 from the first tray with a distance of the first distance to the second tray with a distance of the second distance, where the second distance is greater than the first distance.

[0049] The first handle 70 and the second handle 75 are manually squeezed together, so that the first substrate 10 and the second substrate 20 are brought closer to each other, thereby driving the first gripper assembly 30 and the second gripper assembly 40 to move closer to each other, so that the multiple first gripper fingers 31 of the first gripper assembly 30 and the multiple second gripper fingers 41 of the second gripper assembly 40 can move closer to each other, so as to grab multiple materials 200 with a first distance between them from the first material tray at one time.

[0050] After the variable-pitch gripper 100 picks up multiple materials 200 from the first material tray, it presses the drive component 53. The drive component 53 simultaneously squeezes the first linkage assembly 51 and the second linkage assembly 52 to move. The first linkage assembly 51 and the second linkage assembly 52 respectively drive the two outer first gripper fingers 31 and the two outer second gripper fingers 41 to move outward. Through the linkage of multiple first linkage components 32 and multiple second linkage components 42, the distance between any two adjacent first gripper fingers 31 and the distance between any two adjacent second gripper fingers 41 are simultaneously adjusted to the second distance.

[0051] When the distance between any two adjacent first gripper fingers 31 and the distance between any two adjacent second gripper fingers 41 are simultaneously adjusted to the second distance, the first handle 70 and the second handle 75 are released, so that the first substrate 10 and the second substrate 20 move away from each other under the elastic force of the substrate elastic member 95, thereby driving the first gripper finger assembly 30 and the second gripper finger assembly 40 to move away from each other, so that the multiple first gripper fingers 31 of the first gripper finger assembly 30 and the multiple second gripper fingers 41 of the second gripper finger assembly 40 move away from each other, so as to place multiple materials 200 with a distance of the second distance on the second tray, thereby realizing the transfer of materials 200.

[0052] When the variable-pitch gripper 100 places the material 200 onto the second tray, the drive component 53 is released. The first linkage assembly 51 and the second linkage assembly 52 are reset under the elastic force of the first elastic element 515 and the second elastic element 525, thereby driving the two outer first gripper fingers 31 and the two outer second gripper fingers 41 to move in the opposite direction. The multiple first gripper fingers 31 push against each other, causing the multiple first gripper fingers 31 to move in the opposite direction. The multiple second gripper fingers 41 push against each other, causing the multiple second gripper fingers 41 to move in the opposite direction. Thus, the distance between any two adjacent first gripper fingers 31 and the distance between any two adjacent second gripper fingers 41 are synchronously adjusted to the first distance. This cycle repeats.

[0053] The variable-pitch gripper 100 provided in this application embodiment achieves synchronous gripping, variable-pitch, and release of multiple materials 200 through the coordinated cooperation between the first substrate 10, the second substrate 20, the first gripper assembly 30, the second gripper assembly 40, and the drive assembly 50. This meets the need to transfer materials 200 between trays with different pitches, completely changes the traditional method of manually transferring materials 200 one by one, reduces the operation time of material transfer, reduces the labor intensity of manual labor, and improves the transfer efficiency of materials 200.

[0054] Furthermore, the drive component 50 controls the synchronous movement of the first gripper component 30 and the second gripper component 40, and the first linkage component 32 and the second linkage component 42 ensure the uniformity and consistency of the spacing change. This enables high-precision matching of different spacing requirements for picking up and placing materials, avoiding errors such as misalignment and omission that are easily caused by manual operation, and improving the accuracy of material 200 transfer. With the first base plate 10, the second base plate 20, and the first gripper component 30 and the second gripper component 40 symmetrically arranged on them, the variable-pitch pick-and-place gripper 100 has a reasonable structural layout and coordinated and stable operation, which helps to improve the reliability and service life of the variable-pitch pick-and-place gripper 100.

[0055] It will be apparent to those skilled in the art that this application is not limited to the details of the exemplary embodiments described above, and that this application can be implemented in other specific forms without departing from the spirit or essential characteristics of this application. Therefore, the embodiments should be regarded as exemplary and non-limiting in all respects, and the scope of this application is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be embraced within this application.

[0056] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application and are not intended to limit it. Although this application has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of this application without departing from the spirit and scope of the technical solutions of this application.

Claims

1. A variable-distance pick-and-place gripper, characterized in that, include: First substrate; The second substrate is disposed opposite to the first substrate, and the second substrate and the first substrate may be close to or far from each other; The first finger clamping assembly includes a plurality of first fingers and a plurality of first linkage members. The plurality of first fingers are spaced apart and each is slidably disposed on the side of the first substrate facing the second substrate. Each first linkage member is movably connected between two adjacent first fingers. The second finger clamping assembly includes a plurality of second fingers and a plurality of second linkage members. The plurality of second fingers are spaced apart and slidably disposed on the side of the second substrate facing the first substrate. Each second linkage member is movably connected between two adjacent second fingers. The plurality of second fingers corresponds one-to-one with the plurality of first fingers. A driving component is connected to the first finger gripper component and the second finger gripper component respectively, and drives the first finger gripper component and the second finger gripper component to move synchronously, so that the distance between any two adjacent first fingers and the distance between any two adjacent second fingers are synchronously converted between a first distance and a second distance.

2. The variable-distance pick-and-place gripper as described in claim 1, characterized in that, Each of the first finger has two first protrusions on the side facing the first substrate. The first linkage is an annular belt structure, and each of the first linkages is sleeved on the first protrusions of two adjacent first fingers. Each of the second finger has two second protrusions on the side facing the second substrate. The second linkage is an annular belt structure, and each of the second linkages is sleeved on the second protrusions of two adjacent second fingers.

3. The variable-distance pick-and-place gripper as described in claim 1, characterized in that, The variable-pitch pick-and-place gripper also includes a first guide rail and a second guide rail. The first guide rail is disposed on the side of the first substrate facing the second substrate, and the second guide rail is disposed on the side of the second substrate facing the first substrate. The first finger clamping assembly further includes a plurality of first sliders, each of which is configured to correspond one-to-one with a plurality of first fingers. Each first slider is slidably disposed on the first guide rail, and each first finger is connected to the corresponding first slider. The second finger clamping assembly also includes a plurality of second sliders, each of which is configured to correspond one-to-one with a plurality of second fingers. Each second slider is slidably disposed on the second guide rail, and each second finger is connected to the corresponding second slider.

4. The variable-distance pick-and-place gripper as described in claim 1, characterized in that, The drive assembly includes a first linkage assembly, a second linkage assembly, and a drive member. The two ends of the first linkage assembly are respectively connected to the two outermost first grippers among a plurality of first grippers. The two ends of the second linkage assembly are respectively connected to the two outermost second grippers among a plurality of second grippers. The drive member is connected to both the first and second linkage assemblies. The drive member drives the first and second linkage assemblies to move synchronously, thereby moving the two outermost first grippers. This movement is then amplified by the first linkage member connected to the two outermost first grippers, which in turn moves the remaining first grippers. Simultaneously, the movement is also driven by the first linkage member connected to the two outermost second grippers, which in turn moves the remaining second grippers.

5. The variable-distance pick-and-place gripper as described in claim 4, characterized in that, The first linkage assembly includes a first connecting rod, two first rotating rods and two first connecting members. The first connecting rod is connected to the driving member. One end of each of the two first rotating rods is rotatably connected to both ends of the first connecting rod. The two first connecting members are respectively connected to the two outer first clamping fingers. The two first connecting members are respectively connected to the other ends of the two first rotating rods and are rotatably connected. The second linkage assembly includes a second connecting rod, two second rotating rods, and two second connecting members. The second connecting rod is connected to the driving member. One end of each of the two second rotating rods is rotatably connected to both ends of the second connecting rod. The two second connecting members are respectively connected to the two outer second clamping fingers. The two second connecting members are respectively connected to the other ends of the two second rotating rods and are rotatably connected.

6. The variable-distance pick-and-place gripper as described in claim 5, characterized in that, The drive assembly further includes a fixed shaft, which is fixedly inserted through the drive member, and the two ends of the fixed shaft are slidably inserted through the first connecting rod and the second connecting rod, respectively, so that the drive member is connected to the first connecting rod and the second connecting rod respectively.

7. The variable-distance pick-and-place gripper as described in claim 5, characterized in that, The first linkage assembly further includes a first guide rod and a first elastic element. One end of the first guide rod is connected to the middle first clamping finger among a plurality of first clamping fingers, and the other end of the first guide rod is slidably connected to the first connecting rod. The first elastic element is sleeved on the first guide rod and abuts against the first connecting rod and the middle first clamping finger. The second linkage assembly includes a second guide rod and a second elastic element. One end of the second guide rod is connected to the middle second clamping finger among a plurality of second clamping fingers. The other end of the second guide rod is slidably connected to the second connecting rod. The second elastic element is sleeved on the second guide rod and abuts against the second connecting rod and the middle second clamping finger.

8. The variable-distance pick-and-place gripper as described in claim 1, characterized in that, The variable-pitch gripper also includes a first handle and a second handle. The first handle is connected to the first substrate, and the second handle is connected to the second substrate. By pinching or separating the first handle and the second handle, the first substrate and the second substrate are brought closer or further away from each other, thereby bringing the first finger gripper assembly and the second finger gripper assembly closer or further away from each other.

9. The variable-distance pick-and-place gripper as described in claim 8, characterized in that, The variable-pitch pick-and-place gripper also includes a handle guide rod and a handle elastic element. The two ends of the handle guide rod are slidably inserted through the first handle and the second handle, respectively. The handle elastic element is sleeved on the handle guide rod and abuts against the first handle and the second handle.

10. The variable-distance pick-and-place gripper as described in claim 1, characterized in that, The variable-pitch pick-and-place gripper also includes a substrate guide rod and a substrate elastic element. The two ends of the substrate guide rod are slidably inserted through the first substrate and the second substrate, respectively. The substrate elastic element is sleeved on the substrate guide rod and abuts against the first substrate and the second substrate.

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