An adaptive gripper

Abstract

The utility model discloses a kind of self-adaptive clamping jaw, comprising: pedestal;Driving assembly is set on pedestal;Clamping assembly, clamping assembly includes first clamping jaw and second clamping jaw, first clamping jaw and second clamping jaw are respectively set on driving assembly, and driving assembly drives first clamping jaw and second clamping jaw relative movement;First clamping jaw and second clamping jaw are provided with pressure sensor inside, and first clamping jaw and second clamping jaw inside are covered with flexible member.The self-adaptive clamping jaw provided by the utility model is driven using driving motor, worm gear transmission, compared with traditional cylinder is more energy-saving, effectively reduces energy consumption, simplifies overall structure, simultaneously reduces gas system maintenance cost, improves the overall security of clamping jaw, and through sensor feedback and cooperate with the speed of driving motor can effectively control clamping force, overall clamping process is stable and controllable, improve the versatility of clamping jaw, realize the self-adaptive clamping to different appearance workpiece, and make the distribution of grabbing force uniform, reduce the breakage rate of clamping piece.

Description

Technical Field

[0001] This utility model relates to the field of clamping tool technology, and in particular to an adaptive gripper. Background Technology

[0002] Mechanical grippers are widely used in industrial automation, intelligent manufacturing and other fields. They are required to automatically adjust the gripping force and gripping position according to different object shapes, sizes and weights, so as to achieve stable gripping and operation of various workpieces.

[0003] Traditional grippers require changing grippers when handling different objects, reducing efficiency. They are also prone to stress concentration and damage to fragile items. Furthermore, current grippers typically use a gripper cylinder for one-dimensional linear motion, requiring a separate pipeline, gas cylinder, or gas generator. The motion system necessitates an external air supply, increasing system complexity. Maintaining the external air supply system also poses safety hazards due to the overall pressure system. Movement speed relies on adjusting airflow pressure and speed, lacking feedback and control. Piston position cannot be controlled, and gripping force stability depends on stable air supply pressure and internal piston resistance, making adjustment and control impossible. The complex structure limits applicability and controllability. Summary of the Invention

[0004] To solve the above-mentioned technical problems, the purpose of this utility model is to provide a low-energy mechanical gripper that can automatically adapt to the shape of the object and the clamping force, and grasp stably.

[0005] This utility model provides an adaptive gripper, comprising:

[0006] Base;

[0007] A drive assembly is mounted on a base, and the drive assembly includes a drive motor and a worm gear transmission mechanism.

[0008] The clamping assembly includes a first gripper and a second gripper, which are respectively disposed on a driving assembly. The driving assembly drives the first gripper and the second gripper to move relative to each other. Pressure sensors are disposed inside the first gripper and the second gripper, and flexible parts are covered on the inner sides of the first gripper and the second gripper.

[0009] In an optional embodiment, the drive assembly is provided with a first slide rail and a second slide rail that are parallel to each other. A first slider is provided on the first gripper corresponding to the first slide rail, and a second slider is provided on the second gripper corresponding to the second slide rail. The first gripper and the second gripper move relative to each other along the first slide rail and the second slide rail, respectively.

[0010] In an optional embodiment, the drive assembly is provided with a first limiting groove parallel to the first slide rail, and the first gripper is provided with a first limiting block relative to the first limiting groove.

[0011] In an optional embodiment, the drive assembly is provided with a second limiting groove parallel to the second slide rail, and the second gripper is provided with a second limiting block relative to the second limiting groove.

[0012] In an optional embodiment, a push-unlocking mechanism is also included, which includes a push base disposed on top of the drive assembly, a push rod passing through the push base, and an abutment disposed at one end of the push rod.

[0013] In an optional embodiment, when the push rod is in the fully extended state, the vertical projection position of the abutment exceeds the vertical projection positions of the first and second jaws.

[0014] In an optional embodiment, the inner sides of the first gripper and the second gripper are provided with arc-shaped grooves.

[0015] In an optional implementation, a rotating module is connected to the bottom of the base to adjust the angle of the adaptive gripper.

[0016] The technical solution provided by this utility model has the following advantages:

[0017] 1. The adaptive gripper provided by this utility model has a driving mechanism on the base. The gripping assembly includes a first gripper and a second gripper respectively mounted on the driving assembly. The driving assembly drives the first and second grippers to move relative to each other. It is driven by a drive motor and uses a worm gear transmission, which is more energy-efficient than traditional cylinders, effectively reducing energy consumption. It does not require an additional air source or air circuit connection, simplifying the overall structure and reducing the maintenance cost of the gas system. It also improves the overall safety of the gripper. The movement speed of the gripper can be adjusted by the speed of the drive motor, making the overall gripping process stable and controllable, and improving the versatility of the gripper. Pressure sensors are installed inside the first and second grippers. Through sensor feedback control and adjustment of the drive motor speed, the gripping force can be effectively controlled. The inner sides of the first and second grippers are provided with arc-shaped grooves and covered with flexible parts, realizing adaptive gripping for workpieces with different shapes and ensuring uniform distribution of gripping force, reducing the breakage rate of gripped parts.

[0018] 2. The adaptive gripper provided by this utility model has a first slide rail and a second slide rail that are parallel to each other on the outside of the drive component. A first slider is provided on the first gripper corresponding to the first slide rail, and a second slider is provided on the second gripper corresponding to the second slide rail. A first limiting groove is provided on the drive component parallel to the first slide rail, and a first limiting block is provided on the first gripper relative to the first limiting groove. A second limiting groove is provided on the drive component parallel to the second slide rail, and a second limiting block is provided on the second gripper relative to the second limiting groove. This allows the first gripper and the second gripper to slide relative to each other along the first slide rail and the second slide rail, respectively, and slide within the range defined by the limiting groove. This makes the overall gripping process stable and controllable, improves the overall safety of the gripper, and enhances the versatility of the gripper.

[0019] 3. The adaptive gripper provided by this utility model is also provided with a push-unlocking mechanism, including a push rod passing through the push base and an abutment at one end of the push rod. When the adaptive gripper grips the workpiece, the abutment contacts the workpiece first and pushes the push rod to retract backward. At this time, the first and second grippers start to work to achieve automatic unlocking. Attached Figure Description

[0020] To more clearly illustrate the specific embodiments of this utility model or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0021] Figure 1 A schematic diagram of the adaptive gripper provided by this utility model;

[0022] Figure 2 A schematic diagram of the drive component and the clamping component in the adaptive gripper provided by this utility model;

[0023] Figure 3 for Figure 2 Another structural diagram of the driving component and the supporting component;

[0024] Figure 4 for Figure 1 A schematic diagram of the adaptive gripper from another perspective;

[0025] Explanation of reference numerals in the attached figures:

[0026] 1-Base; 11-Rotating module;

[0027] 2-Drive assembly; 21-First slide rail; 22-Second slide rail; 23-First limiting groove; 24-Second limiting groove;

[0028] 3-Clamping assembly; 31-First gripper; 311-First slider; 312-First limiting block; 32-Second gripper; 321-Second slider; 322-Second limiting block; 33-Flexible component; 34-Arc-shaped groove;

[0029] 4-Push-unlock mechanism; 41-Push-base; 42-Push rod; 43-Abutting joint; 44-Limit baffle. Detailed Implementation

[0030] The technical solution of this utility model will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this utility model. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this utility model.

[0031] In the description of this utility model, it should be noted that the terms "upper," "lower," etc., indicating the 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 the invention 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 the invention. Furthermore, unless otherwise explicitly specified and limited, the terms "installed," "connected," and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal communication between two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0032] Furthermore, the technical features involved in the different embodiments of this utility model described below can be combined with each other as long as they do not conflict with each other.

[0033] Figure 1 A schematic diagram of an adaptive gripper provided in this embodiment is shown. Figure 1 As shown, it includes a base 1, a drive assembly 2 disposed on the base 1, a clamping assembly 3 disposed on the drive assembly 2, and a push-unlock mechanism 4 disposed on the top of the drive assembly 2.

[0034] In this embodiment, as Figure 2 and Figure 3As shown, the clamping assembly 3 includes a first gripper 31 and a second gripper 32. The driving assembly 2 drives a worm gear transmission mechanism via a drive motor, driving the first gripper 31 and the second gripper 32 to move relative to each other. Compared with traditional cylinders, this is more energy-efficient, effectively reducing energy consumption. It does not require an additional air source or air circuit connection, simplifying the overall structure and reducing gas system maintenance costs, while improving the overall safety of the gripper. Furthermore, the movement speed of the gripper can be adjusted by the speed of the drive motor, making the overall clamping process stable and controllable, and improving the versatility of the gripper. Pressure sensors are installed inside the first gripper 31 and the second gripper 32. The clamping force can be effectively controlled by the pressure sensor feedback in conjunction with the clamping speed. Flexible parts 33 are respectively covered on the inner side. In an optional embodiment, the inner sides of the first gripper 31 and the second gripper 32 are symmetrically provided with arc-shaped grooves 34, realizing adaptive clamping for workpieces with different shapes and ensuring uniform distribution of gripping force, thus reducing the breakage rate of the clamped parts.

[0035] In this embodiment, as Figure 2 and Figure 3 As shown, the drive assembly 2 is externally provided with a first slide rail 21 and a second slide rail 22 that are parallel to each other. A first slider 311 is provided on the first gripper 31 corresponding to the first slide rail 21. The drive assembly 2 is provided with a first limiting groove 23 parallel to the first slide rail 21, and a first limiting block 312 is provided on the first gripper 31 relative to the first limiting groove 23. A second slider 321 is provided on the second gripper 32 corresponding to the second slide rail 22. The drive assembly 2 is provided with a second limiting groove 24 parallel to the second slide rail 22, and a first limiting block 312 is provided on the second gripper 32 relative to the first limiting groove 23. A second limiting block 322 is provided in the second limiting groove 24; when the adaptive gripper is working, the first gripper 31 and the second gripper 32 slide relative to each other along the first slide rail 21 and the second slide rail 22, respectively. That is, when gripping the workpiece, the first gripper 31 and the second gripper 32 slide towards each other, and when releasing the workpiece, the first gripper 31 and the second gripper 32 slide away from each other, and slide within the range defined by the first limiting groove 23 and the second limiting groove 24, respectively, so that the overall clamping process is stable and controllable, improving the overall safety of the gripper and improving the versatility of the gripper.

[0036] like Figure 1 and Figure 4As shown, the push-unlock mechanism 4 includes a push base 41 disposed on top of the drive assembly 2, a push rod 42 passing through the push base 41, an abutment 43 disposed at one end of the push rod 42, and a limiting baffle 44 disposed at the other end of the push rod 42. In this embodiment, to improve the stability of the push-unlock mechanism 4, the number of push rods 42 is set to two. In other embodiments of this embodiment, the number can be set according to actual needs. When the adaptive gripper is not in working state, the push rod 42 is in a fully extended state, and the vertical projection position of the abutment 43 exceeds the vertical projection positions of the first gripper 31 and the second gripper 32. When the adaptive gripper grips the workpiece, the abutment 43 contacts the workpiece first and pushes the push rod 42 to retract backward, at which time automatic unlocking is achieved, and the adaptive gripper begins to perform gripping work.

[0037] like Figure 4 As shown, a rotating module 11 is connected to the bottom of the base 1, which can adjust the angle of the adaptive gripper to achieve ±90-degree angle adjustment, effectively expanding the working space of the adaptive gripper, reducing the need for posture adjustment, and improving work efficiency.

[0038] Obviously, the above embodiments are merely illustrative examples for clear explanation and are not intended to limit the implementation. Those skilled in the art will recognize that other variations or modifications can be made based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations here. However, obvious variations or modifications derived therefrom are still within the protection scope of this utility model.

Claims

1. An adaptive gripper, characterized in that, include: Base; The driving component is disposed on the base; A clamping assembly includes a first gripper and a second gripper, the first gripper and the second gripper being respectively disposed on a driving assembly, the driving assembly driving the first gripper and the second gripper to move relative to each other; a pressure sensor is disposed inside the first gripper and the second gripper, and a flexible element is covered on the inner side of the first gripper and the second gripper.

2. The adaptive gripper according to claim 1, characterized in that, The drive assembly is externally provided with a first slide rail and a second slide rail that are parallel to each other. A first slider is provided on the first gripper corresponding to the first slide rail, and a second slider is provided on the second gripper corresponding to the second slide rail. The first gripper and the second gripper move relative to each other along the first slide rail and the second slide rail, respectively.

3. The adaptive gripper according to claim 2, characterized in that, The drive assembly is provided with a first limiting groove parallel to the first slide rail, and the first gripper is provided with a first limiting block relative to the first limiting groove.

4. The adaptive gripper according to claim 2, characterized in that, The drive assembly is provided with a second limiting groove parallel to the second slide rail, and the second gripper is provided with a second limiting block relative to the second limiting groove.

5. The adaptive gripper according to claim 1, characterized in that, It also includes a push-unlock mechanism, which includes a push base disposed on top of the drive assembly, a push rod passing through the push base, and an abutment disposed at one end of the push rod.

6. The adaptive gripper according to claim 5, characterized in that, When the push rod is in the fully extended state, the vertical projection position of the abutment exceeds the vertical projection positions of the first jaw and the second jaw.

7. The adaptive gripper according to claim 1, characterized in that, The first gripper and the second gripper have arc-shaped grooves on their inner sides.

8. The adaptive gripper according to claim 1, characterized in that, The base is connected to a rotating module at the bottom, which can adjust the angle of the adaptive gripper.

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