Modular Gripper

Abstract

The modular gripper (1) of the present invention includes a main body fixing plate (10), a drive module (30), two screw bodies (40a, 40b), two extension plates (20a, 20b), two extension screws (50a, 50b), and two nuts (60a, 60b). The pair of screw bodies (40a, 40b), extension plates (20a, 20b), extension screws (50a, 50b), and nuts (60a, 60b) are bilaterally symmetrical. The two screw bodies (40a, 40b) are arranged concentrically along a first direction and are connected to and rotated by the drive module (30). The two extension plates (20a, 20b) are detachably connected to both sides of the main body fixing plate (10) via connecting members (21a, 21b), respectively. The two expansion screws 50a, 50b are respectively connected to the two screw bodies 40a, 40b, and the threads of the expansion screws 50a, 50b are connected to the threads of the screw bodies 40a, 40b. The two nuts 60a, 60b are respectively fitted into the two screw bodies 40a, 40b. When the two screw bodies 40a, 40b and the two expansion screws 50a, 50b are synchronously rotated by the driving module 30, the two nuts 60a, 60b can be displaced in a first direction relative to the screw bodies 40a, 40b and the expansion screws 50a, 50b, and move toward or away from each other to perform a clamping operation.

Description

[Technical Field]

[0001] The present invention relates to a gripper structure, and in particular to a modular gripper in which the screw, linear rail, and fixed plate are modularly designed so that the length can be changed and the working stroke can be adjusted according to demand, eliminating the need to newly design the screw and fixed plate. [Background technology]

[0002] A robotic arm is an automatic control device that can perform various tasks by mimicking the functions of a human arm. It is currently widely used in automated machinery. It is primarily used in industrial manufacturing, but is also finding applications in commercial agriculture, medical relief, entertainment services, military security, and other fields. Structurally, it consists of a mechanical body, a controller, a servo mechanism, and sensors, and is programmed to perform specific operations according to the task demands. The device attached to the end of the robotic arm that directly clamps an object is usually called a gripper, end effector, or robot hand. Its purpose is to skillfully complete multiple complex tasks or manipulate various objects in place of human fingers. However, it has been common to select different drive methods to configure a gripper structure for different working strokes.

[0003] Taking the long-stroke gripper structure commonly seen on the market as an example, it has a left-handed screw and a right-handed screw, each with a pulley attached. A motor rotates a belt, which moves the screws. The movement of the screws on both sides causes nuts to move the gripper seats on both sides, achieving the clamping operation. However, the movement of the gripper seats is limited by the length of the corresponding screws, and the gripper clamping operation is only possible within a fixed stroke range. If a user wants to use the gripper to perform operations with a wider stroke range, the gripper fixing plate and both screws must be newly designed, and the length cannot be directly changed.

[0004] In view of this, there is a need to provide a modular gripper that solves the deficiencies of the prior art by modularizing the screw, linear rail, and fixed plate, allowing the length to be changed and the working stroke to be adjusted according to demand, eliminating the need to newly design the screw and fixed plate. Summary of the Invention [Problem to be solved by the invention]

[0005] The objective of the present invention is to provide a modular gripper whose screw, linear rail, and fixed plate are modularly designed so that the length can be changed and the working stroke can be adjusted according to demand, eliminating the need to newly design the screw and fixed plate.

[0006] Another object of the present invention is to provide a modular gripper. The length of the opposite ends of the main body fixing plate can be increased by using extension plates. The main body fixing plate and the extension plates are secured using a parallel locking mechanism, avoiding vertical stacking and locking, thereby preventing an increase in overall plate thickness. The length of the two screw bodies, the left-handed screw and the right-handed screw, can also be increased by using extension screws. The screw body and the extension screw are connected concentrically along the axial direction, and their respective threads are connected. The left-handed screw and the right-handed screw are connected to the motor of the driving module by concentrically mounted pulleys. When the motor rotates the pulleys via a belt, the left-handed screw and the right-handed screw are simultaneously operated, displacing the corresponding nuts within the screw body and the extension screw. The nuts on the left-handed screw and the right-handed screw are mounted on a linear rail as relay plates via sliders, allowing the clip to move smoothly left and right along with the nuts, achieving a long-stroke clamping operation.

[0007] Another object of the present invention is to provide a modular gripper. The screw body, extension plate, extension screw, nut, linear rail, extension rail, and other components are designed symmetrically, which is advantageous for modularization, facilitating replacement and adjustment, and enabling clamping operations with different strokes. If the stroke length of the gripper structure needs to be increased, the stroke length can be increased by adding an extension screw, extension plate, and extension rail on both sides, eliminating the need to redesign the gripper structure and contributing to the versatility of product applications. [Means for solving the problem]

[0008] To achieve the above object, the present invention provides a modular gripper including a main body fixing plate, a first extension plate, a second extension plate, a drive module, a first screw body, a second screw body, a first extension screw, a second extension screw, a first nut, and a second nut. The main body fixing plate has two connection ends opposite each other in a first direction. The first extension plate and the second extension plate are bilaterally symmetrical to each other and are detachably connected to the two connection ends of the main body fixing plate in the first direction via a first connecting member and a second connecting member, respectively. The drive module is provided on the main body fixing plate. The first screw body and the second screw body are bilaterally symmetrical to each other, mounted on a body fixing plate, and concentrically arranged in a first direction, the first screw body including a first driving end and a first extension end, the second screw body including a second driving end and a second extension end, the first driving end and the second driving end facing each other in the first direction and connected to the drive module, the first extension end and the second extension end facing each other in the first direction. The first expansion screw and the second expansion screw are bilaterally symmetrical to each other, the first expansion screw is detachably connected to the first extension end, and the threads of the first expansion screw are connected to the threads of the first screw body, and the second expansion screw is detachably connected to the second extension end, and the threads of the second expansion screw are connected to the threads of the second screw body.The first nut and the second nut are symmetrical to each other and correspond to and fitted on the first screw body and the second screw body, respectively. When the first screw body and the first expansion screw are synchronously driven to rotate by the driving module, the first nut can be displaced relative to the first screw body and the first expansion screw along a first direction. When the second screw body and the second expansion screw are synchronously driven to rotate by the driving module, the second nut can be displaced relative to the second screw body and the second expansion screw along the first direction. The first nut and the second nut move close to and away from each other to perform a clamping operation. [Brief explanation of the drawings]

[0009] [Figure 1] 1 is a three-dimensional structural view showing a modular gripper according to a preferred embodiment of the present invention; FIG. [Figure 2] 1 is an exploded structural view showing a modular gripper according to a preferred embodiment of the present invention; FIG. [Figure 3] 1 is a structural cross-sectional view showing a modular gripper according to a preferred embodiment of the present invention; [Figure 4] 10 is a schematic diagram showing the extension plate connected to the main body fixing plate via a connecting member. FIG. [Figure 5A] FIG. [Figure 5B] FIG. 4 is a cross-sectional structural view showing a connecting member. [Figure 6A] FIG. 2 is a schematic diagram showing the screw body and the expansion screw disassembled. [Figure 6B] FIG. 2 is a schematic diagram showing the screw body and the expansion screw disassembled. [Figure 7A] FIG. 1 is a schematic diagram showing the screw body and the expansion screw coupled together. [Figure 7B] FIG. 1 is a schematic diagram showing the screw body and the expansion screw coupled together. [Figure 8A] FIG. 2 is a cross-sectional view showing the structure of the screw body and the expansion screw. [Figure 8B]FIG. 2 is a cross-sectional view showing the structure of the screw body and the expansion screw. [Figure 9A] FIG. 10 is a cross-sectional view showing another structure of the screw body and the expansion screw. [Figure 9B] FIG. 10 is a cross-sectional view showing another structure of the screw body and the expansion screw. [Figure 10A] FIG. 1 is a three-dimensional structural view showing the joint of the expansion screw. [Figure 10B] FIG. 1 is a three-dimensional structural view showing the joint of the expansion screw. [Figure 11A] FIG. 10 is a front view showing the coupling portion of the expansion screw. [Figure 11B] FIG. 10 is a front view showing the coupling portion of the expansion screw. [Figure 12A] FIG. 10 is an exploded structural view showing that the screw body and the expansion screw are connected via a connecting member. [Figure 12B] FIG. 10 is an exploded structural view showing that the screw body and the expansion screw are connected via a connecting member. [Figure 13A] FIG. 10 is a structural cross-sectional view showing the screw body and the expansion screw connected via a connecting member. [Figure 13B] FIG. 10 is a structural cross-sectional view showing the screw body and the expansion screw connected via a connecting member. [Figure 14A] FIG. 10 is an exploded structural view showing that the screw body and the expansion screw are connected via another connecting member. [Figure 14B] FIG. 10 is an exploded structural view showing that the screw body and the expansion screw are connected via another connecting member. [Figure 15A] FIG. 10 is a structural cross-sectional view showing a state in which the screw body and the expansion screw are connected via another connecting member. [Figure 15B] FIG. 10 is a structural cross-sectional view showing a state in which the screw body and the expansion screw are connected via another connecting member. DETAILED DESCRIPTION OF THE INVENTION

[0010] Several exemplary embodiments illustrating the features and advantages of the present invention will be described in detail in the following description. It should be understood that the present invention may be modified in various ways in different embodiments without departing from the scope of the present invention, and that the description and drawings are intended to be illustrative in nature and not limiting. For example, in the following description of the present disclosure, when a first feature is described as being located on or above a second feature, this includes embodiments in which the first feature is in direct contact with the second feature, and also includes embodiments in which an additional feature is located between the first feature and the second feature, thereby preventing the first feature from being in direct contact with the second feature. Furthermore, duplicate reference numerals and / or symbols may be used in different embodiments of the present disclosure. These duplicate reference numerals and / or symbols are used for the purposes of brevity and clarity and are not intended to limit the relationship between each embodiment and / or the external structure. Spatial terms, such as "front," "rear," "left," "right," and similar terms, may be used to simply describe the relationship of a component or feature to another component or feature in the drawings. In addition to the orientation shown in the drawings, spatial terms are used to include different orientations of the device during use or operation. The device may be otherwise positioned (e.g., rotated 90 degrees or at other orientations) and the spatial terms used should be interpreted accordingly. Furthermore, when a component is referred to as being "connected" or "coupled" to another component, it may be directly connected or coupled to the other component, or intervening components may be present. While the broad range of numerical ranges and parameters in the present disclosure are approximations, the specific examples describe numerical values ​​as precisely as possible. Furthermore, while terms such as "first" and "second" may be used to describe different components in the claims, it should be understood that these components should not be limited by these terms and that the components described in the embodiments may be represented by different component symbols. These terms are used to distinguish between different components.For example, a first element could be termed a second element, and similarly, a second element could be termed a first element, without departing from the scope of the embodiments. As used herein, the term "and / or" includes any and all combinations of one or more listed items.

[0011] 1 to 3. The present invention provides a modular gripper 1 including a main body fixing plate 10, a first extension plate 20a, a second extension plate 20b, a drive module 30, a first screw body 40a, a second screw body 40b, a first expansion screw 50a, a second expansion screw 50b, a first nut 60a, and a second nut 60b. The main body fixing plate 10 can be used as a fixing frame by combining two main body fixing plates 10, for example, a front and a rear, parallel plate. It can also be used as a fixing frame consisting of a single main body fixing plate 10. In the embodiment, only a single main body fixing plate 10 will be described, but this is not intended to limit the present invention. The main body fixing plate 10 is, for example, bilaterally symmetrical with respect to a center line C and has two connection ends 11a, 11b that are opposite each other in a first direction, for example, the X-axis. The first extension plate 20a and the second extension plate 20b are bilaterally symmetrical and are detachably connected in a first direction (X-axis direction) to two connection ends 11a, 11b of the main body fixing plate 10 via a first connecting member 21a and a second connecting member 21b, respectively. Here, the first extension plate 20a is detachably connected to the right connection end 11a of the main body fixing plate 10 via the first connecting member 21a on the right side of the center line, and the second extension plate 20b is detachably connected to the left connection end 11b of the main body fixing plate 10 via the second connecting member 21b on the left side of the center line. The drive module 30 is provided on the main body fixing plate 10 and is further housed, for example, between the two front and rear main body fixing plates 10, although the present invention is not limited thereto. The first screw body 40a and the second screw body 40b are symmetrical to each other, mounted on the body fixing plate 10, and arranged concentrically in a first direction (X-axis direction). The first screw body 40a on the right side includes a first driving end 42a and a first extending end 43a, and the second screw body 40b on the left side includes a second driving end 42b and a second extending end 43b. The first driving end 42a and the second driving end 42b face each other in the first direction, are adjacent to the center line C, and are connected to the driving module 30.The first expansion end 43a and the second expansion end 43b are located opposite each other in the first direction and spatially correspond to the right connection end 11a and the left connection end 11b of the main body fixing plate 10, respectively. In this embodiment, the first expansion screw 50a and the second expansion screw 50b are bilaterally symmetrical to each other. The first expansion screw 50a is detachably connected to the first expansion end 43a of the first screw body 40a, and the threads of the first expansion screw 50a are continuous with the threads of the first screw body 40a. The second expansion screw 50b is detachably connected to the second expansion end 43b of the second screw body 40b, and the threads of the second expansion screw 50b are continuous with the threads of the second screw body 40b. The first nut 60a and the second nut 60b are both standard nuts, symmetrical, and fitted to the first screw body 40a and the second screw body 40b, respectively. When the first screw body 40a and the first expansion screw 50a on the right side are driven by the driving module 30 to rotate synchronously, the first nut 60a can be displaced relative to the first screw body 40a and the first expansion screw 50a in a first direction. When the second screw body 40b and the second expansion screw 50b on the left side are driven by the driving module 30 to rotate synchronously, the second nut 60b can be displaced relative to the second screw body 40b and the second expansion screw 50b in the first direction. This allows the first nut 60a and the second nut 60b to move closer to or farther away from each other to perform the clamping operation.

[0012] In this embodiment, the drive module 30 includes a motor (including a reduction mechanism), a belt 32, and a pulley 33. The pulley 33 is located, for example, on the center line C and is connected to a first drive end 42a of the first right-hand screw body 40a and a second drive end 42b of the second left-hand screw body 40b. The motor 31 is mounted on the body fixing plate 10 and connected to the pulley 33 via the belt 32 to drive the pulley 33, causing the first screw body 40a and the second screw body 40b to rotate coaxially. In this embodiment, the first screw body 40a has a first external body thread 41a, and the second screw body 40b has a second external body thread 41b. The first external body thread 41a and the second external body thread 41b rotate in opposite directions, for example, as a right-hand thread and a left-hand thread, respectively. When the first screw body 40a and the second screw body 40b are coaxially rotated by the driving module 30, the first nut 60a and the second nut 60b are moved toward and away from the center line C in synchronization with each other by the action of the first external body thread 41a of the first screw body 40a and the action of the second external body thread 41b of the second screw body 40b, respectively, thereby achieving a clamping operation. Similarly, in this embodiment, the first expansion screw 50a has a first external body thread 51a, and the second expansion screw 50b has a second external body thread 51b, and the first external body thread 51a and the second external body thread 51b rotate in opposite directions and are right-handed and left-handed threads continuous with the first external body thread 41a and the second external body thread 41b, respectively. When the modular gripper 1 performs a clamping operation, the first nut 60a and the second nut 60b are displaced symmetrically with respect to the center line C between the first screw body 40a and the first expansion screw 50a, and between the second screw body 40b and the second expansion screw 50b, respectively.

[0013] In this embodiment, the modular gripper 1 further includes a linear rail 70, a first extension rail 71a, a second extension rail 71b, a first slider 72a, and a second slider 72b. The linear rail 70 can be configured, for example, by two linear rails 70, one parallel to the other, or can be used alone. Although only a single linear rail 70 is described in the embodiment, this is not intended to limit the present invention. In this embodiment, the linear rail 70 is provided on the main body fixing plate 10 along the first direction (X-axis direction) and spatially corresponds to the first screw body 40a and the second screw body 40b. The first extension rail 71a and the second extension rail 71b are symmetrical to each other, provided on the first extension plate 20a and the second extension plate 20b, respectively, connected to both ends of the linear rail 70, and linearly arranged along the first direction. In this embodiment, the first slider 72a and the second slider 72b are each provided straddling a pair of linear rails 70. Here, the first slider 72a is connected to the first nut 60a and is displaceable relative to the linear rail 70 and the first extension rail 71a along the first direction in synchronization with the first nut 60a. Furthermore, the second slider 72b is connected to the second nut 60b and is displaceable relative to the linear rail 70 and the second extension rail 71b along the first direction in synchronization with the second nut 60b.

[0014] In this embodiment, the modular gripper 1 further includes a first clamp 80a and a second clamp 80b fixed to the first slider 72a and the second slider 72b, respectively. When the first screw body 40a and the first expansion screw 50a on the right side and the second screw body 40b and the second expansion screw 50b on the left side are synchronously rotated by the driving module 30, the first nut 60a, the first slider 72a, and the first clamp 80a move toward or away from the second nut 60b, the second slider 72b, and the second clamp 80b to perform the clamping operation.

[0015] In this embodiment, the first screw body 40a and the second screw body 40b can be extended in length in a first direction by the first expansion screw 50a and the second expansion screw 50b, the linear rail 70 can be extended in length in a first direction by the first expansion rail 71a and the second expansion rail 71b, and the body fixing plate 10 can be extended in length in a first direction by the first expansion plate 20a and the second expansion plate 20b. The first expansion screw 50a and the second expansion screw 50b, the first expansion rail 71a and the second expansion rail 71b, and the first expansion plate 20a and the second expansion plate 20b can all be replaced according to actual needs, thereby adjusting the stroke length of the modular gripper 1. In other words, the modular gripper 1 of the present invention has a modular design, and its length and working stroke can be changed according to needs, eliminating the need to newly design screws and fixing plates.

[0016] In this embodiment, the first extension plate 20a is detachably connected to the right connection end 11a of the main body fixing plate 10 in the first direction (X-axis direction) via a first connecting member 21a. The second extension plate 20b is detachably connected to the left connection end 11b of the main body fixing plate 10 in the first direction (X-axis direction) via a second connecting member 21b. Here, the first connecting member 21a and the second connecting member 21b do not exceed the overlapping range of the first extension plate 20a, the main body fixing plate 10, and the second extension plate 20b along the first direction in the line of sight along the first direction (X-axis direction). This ensures that the main body fixing plate 10 and the first extension plate 20a and second extension plate 20b are locked and fixed in parallel, avoiding vertical stacking and locking in the Y-axis or Z-axis direction, and preventing an increase in overall plate thickness. In addition, the first expansion screw 50a, the second expansion screw 50b, the first expansion rail 71a, and the second expansion rail 71b may be supported by the first expansion plate 20a and the second expansion plate 20b.

[0017] 1 to 4, 5A, and 5B. In this embodiment, the first connecting member 21a connecting the main body fixing plate 10 and the first extension plate 20a and the second connecting member 21b connecting the main body fixing plate 10 and the second extension plate 20b have the same structure. In FIG. 4, an example will be described in which the main body fixing plate 10 and the first extension plate 20a are connected by the first connecting member 21a. In this embodiment, the number of first connecting members 21a and second connecting members 21b can be changed according to actual needs. Each first connecting member 21a and each second connecting member 21b includes a first locking member 211, a second locking member 212, and a restricting member 213, respectively. The first locking member 211 and the first locking member 212 are, for example, two concentrically arranged screws, with the operating end 214 of the first locking member 211 and the operating end 215 of the second locking member 212 facing each other. The restricting member 213 is disposed between the first locking member 211 and the first locking member 212 to restrict the axial distance between the first locking member 211 and the first locking member 212, allowing the first locking member 211 and the first locking member 212 to rotate about the axis but preventing them from separating. In this embodiment, when the first extension plate 20a is connected to the main body fixation plate 10 and the second extension plate 20b is connected to the main body fixation plate 10, a window 12 is formed, exposing the operation end 214 of the first locking member 211 and the operation end 215 of the second locking member 212. This allows the user to operate the first locking member 211 and the second locking member 212 through the window 12 to complete the connection between the main body fixation plate 10 and the first extension plate 20a and the second extension plate 20b. In this embodiment, the first locking member 211 and the second locking member 212 are two screws in the same direction or two screws in opposite directions. In another embodiment, the main body fixation plate 10 and the first extension plate 20a and the second extension plate 20b can be locked in parallel using a separate connecting member. The present invention is not limited to this, and the description will not be repeated here.

[0018] 1 to 4, 6A, 6B, 7A, and 7B. In this embodiment, a first expansion screw 50a is provided on a first expansion plate 20a. The first expansion screw 50a is detachably connected to a first expansion end 43a of a first screw body 40a. The first expansion screw 50a and the first screw body 40a are concentrically arranged in a first direction (X-axis direction). In this embodiment, the first screw body 40a has a first body external thread 41a. The first expansion screw 50a has a first expansion external thread 51a. An end point E1 of the first body external thread 41a is continuous with a start point S1 of the first expansion external thread 51a. In this embodiment, the second expansion screw 50b is provided on the second expansion plate 20b, and the second expansion screw 50b is detachably connected to the second expansion end 43b of the second screw body 40b, and the second expansion screw 50b and the second screw body 40b are concentrically arranged in the first direction (X-axis direction). In this embodiment, the second screw body 40b has a second body external thread 41b, and the second expansion screw 50b has a second expansion external thread 51b, and the end point E1' of the second body external thread 41b is continuous with the start point S1' of the second expansion external thread 51b.

[0019] 1 to 11B. In this embodiment, the first expansion screw 50a includes a first connecting portion 52a and a first support portion 53a located on opposite sides. The first connecting portion 52a is detachably connected to the first expansion end 43a of the first screw body 40a, such that the end point E1 of the first body external thread 41a is continuous with the start point S1 of the first expansion external thread 51a. The first support portion 53a pivotally connects the other end of the first expansion screw 50a to the first expansion plate 20a and provides support. In addition, in this embodiment, the second expansion screw 50b includes a second connecting portion 52b and a second support portion 53b located on opposite sides. The second coupling portion 52b is detachably connected to the second expansion end 43b of the second screw body 40b, such that the end point E1' of the second body external thread 41b is connected to the start point S1' of the second expansion external thread 51b. The second support portion 53b pivots the other end of the second expansion screw 50b to the second expansion plate 20b and provides support. In this embodiment, the internal thread of the first front coupling screw hole 44a, the first coupling external thread 54a, the internal thread of the second front coupling screw hole 44b, and the second coupling external thread 54b have the same thread pitch D. The first coupling portion 52a and the second coupling portion 52b have a coupling length L1, which is N times the thread pitch D (N is an integer, N≧1). In this embodiment, the start point S1 of the first expansion external thread 51a has a first expansion screw twist angle A1. The first screw body 40a includes a first front coupling screw hole 44a provided in the first expansion end 43a, and the first coupling portion 52a includes a first coupling external thread 54a corresponding to the first front coupling screw hole 44a. In this embodiment, the start point S2 of the first coupling external thread 54a has a first coupling external thread twist angle A2, and the first expansion screw twist angle A1 and the first coupling external thread twist angle A2 are the same. Therefore, the end point E1 of the first body external thread 41a is continuous with the start point S1 of the first expansion external thread 51a. In this embodiment, the start point S1' of the second expansion external thread 51b has a second expansion screw twist angle A1'. The second screw body 40b includes a second front coupling screw hole 44b provided in the second expanded end 43b, and the second coupling portion 52b includes a second coupling outer thread 54b corresponding to the second front coupling screw hole 44b.In this embodiment, the start point S2' of the second external coupling thread 54b has a second external coupling thread twist angle A2', and the second extension thread twist angle A1' and the second external coupling thread twist angle A2' are the same, so that the end point E1' of the second main body external thread 41b is continuous with the start point S1' of the second extension external thread 51b.

[0020] In this embodiment, the first coupling portion 52a further includes a first positioning portion 55a disposed between the first coupling external thread 54a and the first expansion external thread 51a. The first screw body 40a includes a first front positioning through-hole 45a spatially corresponding to the first positioning portion 55a, and the first front coupling screw hole 44a communicates with the outside through the first front positioning through-hole 45a. Alignment of the first front positioning through-hole 45a with the first positioning portion 55a helps improve the coupling efficiency between the first expansion screw 50a and the first screw body 40a. Similarly, in this embodiment, the second coupling portion 52b also includes a second positioning portion 55b disposed between the second coupling external thread 54b and the second expansion external thread 51b. The second screw body 40b includes a second front positioning through-hole 45b spatially corresponding to the second positioning portion 55b, and the second front coupling screw hole 44b communicates with the outside through the second front positioning through-hole 45b. Aligning the second front positioning through-hole 45b with the second positioning portion 55b helps improve the coupling efficiency between the second expansion screw 50b and the second screw body 40b. In another embodiment, as shown in Figures 9A and 9B, the first positioning portion 55a, the second positioning portion 55b, the first front positioning through-hole 45a, and the second front positioning through-hole 45b can be omitted. By designing the connection length L2 of the first connection portion 52a of the first expansion screw 50a and the connection length L2 of the second connection portion 52b of the second expansion screw 50b to be N times the thread pitch D, it is possible to achieve the end point E1 of the first main body external thread 41a being connected to the start point S1 of the first expansion external thread 51a, and the end point E1' of the second main body external thread 41b being connected to the start point S1' of the second expansion external thread 51b.

[0021] The manner in which the first expansion screw 50a is coupled to the first screw body 40a, or the manner in which the second expansion screw 50b is coupled to the second screw body 40b, is not limited to the manner described above. See FIGS. 3 and 12A to 15B. The first screw body 40a and the first expansion screw 50a can be coupled via a first coupling member 90a. The second screw body 40b and the second expansion screw 50b can be coupled via a second coupling member 90b. In this embodiment, the first screw body 40a includes a first front coupling screw hole 44a provided in the first expansion end 43a. The first expansion screw 50a includes a first rear coupling screw hole 56a and a first support portion 53a (see FIG. 3) on opposite sides. The first support portion 53a is pivotally connected to the first expansion plate 20a. The first front coupling screw hole 44a and the first rear coupling screw hole 56a are respectively engaged with opposite ends of the first coupling member 90a to connect the first expansion screw 50a to the first expansion end 43a of the first screw body 40a. In addition, in this embodiment, the second screw body 40b includes a second front coupling screw hole 44b on the second expansion end 43b. The second expansion screw 50b includes a second rear coupling screw hole 56b and a second support portion 53b (see FIG. 3) arranged on opposite sides, the second support portion 53b is pivotally connected to the second expansion plate 20b, and the second front coupling screw hole 44b and the second rear coupling screw hole 56b respectively engage with opposite ends of the second coupling member 90b to connect the second expansion screw 50b to the second expansion end 43b of the second screw body 40b.

[0022] In this embodiment, the first coupling member 90a includes a first positioning body 91a, a first front coupling external screw 92a, and a first rear coupling external screw 93a. The first front coupling external screw 92a and the first rear coupling external screw 93a are respectively provided on opposite ends of the first positioning body 91a and engage with the first front coupling screw hole 44a and the first rear coupling screw hole 56a. In this embodiment, the first screw body 40a includes a first front positioning through-hole 45a that spatially corresponds to the first positioning body 91a, and the first front coupling screw hole 44a communicates with the outside via the first front positioning through-hole 45a. The first expansion screw 50a also includes a first rear positioning through-hole 57a that spatially corresponds to the first positioning body 91a, and the first rear coupling screw hole 56a communicates with the outside via the first rear positioning through-hole 57a. In this embodiment, the sum T2 of the lengths of the first front positioning through-hole 45a and the first rear positioning through-hole 57a is greater than the length T1 of the first positioning body 91a but less than the length T3 of the first coupling member 90a. This allows the first coupling member 90a to accurately couple the first expansion screw 50a to the first screw body 40a, ensuring that the end point E1 of the first body external thread 41a is continuous with the start point S1 of the first expansion external thread 51a, as shown in FIG. 7A . In this embodiment, the second coupling member 90b includes a second positioning body 91b, a second front external coupling thread 92b, and a second rear external coupling thread 93b. The second front external coupling thread 92b and the second rear external coupling thread 93b are respectively located on opposite ends of the second positioning body 91b and engage with the second front coupling screw hole 44b and the second rear coupling screw hole 56b. In this embodiment, the second screw body 40b includes a second front positioning through-hole 45b that spatially corresponds to the second positioning body 91b, and the second front coupling screw hole 44b communicates with the outside through the second front positioning through-hole 45b. The second expansion screw 50b also includes a second rear positioning through-hole 57b that spatially corresponds to the second positioning body 91b, and the second rear coupling screw hole 56b communicates with the outside through the second rear positioning through-hole 57b.In this embodiment, the sum T2' of the lengths of the second front positioning through-hole 45b and the second rear positioning through-hole 57b is greater than the length T1' of the second positioning body 91b and less than the length T3' of the second connecting member 90b. As a result, as shown in Figure 7B, the second connecting member 90b can accurately connect the second expansion screw 50b and the second screw body 40b, ensuring that the end point E1' of the second body external thread 41b is continuous with the start point S1' of the second expansion external thread 51b.

[0023] In this embodiment, the orientation of the first front external coupling threads 92a is the same as the orientation of the first body external threads 41a but is opposite to the orientation of the first rear external coupling threads 93a. The orientation of the second front external coupling threads 92b is the same as the orientation of the second body external threads 41b but is opposite to the orientation of the second rear external coupling threads 93b. In another embodiment, the orientation of the first front external coupling threads 92a' of the first coupling member 90a' is opposite to the orientation of the first body external threads 41a and also opposite to the orientation of the first rear external coupling threads 93a. The orientation of the second front external coupling threads 92b' of the second coupling member 90b' is opposite to the orientation of the second body external threads 41b and also opposite to the orientation of the second rear external coupling threads 93b. In another embodiment, the orientations of the first external coupling screw 54a, the second external coupling screw 54b, the first front external coupling screw 92a, the first rear external coupling screw 93a, the second front external coupling screw 92b, and the second rear external coupling screw 93b can be adjusted according to actual needs and are not limited by the orientations of the first external body screw 41a and the second external body screw 41b, and a description thereof will be omitted here.

[0024] From the above, in the present invention, the first extension plate 20a and the first bifurcated plate 20b, the first screw body 40a and the second screw body 40b, the first expansion screw 50a and the second expansion screw 50b, the first nut 60a and the second nut 60b, and the first expansion rail 71a and the second expansion rail 71b are designed to be symmetrical, which is advantageous for modularization, facilitating replacement and adjustment, and enabling clamping operations with different strokes. If the stroke length of the gripper structure needs to be increased, the stroke can be increased by adding the first extension plate 20a and the first bifurcated plate 20b, the first expansion screw 50a and the second expansion screw 50b, and the first expansion rail 71a and the second expansion rail 71b on both sides, eliminating the need to redesign the gripper structure and contributing to the versatility of product applications. Of course, the lengths of the first and second extension plates 20a and 20b, the first and second extension screws 50a and 50b, the first and second extension rails 71a and 71b, and the number of rails added on each side can be changed according to actual needs, but the present invention is not limited thereto.

[0025] As described above, the present invention provides a modular gripper whose length can be adjusted to meet demands, eliminating the need to redesign the screw and main body fixing plate. The length of both sides of the main body fixing plate can be increased by using extension plates. The main body fixing plate and the extension plates are secured using a parallel locking mechanism, avoiding vertical stacking and locking, thereby preventing an increase in overall plate thickness. The screw bodies of the left-handed and right-handed screws can also be increased in length by using extension screws. The screw bodies and the extension screws are connected concentrically along the axial direction, with their respective threads connected. The left-handed and right-handed screws are connected to the motor of the driving module by concentric pulleys. When the motor rotates the pulleys via a belt, the left-handed and right-handed screws are simultaneously operated, displacing the corresponding nuts within the screw body and the extension screw. The nuts on the left-handed and right-handed screws are mounted on a linear rail as relay plates via sliders, allowing the clips to move smoothly left and right along with the nuts, achieving long-stroke clamping operations. The screw body, extension plate, extension screw, nut, linear rail, extension rail and other components are designed symmetrically, which is advantageous for modularization, facilitating replacement and adjustment, and enabling clamping operations with different strokes.If the stroke length of the gripper structure needs to be increased, the stroke can be increased by installing extension screws, extension plates and extension rails on both sides, eliminating the need to redesign the gripper structure and helping to increase the versatility of product applications.

[0026] The present invention may be modified or changed in various ways by those skilled in the art, and such modifications or changes do not depart from what is protected by the appended claims. [Explanation of symbols]

[0027] 1: Modular gripper 10: Main body fixing plate 11a, 11b: connection end 12: Window 20a: First extension board 20b: Second extension plate 21a: First connecting member 21b: Second connecting member 211: First locking member 212: Second locking member 213: Restriction member 214, 215: Operation end 30: Drive module 31: Motor 32: Belt 33: Pulley 40a: First screw body 41a: First external body screw 42a: First driving end 43a: First extension end 44a: First front coupling screw hole 45a: First front positioning hole 40b: Second screw body 41b: Second external body screw 42b: Second driving end 43b: Second extension end 44b: Second front coupling screw hole 45b: Second front positioning hole 50a: First expansion screw 51a: First expansion external screw 52a: First joint 53a: First support part 54a: First coupling external screw 55a: First positioning portion 56a: First rear connecting screw hole 57a: First rear positioning hole 50b: Second expansion screw 51b: Second expansion external screw 52b: Second joint 53b: Second support part 54b: Second external coupling screw 55b: Second positioning portion 56b: Second rear connecting screw hole 57b: Second rear positioning hole 60a: First nut 60b: Second nut 70: Linear rail 71a: First extension rail 71b: Second extension rail 72a: First slider 72b: Second slider 80a: First clamp 80b: Second clamp 90a, 90a': first connecting member 91a: First positioning body 92a, 92a': First front connecting screw 93a: First rear connecting screw 90b, 90b': second connecting member 91b: Second positioning body 92b, 92b': Second front coupling external screw 93b: Second rear connecting screw A1: First expansion screw twist angle A1': Second expansion screw twist angle A2: First bond external twist angle A2': Second bond external twist angle C: Chuo line D: Thread pitch E1, E1': End point L1, L2: bond lengths S1, S1', S2, S2': starting point T1, T2, T3, T1', T2', T3': length X, Y, Z: Axes

Claims

1. A modular gripper including a body fixing plate, a first expansion plate, a second expansion plate, a drive module, a first screw body, a second screw body, a first expansion screw, a second expansion screw, a first nut, and a second nut, the main body fixing plate has two connection ends opposite to each other in a first direction; the first extension plate and the second extension plate are bilaterally symmetrical to each other and are detachably connected to the two connection ends of the main body fixing plate via a first connecting member and a second connecting member, respectively, in the first direction; the drive module is provided on the main body fixing plate, the first screw body and the second screw body are bilaterally symmetrical to each other, mounted on the body fixing plate, and arranged concentrically in the first direction; the first screw body includes a first driving end and a first expansion end, the second screw body includes a second driving end and a second expansion end, the first driving end and the second driving end face each other in the first direction and are connected to the driving module, and the first expansion end and the second expansion end are disposed opposite each other in the first direction; The first expansion screw and the second expansion screw are bilaterally symmetrical to each other, the first expansion screw is detachably connected to the first expansion end, and the threads of the first expansion screw are continuous with the threads of the first screw body, the second expansion screw is detachably connected to the second expansion end, and the threads of the second expansion screw are continuous with the threads of the second screw body, a modular gripper, wherein the first nut and the second nut are symmetrical to each other and correspond to and fitted on the first screw body and the second screw body, respectively; when the first screw body and the first expansion screw are synchronously driven to rotate by the driving module, the first nut is displaceable relative to the first screw body and the first expansion screw along the first direction; when the second screw body and the second expansion screw are synchronously driven to rotate by the driving module, the second nut is displaceable relative to the second screw body and the second expansion screw along the first direction; and the first nut and the second nut move close to and away from each other to achieve a clamping operation.

2. 2. The modular gripper of claim 1, wherein each of the first connecting members and the second connecting members includes a first locking member, a second locking member, and a limiting member, the first locking member and the second locking member are concentrically arranged, an operating end of the first locking member and an operating end of the second locking member face each other, the limiting member is provided between the first locking member and the second locking member to limit an axial distance between the first locking member and the second locking member, and windows are further formed when the first extension plate is connected to the main body fixing plate and when the second extension plate is connected to the main body fixing plate, and the operating ends of the first locking member and the second locking member are exposed to the outside through the windows.

3. 2. The modular gripper of claim 1, wherein the first screw body has a first external body thread, the second screw body has a second external body thread, the first external body thread and the second external body thread have opposite orientations, the first expansion screw has a first external expansion thread, the second expansion screw has a second external expansion thread, the first external expansion thread and the second external expansion thread have opposite orientations, an end point of the first external body thread is continuous with a start point of the first external expansion thread, and an end point of the second external body thread is continuous with a start point of the second external expansion thread of the second expansion screw.

4. 4. The modular gripper of claim 3, wherein the first expansion screw includes a first coupling portion and a first support portion, the first coupling portion being detachably connected to the first expansion end and the first support portion being pivotally connected to the first expansion plate, and the second expansion screw includes a second coupling portion and a second support portion, the second coupling portion being detachably connected to the second expansion end and the second support portion being pivotally connected to the second expansion plate.

5. 5. The modular gripper of claim 4, wherein a starting point of the first extended external thread has a first extended external thread twist angle, the first screw body includes a first front coupling screw hole provided at the extended end, the first coupling portion includes a first coupling external thread corresponding to the first front coupling screw hole, the starting point of the first coupling external thread has a first extended external thread twist angle, the first extended external thread twist angle is equal to the first coupling external thread twist angle, the starting point of the second extended external thread has a second extended external thread twist angle, the second screw body includes a second front coupling screw hole provided at the second extended end, the second coupling portion includes a second coupling external thread corresponding to the second front coupling screw hole, the starting point of the second coupling external thread has a second extended external thread twist angle, and the second extended external thread twist angle is equal to the second coupling external thread twist angle.

6. 6. The modular gripper according to claim 5, wherein the first coupling portion further includes a first positioning portion provided between the first coupling external screw and the first expanding external screw, the first screw body includes a first front positioning through-hole spatially corresponding to the first positioning portion, and the first front coupling screw hole communicates with the outside through the first front positioning through-hole, and the second coupling portion further includes a second positioning portion provided between the second coupling external screw and the second expanding external screw, the second screw body includes a second front positioning through-hole spatially corresponding to the second positioning portion, and the second front coupling screw hole communicates with the outside through the second front positioning through-hole.

7. 2. The modular gripper of claim 1, wherein the first screw body includes a first front coupling screw hole provided at the first extended end, the first expansion screw includes a first rear coupling screw hole and a first support portion provided at opposite ends, the first support portion is pivotally connected to the first extension plate, the first front coupling screw hole and the first rear coupling screw hole respectively engage with opposite ends of a first coupling member, and the first expansion screw is connected to the first extended end of the first screw body; the second screw body includes a second front coupling screw hole provided at the second extended end, the second expansion screw includes a second rear coupling screw hole and a second support portion provided at opposite ends, the second support portion is pivotally connected to the second extension plate, and the second front coupling screw hole and the second rear coupling screw hole respectively engage with opposite ends of a second coupling member, and the second expansion screw is connected to the second extended end of the second screw body.

8. The first coupling member includes a first positioning body, a first front coupling outer screw, and a first rear coupling outer screw. The first front coupling outer screw and the first rear coupling outer screw are respectively provided on opposite ends of the first positioning body and engaged with the first front coupling screw hole and the first rear coupling screw hole. The first screw body includes a first front positioning through-hole spatially corresponding to the first positioning body, and the first front coupling screw hole communicates with the outside through the first front positioning through-hole. The first expansion screw includes a first rear positioning through-hole spatially corresponding to the first positioning body, and the first rear coupling screw hole communicates with the outside through the first rear positioning through-hole. The second coupling member is 8. The modular gripper of claim 7, comprising: a second positioning body, a second front coupling external screw, and a second rear coupling external screw, the second front coupling external screw and the second rear coupling external screw being respectively provided on opposite ends of the second positioning body and engaging with the second front coupling screw hole and the second rear coupling screw hole, the second screw body including a second front positioning through-hole spatially corresponding to the second positioning body, the second front coupling screw hole communicating with the outside through the second front positioning through-hole, the second expansion screw including a second rear positioning through-hole spatially corresponding to the second positioning body, the second rear coupling screw hole communicating with the outside through the second rear positioning through-hole.

9. 2. The modular gripper of claim 1, wherein the drive module includes a motor, a belt, and a pulley, the pulley is connected to the first drive end of the first screw body and the second drive end of the second screw body, the motor is provided on the body fixing plate, and the belt is connected to the pulley to drive the pulley and drive the first screw body and the second screw body to rotate concentrically.

10. 2. The modular gripper of claim 1, further comprising: a linear rail; a first extension rail; a second extension rail; a first slider; and a second slider, wherein the linear rail is provided on the main body fixing plate along the first direction and spatially corresponds to the first screw body and the second screw body; the first extension rail and the second extension rail are bilaterally symmetrical to each other, provided on the first extension plate and the second extension plate, respectively, and connected to both ends of the linear rail; the first slider is connected to the first nut and is displaceable relative to the linear rail and the first extension rail along the first direction in synchronization with the first nut; and the second slider is connected to the second nut and is displaceable relative to the linear rail and the second extension rail along the first direction in synchronization with the second nut.

11. 11. The modular gripper of claim 10, further comprising a first clamp and a second clamp fixed to the first slider and the second slider, respectively, wherein when the first screw body, the first expansion screw, the second screw body, and the second expansion screw are rotationally driven by the drive module, the first nut, the first slider, and the first clamp move toward and away from the second nut, the second slider, and the second clamp to accomplish the clamping operation.

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