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CN-224209971-U - Self-adaptive reciprocating mechanical claw device, mechanical arm and assembly line

CN224209971UCN 224209971 UCN224209971 UCN 224209971UCN-224209971-U

Abstract

The utility model discloses a self-adaptive reciprocating mechanical gripper device, a mechanical arm and an assembly line, which belong to the technical field of mechanical grippers and comprise a base, guide mechanisms which are arranged on two sides of the base in the X direction and extend outwards, a clamping mechanism which comprises two clamping jaws which are arranged oppositely, a driving mechanism which is arranged in the base and is connected with the clamping jaws, the driving mechanism drives the clamping jaws to reciprocate along the guide mechanisms, a control module which is arranged on one side of the base and is electrically connected with the driving mechanism, and an interface module which is arranged on the base and is provided with a plurality of standardized interfaces for connecting the mechanical arm or the assembly line. The utility model can be adjusted according to the shape and the size of the object to be grabbed so as to realize more accurate grabbing effect, and the interface module is used for realizing the rapid switching and stable connection of the device between the mechanical arm and the assembly line.

Inventors

  • YANG HONGJUN

Assignees

  • 安徽工业大学

Dates

Publication Date
20260508
Application Date
20250520

Claims (10)

  1. 1. An adaptive reciprocating gripper apparatus comprising: A base (100); Guide mechanisms (500) which are arranged on both sides of the base (100) in the X direction and extend outwards; clamping mechanism comprising two oppositely arranged clamping jaws (400), characterized in that the clamping jaws (400) are movably arranged on a guiding mechanism (500); A driving mechanism (110) disposed inside the base (100) and connected with the clamping jaw (400), the driving mechanism (110) driving the clamping jaw (400) to reciprocate along the guiding mechanism (500); The control module (120) is arranged on one side of the base (100) and is electrically connected with the driving mechanism (110); And the interface module (200) is arranged on the base (100), and the interface module (200) is provided with a plurality of standardized interfaces (210) for connecting a mechanical arm or an assembly line.
  2. 2. The adaptive reciprocating gripper device according to claim 1, wherein the gripper (400) comprises a gripper base (410), a gripper body (420) and a driving rod assembly (430), the gripper base (410) is movably connected with the guiding mechanism (500), and the gripper body (420) is connected with the gripper base (410) through the driving rod assembly (430).
  3. 3. The adaptive reciprocating gripper apparatus of claim 2, wherein the driving rod assembly (430) is electrically connected to the control module (120), and the control module (120) controls the opening and closing angles of the gripper bodies (420) at both sides through the driving rod assembly (430).
  4. 4. A self-adaptive reciprocating gripper device according to claim 3, characterized in that the gripper body (420) comprises a gripper side plate (421) and a gripper hook (422), the gripper hook (422) is connected to the free end of the gripper side plate (421), and the end of the gripper side plate (421) opposite to the gripper hook (422) is connected to the output end of the driving rod assembly (430) in a rotating way.
  5. 5. The adaptive reciprocating gripper device according to claim 2, wherein limit stops (600) are mounted at both side ends of the guide mechanism (500), and the limit stops (600) are used for limiting the opening and closing angles of the gripper body (420).
  6. 6. The adaptive reciprocating gripper device according to claim 2, wherein the guide mechanism (500) comprises two opposite and parallel guide arms (510), a plurality of guide rods (520) are arranged between the two guide arms (510), the gripper base (410) is connected with the guide arms (510), and the ends of the guide arms (510) and the guide rods (520) are connected with the base (100) through the speed reducing mechanism (300).
  7. 7. An adaptive reciprocating gripper device according to claim 6, characterized in that the base (100) comprises a first base (101) and a second base (102), a guide rail (103) being arranged between the first base (101) and the second base (102), the guide rail (103) being arranged in the Y-direction, the reduction mechanism (300) being connected to the first base (101), the reduction mechanism (300) driving the first base (101) to reciprocate along the guide rail (103).
  8. 8. An adaptive reciprocating gripper device according to claim 1, characterized in that the control module (120) comprises a programmable module and a communication module integrated in the control module (120).
  9. 9. A robotic arm comprising a gripper apparatus according to any one of claims 1-8.
  10. 10. An assembly line comprising a gripper apparatus according to any one of claims 1-8.

Description

Self-adaptive reciprocating mechanical claw device, mechanical arm and assembly line Technical Field The utility model relates to the technical field of mechanical claws, in particular to a self-adaptive reciprocating mechanical claw device, a mechanical arm and an assembly line. Background In the industrial automation field, the mechanical arm and the assembly line are critical to efficient production, but the traditional mechanical claw has single function and is difficult to adapt to diversified requirements. In the prior art, the gripper relying on shaft rotation has limited clamping range and needs to be customized in specification, and the gripper moving along the screw rod linearly is widely applicable, but the action retardation affects the efficiency. Through searching, chinese patent document with publication number CN115922757A discloses a translational electric clamping device and a mechanical arm, which relate to the technical field of clamping equipment and comprise a clamping base, a guide structure arranged on the clamping base, a clamping mechanism, a synchronous transmission mechanism arranged on the clamping base and connected with the guide structure, a driving device connected with the synchronous transmission mechanism in a transmission way, and a control system, wherein the clamping mechanism comprises two clamping jaws which are arranged oppositely, the two clamping jaws are arranged on the guide structure in a movable way, the control system is electrically connected with the synchronous transmission mechanism and the driving device, and can acquire travel signals of the synchronous transmission mechanism and control the output travel of the driving device. However, the clamping device in the patent document has a single application scene, and is inconvenient to switch to an assembly line by virtue of a mechanical arm platform. Disclosure of utility model The utility model aims to provide a self-adaptive reciprocating mechanical claw device, a mechanical arm and an assembly line, and solves the problems that in the prior art, the application scene of a clamping device is single, and the clamping device is inconvenient to switch into the assembly line by depending on a mechanical arm platform. In order to achieve the above object, the present utility model provides an adaptive reciprocating gripper device comprising a base, guide mechanisms disposed at both sides of the base in an X direction and extending outward, a clamping mechanism including two oppositely disposed jaws movably disposed on the guide mechanisms, a driving mechanism disposed inside the base and connected with the jaws, the driving mechanism driving the jaws to reciprocate along the guide mechanisms, a control module disposed at one side of the base and electrically connected with the driving mechanism, and an interface module disposed on the base, the interface module being provided with a plurality of standardized interfaces for connecting a robot arm or an assembly line. Further, the clamping jaw comprises a jaw base, a jaw body and a driving rod assembly, wherein the jaw base is movably connected with the guide mechanism, and the jaw body is connected with the jaw base through the driving rod assembly. Further, the driving rod assembly is electrically connected with the control module, and the control module controls the opening and closing angles of the claw piece bodies at two sides through the driving rod assembly. Further, the claw piece body comprises a claw piece side plate and a claw hook, wherein the claw hook is connected to the free end of the claw piece side plate, and one end of the claw piece side plate, which is opposite to the claw hook, is rotationally connected with the output end of the driving rod assembly. Further, limit baffles are installed at the end parts of the two sides of the guide mechanism, and the limit baffles are used for limiting the opening and closing angles of the claw piece body. Further, the guide mechanism comprises two opposite and parallel guide arms, a plurality of guide rods are arranged between the two guide arms, the claw piece base is connected with the guide arms, and the ends of the guide arms and the guide rods are connected with the base through a speed reducing mechanism. Further, the base comprises a first base part and a second base part, a guide rail is arranged between the first base part and the second base part, the guide rail is arranged along the Y direction, the speed reducing mechanism is connected with the first base part, and the speed reducing mechanism drives the first base part to reciprocate along the guide rail. Further, the control module comprises a programmable module and a communication module integrated in the control module. A mechanical arm comprises the mechanical claw device. An assembly line comprising the above-described gripper device. Compared with the prior art, the technical scheme provided by the utility model has the following b