An adaptive gripper device

Abstract

The utility model relates to gripper technical field, and disclose a kind of self-adapting gripper device, comprising: gripper main body;Four sets of jaw assemblies are evenly arranged along the circumferential direction of gripper main body, each set of jaw assemblies includes jaw and jaw nail fixed on jaw;Four sets of electric cylinder combinations correspond to four sets of jaw assemblies, each set of electric cylinder combination independently drives corresponding jaw to realize opening or tightening, electric cylinder combination has torque working mode and torque maintaining state, in the torque working mode, electric cylinder combination reaches set maximum torque and stops driving jaw;In the torque maintaining state, the jaw can continuously maintain maximum clamping force. The self-adapting gripper device can adapt to the compression barrel cake grabbing and placing work with irregular circular outer contour, inconsistent height and different weight by the above structural design and sensor arrangement, and cooperate with other equipment to complete the transfer work after solid waste compression.

Description

Technical Field

[0001] This utility model relates to the field of gripper technology, specifically to an adaptive gripper device. Background Technology

[0002] Drum cake grasping devices are used in solid waste sorting, compression, and packaging operations. For example, the nuclear power industry needs to sort, compress, and package radioactive solid waste generated during daily operations. To minimize the volume of solid waste, repeated primary compression is required. After the solid waste fills a 200L steel drum, the drum is capped to complete super compression, compressing the 200L steel drum along with the solid waste into a drum cake. The compressed drum cake has an irregular circular shape, and the height and weight of the compressed drum cake vary. Therefore, when grasping and compressing the drum cake, the grasping device must be able to adapt to the grasping and placement of drum cakes of different sizes, while ensuring the safe transfer of the compressed drum cake. The grasping device is designed to meet these performance requirements.

[0003] To address this issue, we propose an adaptive gripper device. Utility Model Content

[0004] The purpose of this invention is to provide an adaptive gripper device that solves the problems mentioned in the background art.

[0005] To achieve the above objectives, this utility model provides the following technical solution: an adaptive gripper device, comprising:

[0006] The main body of the gripper;

[0007] Four sets of gripper assemblies are evenly distributed along the circumference of the gripper body. Each set of gripper assemblies includes a gripper and a gripper pin fixed to the gripper.

[0008] Four sets of electric cylinders are combined, each corresponding to one of the four sets of gripper assemblies. Each set of electric cylinders independently drives the corresponding gripper to extend or retract to open or tighten. The electric cylinder combination has a torque working mode and a torque holding state. In the torque working mode, the electric cylinder combination stops driving the gripper after reaching the set maximum torque. In the torque holding state, the gripper can continuously maintain the maximum clamping force.

[0009] The positioning sensor assembly includes positioning sensors distributed on the gripper body for detecting the upper surface of the compressed drum cake to trigger the descent action of the gripper body;

[0010] A pressure plate assembly is disposed below the gripper body. The pressure plate assembly is provided with four guide mechanisms with compression springs evenly distributed along the circumference. The guide mechanisms are used to provide damping for the upward movement of the pressure plate assembly and to ensure the stability of the pressure plate assembly when it rises.

[0011] A gripping sensor is installed on the gripper body and is triggered when the pressure plate assembly rises to a set height to control the gripper body to stop descending and control the electric cylinder assembly to start the retraction action;

[0012] A gripping sensor is placed inside the pressure plate assembly to detect the rising height of the pressure plate assembly.

[0013] Preferably, the upper end of the gripper is fixed to the gripper body by a gripper upper connecting pin, and the lower end of the gripper is connected to a connecting rod by a gripper lower connecting pin, with the end of the connecting rod away from the gripper fixed to the gripper body.

[0014] Preferably, the gripper pin has a conical head structure to adapt to the irregular outer contour of the compressed cake.

[0015] Preferably, the number of positioning sensors is three, and the three positioning sensors are evenly distributed in a circle.

[0016] This invention provides an adaptive gripper device. This adaptive gripper device has the following advantages:

[0017] Through the above structural design and sensor arrangement, this adaptive gripper device can adaptively grip and place compressed barrel cakes with irregular outer contours, inconsistent heights, and different weights, and work in conjunction with other equipment to complete the transfer of compressed solid waste. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the gripper device structure in an adaptive gripper device according to the present invention;

[0019] Figure 2 This is a schematic diagram of the compression drum structure in an adaptive gripper device of this utility model;

[0020] Figure 3 This is a schematic diagram of the working structure of the compression drum cake grasping device in the adaptive gripping device of this utility model.

[0021] In the diagram: 1. Gripper body; 2. Upper connecting pin of the gripper; 3. Gripper; 4. Lower connecting pin of the gripper; 5. Connecting rod; 6. Gripper gripping pin; 7. Compressed drum; 8. Electric cylinder assembly; 9. Pressure plate assembly; 10. Position sensor; 11. Gripping sensor. Detailed Implementation

[0022] To provide a clearer understanding of the technical features, objectives, and effects of this utility model, the specific embodiments of this utility model are now described with reference to the accompanying drawings.

[0023] like Figure 1-3 As shown, this utility model provides a technical solution: an adaptive gripper device, comprising:

[0024] Grappling body 1;

[0025] Four sets of gripper assemblies are evenly distributed along the circumference of the gripper body 1. Each set of gripper assemblies includes a gripper 3 and a gripper pin 6 fixed to the gripper 3. The gripper pin 6 has a conical head structure to adapt to the irregular outer contour of the compression barrel cake 7. The upper end of the gripper 3 is fixed to the gripper body 1 through the upper gripper connecting pin 2. The lower end of the gripper 3 is connected to a connecting rod 5 through the lower gripper connecting pin 4. The end of the connecting rod 5 away from the gripper 3 is fixed to the gripper body 1.

[0026] Four sets of electric cylinders 8 correspond one-to-one with four sets of gripper assemblies. Each set of electric cylinders 8 independently drives the corresponding gripper 3 to extend or retract to open or tighten. The electric cylinders 8 have a torque working mode and a torque holding state. In the torque working mode, the electric cylinders 8 stop driving the gripper 3 after reaching the set maximum torque. In the torque holding state, the gripper 3 can continuously maintain the maximum clamping force.

[0027] The positioning sensor assembly includes positioning sensors 10 distributed on the gripper body 1, which are used to detect the upper end face of the compressed barrel cake 7 to trigger the descent action of the gripper body 1. There are three positioning sensors 10, which are evenly distributed in a circle.

[0028] The pressure plate assembly 9 is located below the gripper body 1. The pressure plate assembly 9 has four guide mechanisms with compression springs evenly distributed along the circumference. The guide mechanisms are used to provide damping for the rise of the pressure plate assembly 9 and to ensure the stability of the pressure plate assembly 9 when it rises.

[0029] The gripping sensor 11 is installed on the gripper body 1 and is triggered when the pressure plate assembly 9 rises to a set height to control the gripper body 1 to stop descending and control the electric cylinder assembly 8 to start the recovery action.

[0030] A gripping sensor 11 is arranged inside the pressure plate assembly 9 to detect the rising height of the pressure plate assembly.

[0031] In the initial state of use, the gripper body 1 is ready to work, the electric cylinder assembly 8 is at its maximum stroke, and the gripper 3 is in an open state. Three positioning sensors 10 are evenly distributed around the circumference of the gripper body 1 to detect the compressed barrel cake 7. When any positioning sensor 10 detects the upper surface of the compressed barrel cake 7, the gripper body 1 begins to slowly descend until the lower surface of the pressure plate assembly 9 contacts the upper surface of the compressed barrel cake 7. Afterward, the pressure plate assembly 9 rises along with the gripper body 1. The four internal guide mechanisms with compression springs provide upward damping and ensure stability. When the pressure plate assembly 9 rises to the set height, it triggers the gripping sensor 11, the gripper body 1 stops descending, and the gripper 3 meets the gripping depth requirement. The electric cylinder assembly 8 starts the retraction action, causing the gripper 3 to tighten inward. When the gripper pins 6 on the gripper 3 contact the outer contour of the compressed barrel cake 7, they continue to tighten, thereby triggering the torque working mode of the electric cylinder assembly 8. After the electric cylinder assembly 8 reaches the set maximum torque, it stops driving. The gripper 3 obtains the maximum clamping force, and the electric cylinder assembly 8 enters the torque holding state. The grippers 3 are evenly distributed around the circumference of the gripper body 1, each driven independently by a set of electric cylinders 8. They work with the gripper pins 6 to adapt to the irregular contours and different weights of the compressed barrel cake 7. When performing the placement work, the gripper body 1 descends while the grippers 3 remain tightened. After the lower surface of the compressed barrel cake 7 contacts the upper surface of the target object, the gripper body 1 continues to descend slowly. When the target object fully bears the weight of the compressed barrel cake 7, the electric cylinders 8 drive the grippers 3 to open. The grippers 3 fully open and disengage from the outer contour of the compressed barrel cake 7 when the electric cylinders 8 reach their maximum stroke again, thus completing the placement of the compressed barrel cake 7.

[0032] The above are merely illustrative embodiments of this utility model and are not intended to limit the scope of this utility model. Any equivalent changes and modifications made by those skilled in the art without departing from the concept and principles of this utility model should fall within the protection scope of this utility model. Furthermore, it should be noted that the components of this utility model are not limited to the overall application described above. Each technical feature described in the specification can be used individually or in combination as needed. Therefore, this utility model naturally covers other combinations and specific applications related to the points of this utility model.

Claims

1. An adaptive gripper device, characterized in that, include: gripper body (1); Four sets of gripper assemblies are evenly distributed along the circumference of the gripper body (1). Each set of gripper assemblies includes a gripper (3) and a gripper pin (6) fixed to the gripper (3). Four sets of electric cylinder assemblies (8) correspond one-to-one with four sets of gripper assemblies. Each set of electric cylinder assemblies (8) independently drives the corresponding gripper (3) to extend or retract to open or tighten. The electric cylinder assembly (8) has a torque working mode and a torque holding state. In the torque working mode, the electric cylinder assembly (8) stops driving the gripper (3) after reaching the set maximum torque. In the torque holding state, the gripper (3) can continuously maintain the maximum clamping force. The positioning sensor assembly includes positioning sensors (10) distributed on the gripper body (1) for detecting the upper surface of the compressed barrel cake (7) to trigger the descent action of the gripper body (1); The pressure plate assembly (9) is located below the gripper body (1). The pressure plate assembly (9) is provided with four guide mechanisms with compression springs evenly distributed along the circumference. The guide mechanisms are used to provide damping for the rise of the pressure plate assembly (9) and ensure the stability of the pressure plate assembly (9) when it rises. A gripping sensor (11) is installed on the gripper body (1) and is triggered when the pressure plate assembly (9) rises to a set height to control the gripper body (1) to stop descending and control the electric cylinder assembly (8) to start the retraction action. A gripping sensor (11) is arranged inside the pressure plate assembly (9) to detect the rising height of the pressure plate assembly.

2. The adaptive gripper device according to claim 1, characterized in that, The upper end of the gripper (3) is fixed to the gripper body (1) by a gripper upper connecting pin (2), and the lower end of the gripper (3) is connected to a connecting rod (5) by a gripper lower connecting pin (4). The end of the connecting rod (5) away from the gripper (3) is fixed to the gripper body (1).

3. The adaptive gripper device according to claim 1, characterized in that, The gripper pin (6) has a conical head structure, which is used to adapt to the irregular outer contour of the compressed barrel cake (7).

4. The adaptive gripper device according to claim 1, characterized in that, The number of the positioning sensors (10) is three, and the three positioning sensors (10) are evenly distributed in a circle.

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