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.

Claims

1. A modular gripper comprising a main 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 connecting ends that are opposite to each other in the first direction, The first extension plate and the second extension plate are symmetrical to each other and are detachably connected to the two connecting 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 symmetrical to each other, mounted on the body fixing plate, and arranged concentrically in the first direction. The first screw body includes a first drive end and a first expansion end, and the second screw body includes a second drive end and a second expansion end. The first drive end and the second drive end face each other in the first direction and are connected to the drive module, and the first expansion end and the second expansion end are mounted on opposite sides of each other in the first direction. The first expansion screw and the second expansion screw are symmetrical to each other, the first expansion screw is detachably connected to the first expansion end, the threads of the first expansion screw are connected to the threads of the first screw body, the second expansion screw is detachably connected to the second expansion end, 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 are fitted to the first screw body and the second screw body, respectively. When the first screw body and the first expansion screw are rotated synchronously by the drive module, the first nut is displaceable along the first direction relative to the first screw body and the first expansion screw. When the second screw body and the second expansion screw are rotated synchronously by the drive module, the second nut is displaceable along the first direction relative to the second screw body and the second expansion screw. The first nut and the second nut move closer to and further apart from each other to perform clamping operations. This is a modular gripper.

2. The modular gripper according to claim 1, wherein each of the first connecting member and the second connecting member includes a first locking member, a second locking member and a limiting member, the first locking member and the second locking member are arranged concentrically, the operating end of the first locking member and the 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 the axial distance between the first locking member and the second locking member, and 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, windows are further formed, and the operating ends of the first locking member and the operating ends of the second locking member are exposed to the outside through the windows.

3. The modular gripper according to claim 1, wherein the first screw body has a first external thread, the second screw body has a second external thread, the orientations of the first and second external threads are opposite, the first expansion screw has a first external expansion thread, the second expansion screw has a second external expansion thread, the orientations of the first and second external expansion threads are opposite, the endpoint of the first external thread connects to the starting point of the first external expansion thread, and the endpoint of the second external thread connects to the starting point of the second external expansion thread of the second expansion screw.

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

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

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 expansion 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 expansion 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. The modular gripper according to claim 1, wherein the first screw body includes a first front coupling screw hole provided at the first expansion 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 being pivotally connected to the first expansion plate, the first front coupling screw hole and the first rear coupling screw hole engaging at opposite ends of the first coupling member, the first expansion screw being connected to the first expansion end of the first screw body, and the second screw body includes a second front coupling screw hole provided at the second expansion 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 being pivotally connected to the second expansion plate, the second front coupling screw hole and the second rear coupling screw hole engaging at opposite ends of the second coupling member, the second expansion screw being connected to the second expansion end of the second screw body.

8. The first coupling member includes a first positioning body, a first front coupling external screw, and a first rear coupling external screw, the first front coupling external screw and the first rear coupling external screw being provided at opposite ends of the first positioning body and engaging with the first front coupling screw hole and the first rear coupling screw hole, the first screw body including a first front positioning through hole spatially corresponding to the first positioning body, the first front coupling screw hole communicating with the outside through the first front positioning through hole, the first expansion screw including a first rear positioning through hole spatially corresponding to the first positioning body, the first rear coupling screw hole communicating with the outside through the first rear positioning through hole, and the second coupling member is The modular gripper according to 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 provided at 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, and 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. The modular gripper according to claim 1, wherein the drive module includes a motor, a belt, and a pulley, the pulley being connected to the first drive end of the first screw body and the second drive end of the second screw body, the motor being provided on the body fixing plate, and the pulley being driven by the belt being connected to the pulley, thereby driving the first screw body and the second screw body to rotate concentrically.

10. A modular gripper according to 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 symmetrical with respect to each other and are 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 in the first direction relative to the linear rail and the first extension rail in synchronization with the first nut, and the second slider is connected to the second nut and is displaceable in the first direction relative to the linear rail and the second extension rail in synchronization with the second nut.

11. The modular gripper according to 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 closer to and further away from the second nut, the second slider and the second clamp to perform the clamping operation.

Images