Gripper device for gripping rod-shaped material

Abstract

The utility model discloses a kind of for grabbing pole-shaped material's grabbing device, comprising: gripper mechanism, including pedestal, two gripper units and limiting unit, two gripper units are oppositely arranged on pedestal, and sliding fit connection between one of the gripper units and pedestal;At least one of two gripper units adopts belt drive structure, the belt drive structure includes gripper body, belt drive assembly and first motor, belt drive assembly includes the transmission wheel group being set on gripper body and the belt being set on transmission wheel group, and first motor drives belt movement through transmission wheel group;Gripper drive mechanism is used to drive the gripper unit sliding fit connection with pedestal to move close to or away from another gripper unit. Material is clamped using moving belt, material is sent to the inside of gripper unit by dynamic friction force between belt and material, so as to be able to realize the stable clamping of material, and the selective clamping of material, various non-standard pole-shaped material can be accurately grabbed in material pile, and the situation of false grabbing, more grabbing cannot be caused.

Description

Technical Field

[0001] This utility model belongs to the field of robotics technology, specifically relating to a gripping device for grasping rod-shaped materials. Background Technology

[0002] Currently, the commonly used grippers control the opening and closing of the clamping device through different driving methods. The gripper at the end of the gripper applies an inward clamping force to the workpiece, and the gripper can grasp the workpiece through static friction.

[0003] Existing grippers often suffer from the following problems in application: 1) Poor accuracy in gripping targets: Traditional grippers need to move continuously until the workpiece is completely enclosed within the gripper to achieve stable gripping. However, for densely packed, interlocking rod-shaped workpieces (such as wooden rods, test tubes, and plastic pipes), multiple workpieces are easily gripped simultaneously. 2) Difficulty in guaranteeing the accuracy of gripping state: When the transfer device drives the gripper to rotate, the inertia can easily cause the gripped rod-shaped workpiece to deviate, with the deviation sometimes exceeding 15°, affecting the accuracy of subsequent work. 3) Poor versatility: Due to design flaws, traditional grippers are usually only suitable for specific workpieces and cannot be used to grip some non-standard rod-shaped workpieces. 4) Easy damage to workpieces: The force exerted by hard grippers on the workpiece can easily cause damage, with a damage rate as high as 17%. Utility Model Content

[0004] The purpose of this invention is to provide a gripping device for gripping rod-shaped materials, so as to solve the problems of poor accuracy in gripping targets, poor accuracy in gripping state, poor versatility, and easy damage to workpieces in existing grippers.

[0005] This utility model is achieved through the following technical solution: A gripping device for gripping rod-shaped materials, comprising: The gripper mechanism includes a base, two gripper units, and a limiting unit. The two gripper units are arranged opposite to each other on the base, and one of the gripper units is slidably connected to the base. At least one of the two gripper units adopts a belt drive structure. The belt drive structure includes a gripper body, a belt drive assembly, and a first motor. The belt drive assembly includes a drive pulley set disposed on the gripper body and a belt disposed on the drive pulley set. The first motor drives the belt to move through the drive pulley set. The movement of the belt conveys the material held between the two gripper units into the gripper mechanism, and the limiting unit limits the material on the gripper unit at its position. The gripper drive mechanism is used to drive a gripper unit that is slidably connected to the base to move closer to or away from another gripper unit.

[0006] In some embodiments, both gripper units employ a belt drive structure.

[0007] In some embodiments, the transmission wheel assembly includes a driving wheel and a driven wheel, and a tensioner is provided between the driving wheel and the driven wheel to provide tension force to the belt.

[0008] In some embodiments, the diameter of the driving wheel is larger than the diameter of the driven wheel, and the driven wheel is disposed at the gripping end of the gripper unit, and the gripping action surface of the belt on the gripper unit is arranged in the vertical direction.

[0009] In some embodiments, the limiting unit includes two limiting blocks disposed opposite to each other on both sides of the gripper unit, with one end of each limiting block extending toward the other gripper unit.

[0010] In some embodiments, slide rails are respectively provided on both sides of the gripper unit on the base, and the gripper unit is connected to the slide rails by a slider.

[0011] In some embodiments, the gripper drive mechanism includes a second motor mounted on a base and a lead screw connected to the second motor, wherein the lead screw is connected to the gripper unit via a transmission connection.

[0012] In some embodiments, a gripper travel limiting unit is further included to limit the distance between the two gripper units during their opening and closing movements.

[0013] In some embodiments, the gripper travel limiting unit includes two sets of sensors spaced apart on the base and a sensing plate disposed on the gripper unit that is slidably connected to the base. When the sensing plate moves to the position of the sensor, it controls the on / off state and rotation direction of the second motor.

[0014] In some embodiments, a gripper position sensor is also included for detecting the position of the gripper mechanism in the vertical direction.

[0015] Compared with the prior art, this utility model has the following advantages and beneficial effects: This invention uses a moving belt to clamp materials. The dynamic friction between the belt and the materials sends the materials into the gripper unit, thereby achieving stable clamping and selective clamping of materials. It can accurately grab various non-standard rod-shaped materials in a material pile without causing mis-grabbing or multiple-grabbing.

[0016] When gripping materials, the device can grip materials of different specifications through contact between the belt and the material. The belt's flexibility and elasticity allow the device to hold materials in a flexible manner without causing damage to the workpiece. Attached Figure Description

[0017] To more clearly illustrate the technical solutions of the embodiments of this utility model, the accompanying drawings in the embodiments will be briefly described below. It should be understood that the following drawings only show some embodiments of this utility model and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is a schematic diagram of the gripping device in an embodiment of the present invention.

[0019] Figure 2 This is a schematic diagram of the gripping device from another perspective in an embodiment of this utility model.

[0020] Figure 3 This is a front view of the gripping device structure in an embodiment of this utility model.

[0021] Figure 4 This is a top view of the gripping device structure in an embodiment of this utility model.

[0022] Figure 5 This is a cross-sectional view of the gripper mechanism of the grasping device in an embodiment of this utility model.

[0023] Figure 6 This is a schematic diagram of the gripping state structure of the gripping device in an embodiment of this utility model.

[0024] in: 10. Base; 11. Slide rail; 12. Slider; 20. Gripper unit; 21. Gripper body; 22. Belt; 23. Drive wheel; 24. Driven wheel; 25. First motor; 26. Tensioner; 27. Driven block; 30. Limit block; 41. Second motor; 42. Lead screw; 51. Sensor; 52. Sensor plate; 60. Gripper position sensor. Detailed Implementation

[0025] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are some embodiments of this utility model, but not all embodiments.

[0026] To address the problems existing in the process of grasping rod-shaped materials, this utility model proposes a grasping device that can accurately grasp materials in densely packed rod-shaped materials, so as to be applicable to scenarios in different industries that require precise grasping and separation of non-standard rod-shaped materials.

[0027] Reference Figure 1 , Figure 2 , Figure 3 , Figure 4 and Figure 5 In some embodiments of this utility model, the gripping device for gripping rod-shaped materials includes: The gripper mechanism includes a base 10, two gripper units 20 and a limiting unit. The two gripper units 20 are arranged opposite to each other on the base, and one of the gripper units 20 is slidably connected to the base 10. At least one of the two gripper units 20 adopts a belt drive structure. The belt drive structure includes a gripper body 21, a belt drive assembly, and a first motor 25. The belt drive assembly includes a drive pulley set disposed on the gripper body 21 and a belt 22 disposed on the drive pulley set. The first motor 25 drives the belt 22 to move through the drive pulley set. The movement of the belt conveys the material clamped between the two gripper units into the gripper mechanism. The limiting unit limits the material on the gripper unit at its position. A gripper drive mechanism is used to drive a gripper unit that is slidably connected to the base to move closer to or away from another gripper unit.

[0028] In this embodiment, the gripper unit adopts a belt drive structure. After the two gripper units clamp the material, through the transmission action of the belt, the dynamic friction between the belt and the material is used to drive the material to move into the gripper mechanism while clamping the material, thereby achieving stable clamping of rod-shaped materials and improving the success rate of gripping.

[0029] Meanwhile, a limiting unit is set on the gripper unit to restrict the movement of the material. When the belt conveys the material to the position of the limiting unit, the material will not continue to move with the belt under the limiting action of the limiting unit. Furthermore, the limiting action of the limiting unit can adjust the state of the material between the gripping units, avoiding the problem of clamping deviation caused by inaccurate clamping positioning.

[0030] like Figure 1 and Figure 2 As shown, the limiting unit includes two limiting blocks 30 disposed opposite each other on both sides of the gripper unit, with one end of each limiting block 30 extending towards the other gripper unit. When the material clamped between the two gripper units moves to the position of the limiting block under the action of the belt, the limiting block prevents the material from moving further. The two limiting blocks stably position the material at that position, achieving stable clamping of the material. The purpose of setting limiting blocks on both sides is to limit the material at both ends for better clamping.

[0031] In some embodiments, both gripper units 20 employ a belt drive structure. In one gripper unit, the belt rotates clockwise, while the belt of the other gripper unit rotates counterclockwise. During the gripping operation, the belts of the two gripper units provide dynamic friction on both sides of the material, causing it to move towards the inside of the gripper mechanism, thereby achieving more stable gripping of the material.

[0032] The belts of the two gripper units are driven by two first motors 25 respectively. The output shafts of the two first motors 25 are equipped with precision synchronous pulleys. The two belts 22 mesh with the corresponding synchronous pulleys to achieve synchronous drive of the two belts. The two first motors can be synchronized through the electronic gear function of the control system, and the speed deviation can be controlled within ±0.5%.

[0033] A belt guide mechanism can be used to guide the belt. The belt guide mechanism adopts a V-groove structure to prevent the belt from running off-center and to ensure the transmission accuracy of the belt.

[0034] In some embodiments, such as Figure 5 The transmission pulley set includes a driving pulley 23 and a driven pulley 24. A tensioner 26 is installed between the driving and driven pulleys to provide tension to the belts. The driving pulley 23 is a synchronous pulley to ensure synchronous rotation of the two belts and minimize speed deviation. By installing the tensioner, it is ensured that both belts are always taut and that the tension on both sides of the belts is consistent.

[0035] Reference Figure 5 The driven pulley 24 is rotatably mounted on a driven block 27. Two sets of tensioners 26 are arranged between the gripper body and the driven block. The tensioners apply a force to the driven pulley, causing it to move away from the driving pulley, thereby tensioning the belt. The belt tension can be adjusted by adjusting the force exerted by the tensioners on the driven pulley.

[0036] In some embodiments, the diameter of the driving wheel 23 is larger than the diameter of the driven wheel 24, and the driven wheel is disposed at the gripping end of the gripper unit. The gripping surface of the belt on the gripper unit is arranged in the vertical direction. At this time, the gripping surfaces of the belt on the two gripper units are two parallel vertical planes, which facilitates the gripping of materials. The gripping end has a smaller thickness, which facilitates the gripping of materials in the material pile. At the same time, the belt has better transmission stability and can be better tensioned.

[0037] In some embodiments, slide rails 11 are respectively provided on both sides of the gripper unit on the base 10. The gripper unit 20 is connected to the slide rails 11 through the slider 12. The cooperation between the slide rail and the slider ensures the movement accuracy of the gripper unit, providing a basis for controlling the opening and closing accuracy of the gripping device.

[0038] In some embodiments, the gripper drive mechanism includes a second motor 41 mounted on the base 10 and a lead screw 42 connected to the second motor. The lead screw 42 is connected to the gripper unit 20 via a transmission connection. By using a lead screw drive to drive the gripper unit, the rotation of the lead screw is converted into linear motion of the gripper unit, allowing the opening and closing degree between the gripper units to be controlled at the millimeter level. This adapts to the gripping requirements of different materials and improves the success rate of gripping.

[0039] In some embodiments, a gripper travel limiting unit is further included to limit the distance between the two gripper units during their opening and closing movements.

[0040] like Figure 1 As shown, the gripper stroke limiting unit includes two sets of sensors 51 spaced apart on the base and a sensor plate 52 disposed on the gripper unit that is slidably connected to the base. When the sensor plate moves to the position of the sensor, it can control the on / off state and rotation direction of the second motor, thereby limiting the movement stroke of the gripper.

[0041] By limiting the gripper stroke, the maximum and minimum opening and closing degree of the gripper unit can be restricted, thus providing effective protection for the second motor.

[0042] In some embodiments, a gripper position sensor 60 is further included to detect the position of the gripper mechanism in the vertical direction. By detecting the extension and retraction of the detection rod in the gripper position sensor, the distance between the gripping end of the gripper mechanism and the material can be obtained, thus determining whether the gripper mechanism has moved to a position where the material is located between the gripping ends of the two gripper units.

[0043] When material is detected between the gripping ends of the two gripper units, the second motor drives one gripper unit to move towards the other, clamping the material. The first motor drives the belt, causing the material to move into the gripper mechanism under the dynamic friction of the belt. When the material reaches the limit block, it is stopped at that position, achieving stable clamping of the material. Figure 6 As shown.

[0044] Using belts to clamp materials enables flexible clamping of materials, avoiding damage to the workpiece, and is well-suited for gripping fragile materials such as test tubes.

[0045] Compared with existing gripping devices, the gripping device in this embodiment can improve the success rate of single workpiece gripping, reduce the deviation of material gripping and transfer angle, improve gripping positioning accuracy, and reduce damage to workpieces; specific performance comparison data are shown in Table 1.

[0046] Table 1. Performance Comparison of the Embodiments of this Utility Model with Existing Grasping Devices Single workpiece gripping success rate 98.7% 58% 70.2% Transfer angle deviation ≤2° ≥15° 86.7% Positioning accuracy ±0.8mm ±8mm 90% Workpiece damage rate 0.5% 17% 97% In the description of this utility model, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", and "outer" used to indicate the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship that the utility model product is usually placed in during use. They are only used to facilitate the description of this utility model and to simplify the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0047] Furthermore, the use of terms such as "horizontal" or "vertical" in the description of this utility model does not imply that the component is required to be absolutely horizontal or suspended, but rather that it can be slightly tilted. For example, "horizontal" simply means that its direction is more horizontal relative to "vertical," and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0048] In the description of this utility model, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," "connect," and "link" 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 connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0049] The above description is merely a preferred embodiment of the present utility model and is not intended to limit the present utility model in any way. Any simple modifications or equivalent changes made to the above embodiments based on the technical essence of the present utility model shall fall within the protection scope of the present utility model.

Claims

1. A gripping device for gripping rod-shaped materials, characterized in that, include: The gripper mechanism includes a base, two gripper units, and a limiting unit. The two gripper units are arranged opposite to each other on the base, and one of the gripper units is slidably connected to the base. At least one of the two gripper units adopts a belt drive structure. The belt drive structure includes a gripper body, a belt drive assembly, and a first motor. The belt drive assembly includes a drive pulley set disposed on the gripper body and a belt disposed on the drive pulley set. The first motor drives the belt to move through the drive pulley set. The movement of the belt conveys the material held between the two gripper units into the gripper mechanism, and the limiting unit limits the material on the gripper unit at its position. A gripper drive mechanism is used to drive a gripper unit that is slidably connected to the base to move closer to or away from another gripper unit.

2. The gripping device for gripping rod-shaped materials according to claim 1, characterized in that, Both gripper units use a belt drive structure.

3. The gripping device for gripping rod-shaped materials according to claim 1 or 2, characterized in that, The transmission wheel assembly includes a driving wheel and a driven wheel, and a tensioner is provided between the driving wheel and the driven wheel to provide tension force to the belt.

4. The gripping device for gripping rod-shaped materials according to claim 3, characterized in that, The diameter of the driving wheel is larger than that of the driven wheel, and the driven wheel is located at the gripping end of the gripper unit, with the gripping surface of the belt on the gripper unit arranged vertically.

5. The gripping device for gripping rod-shaped materials according to claim 1 or 2, characterized in that, The limiting unit includes two limiting blocks disposed opposite to each other on both sides of the gripper unit, with one end of each limiting block extending toward the other gripper unit.

6. The gripping device for gripping rod-shaped materials according to claim 1 or 2, characterized in that, The base is provided with slide rails on both sides of the gripper unit, and the gripper unit is connected to the slide rails by a slider.

7. The gripping device for gripping rod-shaped materials according to claim 1, characterized in that, The gripper drive mechanism includes a second motor mounted on a base and a lead screw connected to the second motor, with the lead screw being connected to the gripper unit via a transmission connection.

8. The gripping device for gripping rod-shaped materials according to claim 7, characterized in that, It also includes a gripper travel limiting unit, which is used to limit the distance between the two gripper units during their opening and closing movements.

9. The gripping device for gripping rod-shaped materials according to claim 8, characterized in that, The gripper travel limiting unit includes two sets of sensors spaced apart on the base and a sensor plate on the gripper unit that is slidably connected to the base. When the sensor plate moves to the position of the sensor, it controls the on / off state and rotation direction of the second motor.

10. The gripping device for gripping rod-shaped materials according to claim 1, characterized in that, It also includes a gripper position sensor to detect the position of the gripper mechanism in the vertical direction.

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