CN114454207B

CN114454207B - Claw clamping device and grabbing method of objects to be grabbed

Info

Publication number: CN114454207B
Application number: CN202011247371.1A
Authority: CN
Inventors: 丁仁峰; 曾耀兴; 吕泓毅
Original assignee: Delta Electronics Inc
Current assignee: Delta Electronics Inc
Priority date: 2020-11-10
Filing date: 2020-11-10
Publication date: 2024-04-26
Anticipated expiration: 2040-11-10
Also published as: CN114454207A

Abstract

A claw clamping device comprises a bracket, a first clamping jaw, a second clamping jaw, a first telescopic module, a second telescopic module and an air bag. The first telescopic module is located on one side of the support and is connected with the first clamping jaw in a telescopic mode. The second telescopic module is positioned on the other side of the bracket and is connected with the second clamping jaw in a telescopic way. The air bag is used for cooperatively grabbing an object to be grabbed together with the first clamping jaw and the second clamping jaw.

Description

Claw clamping device and grabbing method of objects to be grabbed

Technical Field

The present invention relates to a jaw device, and more particularly to a jaw device with an airbag.

Background

In an automated process, a robot arm typically grips a workpiece in the field by retracting a gripper.

However, the external shape and weight of different parts may be quite different, and the jaw needs to be redesigned according to the external shape of different parts so as to properly grip the corresponding parts. Such frequent redesign clearly increases the resources, time and labor costs, and also greatly reduces the efficiency of the work in the field.

Disclosure of Invention

The present invention is directed to a gripper device and a gripping method for objects to be gripped, which solve the above-mentioned problems of the prior art.

An embodiment of the present invention is to provide a jaw apparatus. The claw clamping device comprises a bracket, at least one first clamping claw, at least one second clamping claw, at least one first telescopic module, at least one second telescopic module and an air bag. The first telescopic module is located on one side of the support and is connected with the first clamping jaw in a telescopic mode. The second telescopic module is positioned on the other side of the bracket and is connected with the second clamping jaw in a telescopic way. The air bag is used for cooperatively grabbing an object to be grabbed together with the first clamping jaw and the second clamping jaw.

According to one or more embodiments of the present invention, in the above-mentioned jaw apparatus, the first telescopic module includes two first retractors. The first retractors are positioned on the side of the bracket at intervals and are respectively connected with the first clamping jaw in a telescopic mode, and each first retractor is pivoted with the first clamping jaw.

According to one or more embodiments of the present invention, in the above-mentioned jaw apparatus, the second telescopic module includes two second retractors. The second retractors are positioned at intervals on the other side of the bracket, are respectively connected with the second clamping jaw in a telescopic mode, and are pivoted with the second clamping jaw.

According to one or more embodiments of the present invention, in the above-mentioned jaw clamping device, the bracket has an extending direction, the first telescopic module drives the first clamping jaw along a first telescopic direction, and the second telescopic module drives the second clamping jaw along a second telescopic direction. The air bag is positioned between the first clamping jaw and the second clamping jaw, the first telescopic direction and the second telescopic direction are coaxial, and the air bag is orthogonal to the extending direction of the bracket.

According to one or more embodiments of the present invention, in the above-mentioned jaw clamping device, the bracket has an extending direction, the first telescopic module drives the first clamping jaw along a first telescopic direction, and the second telescopic module drives the second clamping jaw along a second telescopic direction. The first telescopic direction, the second telescopic direction and the extending direction are mutually intersected, the minimum included angle between the first telescopic direction and the extending direction and the minimum included angle between the second telescopic direction and the extending direction are acute angles, and the air bag connecting support is not located in the space between the first clamping jaw and the second clamping jaw.

According to one or more embodiments of the present invention, in the above-mentioned jaw clamping device, the first telescopic module and the first clamping jaw are respectively two, and the first telescopic module is respectively located at two opposite ends of the bracket and at two opposite sides of the bracket. Each first telescopic module drives the corresponding first clamping jaw along a first telescopic direction. The second telescopic modules and the second clamping jaws are respectively two, and the second telescopic modules are respectively positioned at the opposite ends of the bracket and at the opposite sides of the bracket. Each second telescopic module drives the corresponding second clamping jaw along a second telescopic direction. The air bag connecting bracket is positioned in the range defined by the first clamping jaws and the second clamping jaws.

In accordance with one or more embodiments of the present invention, in the above-described jaw apparatus, the airbag is coupled to the bracket, and the charging nozzle of the airbag is positioned in the bracket.

According to one or more embodiments of the present invention, the jaw apparatus further includes an extension column and a first slider. The first sliding block is fixedly connected with the bracket and is slidably positioned on the extending column for sliding along a long axis direction of the extending column.

According to one or more embodiments of the present invention, the claw clamping device further includes a working module and a second slider. The second sliding block is fixedly connected with the working module and is slidably positioned on the extending column for sliding along the long axis direction of the extending column. For example, the working module is a jaw, an air bag, an inflator, or an air pressure sensor.

According to one or more embodiments of the present invention, the jaw apparatus further comprises a power device and a controller. The power device is used for independently controlling each first telescopic device and each second telescopic device to respectively operate the retraction of the first clamping jaw and the second clamping jaw. The controller is electrically connected with the power device and is used for controlling the output power of the power device so as to respectively operate the retraction of the first clamping jaw and the second clamping jaw and provide one of a plurality of grabbing postures.

According to one or more embodiments of the present invention, the jaw apparatus further comprises an inflator. The inflation device is connected with the air bag and is electrically connected with the controller so as to inflate the air bag and press the object to be grasped. The controller controls the air pressure of the air bag inflated by the inflation device.

According to one or more embodiments of the present invention, the jaw apparatus further includes a pressure sensor. The air pressure sensor is positioned in the air bag or in an air charging nozzle of the air bag and is used for sensing the air pressure data fed back by the air bag at present. Therefore, when the controller judges that the fed back air pressure data reaches a specific value, the controller drives the power device to enable the first clamping jaw and the second clamping jaw to grab the object to be grabbed.

An embodiment of the invention provides a grabbing method for objects to be grabbed. The grabbing method comprises the following steps. Two clamping jaws of a clamping jaw device are unfolded; inflating a balloon between the jaws; and when the air bag touches and presses an object to be grasped, controlling the clamping jaws to retract so as to grasp the object to be grasped.

Therefore, through the framework of each embodiment, the claw clamping device can be matched with the judgment of an on-site operator, the type of the claw clamping module can be changed rapidly, the stability of the grabbing object is kept, and the time efficiency of the whole automatic process is improved.

The above description is only intended to illustrate the problems to be solved, the technical means to solve the problems, the effects to be produced, etc., and the specific details of the present invention will be described in the following description and the related drawings.

Drawings

The above and other objects, features, advantages and embodiments of the present invention will become more apparent by reading the following description of the accompanying drawings in which:

FIG. 1 is a schematic view of a jaw apparatus according to an embodiment of the present invention;

FIG. 2A is a side view of the jaw apparatus of FIG. 1;

FIG. 2B is a top view of the jaw apparatus of FIG. 1;

FIG. 3 is a block diagram of the jaw apparatus of FIG. 1;

FIGS. 4A-4C are schematic views of the jaw apparatus of FIG. 1 in different gripping orientations;

FIG. 5A is a schematic view of a jaw apparatus according to an embodiment of the present invention;

FIG. 5B is a side view of the jaw apparatus of FIG. 5A;

FIG. 6A is a schematic illustration of the operation of the jaw apparatus of FIG. 5A;

FIG. 6B is a side view of the jaw apparatus of FIG. 6A;

FIG. 7A is a top view of a jaw apparatus according to one embodiment of the invention;

FIG. 7B is a top view of a jaw apparatus according to one embodiment of the invention;

FIG. 8 is a top view of a jaw apparatus according to one embodiment of the invention;

Fig. 9 is a flowchart of a method for grabbing an object according to an embodiment of the present invention.

Wherein the reference numerals are as follows:

10. 11, 12, 13, 14, jaw clamping device

100:

100A one end

100B another end

100E extending direction

110 Body

120 Pipe body

130 Extension column

131 Extending direction

140 First slider

150 Working module

160 Second slide block

200. 200A, 200B first expansion module

210 First telescopic device

210E first telescoping direction

211 First telescopic device above

212 First telescopic means below

213 Pivot shaft

300. 300A, 300B second expansion module

310 Second telescopic device

310E second telescoping direction

311 Second telescopic device above

312 Second lower telescopic device

313 Pivot shaft

320: Power plant

400 First clamping jaw

410 First sheet

420 First claw sheet

430 First included angle

440 First gap

500 Second clamping jaw

510 Second sheet

520 Second jaw

530 Second included angle

540 Second gap

600. 601 Air bag

610 Air charging nozzle

620 Inflatable device

630 Barometric sensor

700 Controller

901-905 Step

L left side jaw clamping set

O is the object to be grasped

P1, P2 part

R right side jaw clamping set

X, Y, Z shaft

Θ1, first minimum included angle

Θ2, the second minimum included angle

Detailed Description

Various embodiments of the invention are disclosed in the following drawings, in which details of the practice are set forth in the following description for the purpose of clarity. However, it will be understood by those skilled in the art that these practical details are not necessary in some embodiments of the present invention and are not, therefore, to be taken as limiting the present invention. Moreover, for the purpose of simplifying the drawings, some conventional structures and components are shown in the drawings in a simplified schematic manner. In addition, the dimensions of the various elements in the drawings are not drawn to scale for the convenience of the reader.

Fig. 1 is a schematic view of a jaw apparatus 10 according to an embodiment of the present invention. Fig. 2A is a side view of the jaw apparatus 10 of fig. 1. Fig. 2B is a top view of the jaw apparatus 10 of fig. 1. As shown in fig. 1 to 2B, the jaw apparatus 10 includes a bracket 100, a first telescopic module 200, a second telescopic module 300, a first clamping jaw 400, a second clamping jaw 500, and a balloon 600. The bracket 100 is located between the first clamping jaw 400 and the second clamping jaw 500, and the bracket 100 extends along an extending direction (such as the X-axis direction, fig. 2B). The first telescopic module 200 and the second telescopic module 300 are respectively positioned at opposite sides of the bracket 100. The first telescopic module 200 is telescopically connected to the first clamping jaw 400, and is used for moving in a first telescopic direction (such as a Y-axis direction, fig. 1) in a telescopic manner, so as to drive the first clamping jaw 400 to be positioned and maintain the position of the first clamping jaw 400. The second telescopic module 300 is telescopically connected to the second clamping jaw 500, and is used for moving in a second telescopic direction (such as a Y-axis direction, fig. 1) in a telescopic manner, so as to drive the second clamping jaw 500 to be positioned, and maintain the position of the second clamping jaw 500. The first clamping jaw 400 and the second clamping jaw 500 are respectively in an elongated sheet shape, and the first clamping jaw 400 and the second clamping jaw 500 are used for approaching each other to grab an object to be grabbed (not shown) or separating from each other to release the object to be grabbed. The airbag 600 is disposed between the first clamping jaw 400 and the second clamping jaw 500, and is used to cooperate with the first clamping jaw 400 and the second clamping jaw 500 to grasp the object to be grasped. However, the present invention is not limited to the first telescoping direction necessarily being orthogonal to the extension direction of the stent.

In the present embodiment, the first telescopic module 200 includes two first retractors 210. The first retractors 210 are located at a distance on one side of the frame 100 and are respectively connected with the first clamping jaws 400 in a telescopic manner, each first retractor 210 can independently push out or pull back the first clamping jaw 400, and each first retractor 210 is pivoted with the first clamping jaw 400 through a pivot 213. Specifically, the first retractors 210 are disposed at intervals along the longitudinal axis (e.g., Z-axis) of the first jaw 400. The second telescopic module 300 comprises two second retractors 310. The second retractors 310 are spaced apart on the other side of the frame 100 and are telescopically coupled to the second jaws 500, respectively. Each second telescopic device 310 can independently push out or pull back the second clamping jaw 500, and each second telescopic device 310 is pivoted to the second clamping jaw 500 through a pivot 313. Specifically, the second retractors 310 are disposed at intervals along the long axis (e.g., Z axis) of the second jaw 500.

Thus, by independently controlling the expansion and contraction of the first telescopic device 210 and the second telescopic device 310, the jaw clamping device 10 can arbitrarily change the extension angles of the first clamping jaw 400 and the second clamping jaw 500 according to the requirement, so as to display a plurality of (e.g. sixteen) grabbing postures to grab the expected object to be grabbed.

In this embodiment, the first clamping jaw 400 has substantially the same shape as the second clamping jaw 500, and has a dogleg shape or an L-shape. More specifically, the first clamping jaw 400 includes a first body 410 and a first clamping jaw 420. The first claw piece 420 of the first clamping jaw 400 is connected to the end of the first sheet body 410 and extends towards the second clamping jaw 500, so that the first sheet body 410 and the first claw piece 420 have a first included angle 430. Similarly, the second jaw 500 includes a second sheet 510 and a second jaw 520. The second claw 520 is connected to the end of the second sheet 510 and extends toward the first clamping jaw 400, such that the second sheet 510 and the second claw 520 have a second included angle 530. However, the present invention is not limited to the shapes, the included angles, the surface roughness and the materials of the first clamping jaw 400 and the second clamping jaw 500.

In this embodiment, for example, the bracket 100 includes a body 110 and a tube 120, and the tube 120 connects the body 110 and the airbag 600. The airbag 600 has an inflation nozzle 610, and the inflation nozzle 610 is positioned in the tube 120 to enable inflation or deflation of the airbag 600. When the airbag 600 is inflated to expand to the object to be grasped in the Z-axis direction, the airbag 600 is positioned between the object to be grasped and the bracket 100. However, the present invention is not limited to the location of the balloon 600, and in other embodiments, the balloon 600 may not be disposed on the stent 100 or above the object to be grasped.

The invention is not limited to the type, number, material, inflation amount and surface roughness of the balloon 600, but in other embodiments, the balloon 600 may be an inflatable object such as a sphere, square or cylinder, and the material of the balloon 600 may be a stretchable material such as natural rubber, synthetic rubber and latex.

Fig. 3 is a block diagram of the jaw apparatus 10 of fig. 1. Referring to fig. 1 and 3, the jaw apparatus 10 further includes a power device 320 and a controller 700. The power device 320 is used for independently controlling each of the first telescopic device 210 and the second telescopic device 310 to respectively operate the retraction of the first clamping jaw 400 and the second clamping jaw 500. The controller 700 is electrically connected to the power device 320, and is configured to control the output power of the power device 320 to respectively operate the retraction of the first clamping jaw 400 and the second clamping jaw 500, so as to provide any of the above-mentioned gripping gestures.

In the present embodiment, each of the first telescopic device 210 and the second telescopic device 310 is a linear motion mechanism that is broadly extendable. For example, each of the first and second retractors 210 and 310 is a pneumatic cylinder, and the power device 320 is a pneumatic pump, which can drive the pneumatic cylinder to open and close, and control the actions of the first and second clamping jaws 400 and 500 in two operation states. However, the present invention is not limited thereto, and in other embodiments, each of the first telescopic device 210 and the second telescopic device 310 may be a pneumatic cylinder, a hydraulic cylinder, an electric cylinder, a linear motor, a gear-driven linear motion mechanism, or the like.

In this embodiment, the jaw apparatus 10 further comprises an inflator 620. The inflator 620 is connected to the inflation nozzle 610 of the airbag 600 to inflate the airbag 600. The inflator 620 is electrically connected to the controller 700, so the controller 700 can control the inflator 620 to continuously or stepwise inflate the airbag 600 and to a specific air pressure at which the airbag 600 is inflated.

In addition, the jaw apparatus 10 further includes a pressure sensor 630. The air pressure sensor 630 is located in the air inlet 610 of the air bag 600 for sensing the air pressure data fed back by the air bag 600. Therefore, the controller 700 performs corresponding processing steps according to the fed-back air pressure data. For example, but not limited to, when the controller 700 determines that the fed back air pressure data reaches a specific value, the controller 700 controls the air charging device 620 to stop the air bag 600, and drives the power device 320 to make the first clamping jaw 400 and the second clamping jaw 500 clamp the object to be clamped. However, the present invention is not limited to the location of the air pressure sensor 630, and in other embodiments, the air pressure sensor 630 may be located inside the air bag 600, or the jaw apparatus 10 may omit the presence of the air pressure sensor 630.

Fig. 4A to 4C are respectively schematic views illustrating the operation of the jaw apparatus 10 of fig. 1 in different gripping postures. As shown in fig. 4A, in the present embodiment, these first retractors are hereinafter abbreviated as an upper first retractor 211 and a lower first retractor 212, and the upper first retractor 211 and the lower first retractor 212 are pivoted to the first clamping jaw 400 along the Z-axis direction in sequence. Similarly, these second retractors are hereinafter referred to as an upper second retractor 311 and a lower second retractor 312, and the upper second retractor 311 and the lower second retractor 312 are pivoted to the second jaw 500 along the Z-axis direction in order.

Thus, when jaw apparatus 10 is controlled to operate first jaw 400 and second jaw 500, jaw apparatus 10 retracts first upper retractor 211 into first jaw 400, second upper retractor 311 into second jaw 500, first lower retractor 212 out of first jaw 400, and second lower retractor 312 out of second jaw 500. Therefore, the jaw apparatus 10 can provide a symmetrical gripping posture, and the gripping posture of the jaw apparatus 10 is an unfolding posture at this time, so as to be used for gripping a specific size of the object to be gripped or releasing the object to be gripped.

As shown in fig. 4B, when the jaw apparatus 10 is controlled to operate the first jaw 400 and the second jaw 500, the upper first telescopic device 211 pulls back the first jaw 400, the upper second telescopic device 311 pulls back the second jaw 500, the lower first telescopic device 212 pushes out the first jaw 400, and the lower second telescopic device 312 pulls back the second jaw 500. Therefore, the gripping posture of the jaw apparatus 10 at this time is a half-open posture so as to be able to grip the object to be gripped tightly. In this manner, the jaw apparatus 10 can be provided in an asymmetrically opened and closed position for gripping a specific shape and size of object to be gripped.

As shown in fig. 4C, when the jaw apparatus 10 is controlled to operate the first jaw 400 and the second jaw 500, the upper first telescopic device 211 pushes out the first jaw 400, the upper second telescopic device 311 pushes out the second jaw 500, the lower first telescopic device 212 pulls back the first jaw 400, and the lower second telescopic device 312 pulls back the second jaw 500. Therefore, the gripping posture of the jaw apparatus 10 is a closed posture at this time so as to be used for gripping the object to be gripped more tightly.

Fig. 5A is a schematic view of a jaw apparatus 11 according to an embodiment of the present invention. Fig. 5B is a side view of the jaw apparatus 11 of fig. 5A. As shown in fig. 5A and 5B, the jaw apparatus 11 of fig. 5A is substantially the same as the jaw apparatus 10 of fig. 1, except that the jaw apparatus 11 further includes an extension post 130, a plurality of first sliders 140, a left jaw set L and a right jaw set R. The left jaw set L includes two first retractors (i.e., the upper first retractor 211 and the lower first retractor 212), two second retractors (i.e., the upper second retractor 311 and the lower second retractor 312), a first clamping jaw 400 and a second clamping jaw 500. The right jaw set R includes two first retractors (i.e., the upper first retractor 211 and the lower first retractor 212), two second retractors (i.e., the upper second retractor 311 and the lower second retractor 312, refer to fig. 5A), two first clamping jaws 400 and one second clamping jaw 500 (refer to fig. 5A). The extension column 130 has an extension direction 131, that is, the extension column 130 extends linearly along the extension direction 131. One side of each first slider 140 is slidably engaged with the extension column 130, the left jaw set L is fixedly connected to one of the first sliders 140, and the right jaw set R is fixedly connected to the other first slider 140. The air bag 600 is located between the left jaw set L and the right jaw set R and is fixedly connected to the further first slider 140.

Therefore, the left and right jaw sets L and R and the airbag 600 can slide back and forth in the extending direction 131 on the extending column 130 through the corresponding first slider 140. In this way, the jaw device 11 can be brought to a specific position for subsequent gripping or removal.

It should be understood that the shape, size and material of the extension column 130 are not limited in the present invention, for example, the extension column 130 has a cylindrical shape, a trapezoid-like shape, and other long shapes; the number, shape, size and materials of the slider, jaw and air bag that can be assembled on the extension column 130 are not limited in the present invention. If there are a plurality of sliders, the present invention also does not limit the distance between the first slider 140 and the extension post 130.

In addition, as shown in fig. 5A and 5B, the first clamping jaws 400 are spaced apart from each other and are arranged side by side on one side of the bracket 100. The second clamping jaws 500 are spaced apart from each other and are arranged side by side on the other side of the holder 100. More specifically, the first clamping jaws 400 and the second clamping jaws 500 are spaced apart from each other along the extending direction 131. In addition, in the present embodiment, the first clamping jaws 400 and the second clamping jaws 500 are aligned with each other, in other words, a first gap 440 is formed between any two adjacent first clamping jaws 400, and a second gap 540 is formed between any two adjacent second clamping jaws 500. One of the first clamping jaws 400 is aligned with (or overlaps) one of the second clamping jaws 500, the second gap 540 is aligned with (or overlaps) the first gap 440, and the other first clamping jaw 400 is aligned with (or overlaps) the second clamping jaw Ji Lingyi of the pair of first clamping jaws (not shown).

In addition, as shown in fig. 5B, the jaw apparatus 11 further includes a plurality of working modules 150 and a plurality of second sliders 160. One side of each second slider 160 is fixedly connected with one working module 150, and the other side of the second slider 160 is slidably connected to the extension column 130. Therefore, each working module 150 can slide back and forth on the extending column 130 along the extending direction 131 through the action of the second slider 160, so as to move to a proper position for the operation of the jaw device 11. Therefore, since any working module 150 can be assembled to the jaw apparatus 11 through the second slider 160 as an engagement mechanism, the jaw module has high expandability.

It should be understood that the present invention is not limited to the type of the working module 150, for example, the working module 150 is a suitable module such as a jaw, an airbag 600, an inflator 620, a gas pressure sensor 630, etc.

Fig. 6A is a schematic operation view of the jaw apparatus 11 of fig. 5A. Fig. 6B is a side view of the jaw apparatus 11 of fig. 6A. As shown in fig. 6A and 6B, since the first retractors 211 and 212 can independently drive the first clamping jaws 400, and the second retractors 311 and 312 can independently drive the second clamping jaws 500, the controller 700 (fig. 3) can drive the specific first clamping jaws 400 and the specific second clamping jaws 500 according to the shape and size of the object O to be grasped so as to match the shape and size of the object O to be grasped.

For example, as shown in fig. 6A and 6B, when the object to be gripped O is an object (e.g. a vertebral object) with a different cross-sectional area, the first jaw 400 and the second jaw 500 of the left jaw set L are adjusted to a closed posture, that is, the jaw clamping device 11 controls the first retractors 211, 212 and the second retractors 311, 312 to fully retract the first jaw 400 and the second jaw 500 of the left jaw set L (fig. 6A), so that the first jaw 400 and the second jaw 500 of the left jaw set L can jointly grip the portion P1 with a smaller cross-sectional area in the object to be gripped O, and the first jaw 400 and the second jaw 500 of the right jaw set R are adjusted to an open posture, that is, the first retractors 211, 212 and the second retractors 311, 312 are controlled to fully push out the first jaw 400 and the second jaw 500 of the right jaw set R (fig. 6B), so that the first jaw 400 and the second jaw 500 of the right jaw set R can grip the portion P2 with a larger cross-sectional area in the object to be gripped O. At this time, the air bag 600 is inflated to the object to be gripped O, so that the air bag 600 can stably hold the object to be gripped O, thereby reducing the probability of the object to be gripped O sliding off the jaw device 11, and further improving the versatility of the jaw device 11.

Fig. 7A is a top view of a jaw apparatus 12 according to an embodiment of the invention. The difference between the jaw apparatus 12 of fig. 7A and the jaw apparatus 10 of fig. 2B is that, as shown in fig. 7A, the first telescopic direction 210E of the first telescopic device 210 and the second telescopic direction 310E of the second telescopic device 310 are not coaxial with each other, and the first telescopic direction 210E, the second telescopic direction 310E and the extending direction 100E of the bracket 100 intersect with each other. In other words, the first telescopic direction 210E and the second telescopic direction 310E together form a V shape, and the first minimum included angle θ1 formed between the first telescopic direction 210E and the extending direction 100E and the second minimum included angle θ2 formed between the second telescopic direction 310E and the extending direction 100E are all the same acute angles. In addition, the airbag 601 is located outside the space formed by the first clamping jaw 400 and the second clamping jaw 500, and the first clamping jaw 400 and the second clamping jaw 500 can push an object to be gripped (not shown in the figure) to one side of the airbag 601, so that the first clamping jaw 400, the second clamping jaw 500 and the airbag 601 can effectively jointly hold the object to be gripped.

However, the first minimum included angle θ1 is not limited to the above-mentioned first minimum included angle θ2, and in other embodiments, fig. 7B is a top view of the jaw apparatus 13 according to an embodiment of the invention, and in the jaw apparatus 13 shown in fig. 7B, the first minimum included angle θ1 formed between the first telescopic direction 210E and the extending direction 100E is different from the second minimum included angle θ2 formed between the second telescopic direction 310E and the extending direction 100E.

Fig. 8 is a top view of jaw apparatus 14 according to one embodiment of the invention. The difference between the jaw device 14 of fig. 8 and the jaw device 12 of fig. 7A is that, as shown in fig. 8, when the number of the first clamping jaw 400 and the first telescopic modules 200A, 200B is 2, and the number of the second clamping jaw 500 and the second telescopic modules 300A, 300B is 2, one of the first telescopic module 200A and one of the second telescopic modules 300A is disposed at one end 100A of the bracket 100, and the other of the first telescopic module 200B and the other of the second telescopic modules 300B is disposed at the other end 100B of the bracket 100.

More specifically, the first telescopic modules 200A and 200B are disposed on opposite sides of the bracket 100, the second telescopic modules 300A and 300B are disposed on opposite sides of the bracket 100, respectively, one first telescopic module 200A and the other second telescopic module 300B are disposed on the same side of the bracket 100, and one second telescopic module 300A and the other first telescopic module 200B are disposed on the same side of the bracket 100. The first stretching directions 210E of the first stretching modules 200 are parallel to each other, the second stretching directions 310E of the second stretching modules 300 are parallel to each other, and the airbag 600 is connected to the bracket 100 within a range defined by the first clamping jaws 400 and the second clamping jaws 500, so as to perform inflation from the bracket 100 toward the object to be gripped (not shown) (refer to fig. 1).

Fig. 9 is a flowchart of a gripping method of an object to be gripped according to an embodiment of the present invention. As shown in fig. 9, the capturing method includes steps 901 to 905 as follows. In step 901, a first jaw and a second jaw of a jaw clamping device are deployed; in step 902, moving the jaw device or the object to be grasped until the object to be grasped enters between the first jaw and the second jaw; in step 903, inflating an airbag of the jaw apparatus; and in step 904, determining whether the air bag of the jaw clamping device presses the object to be gripped, if so, performing step 905, otherwise, performing step 903. In step 905, the first clamping jaw and the second clamping jaw are retracted to grasp the object to be grasped.

More specifically, the step 903 further includes the following two steps. The maximum sustainable air pressure of the air bag is obtained, and the air bag is continuously inflated under the premise of controlling the inflating device to the maximum sustainable air pressure.

In step 904, two steps are further included as follows. Judging whether the air pressure in the air bag is abnormal according to the air pressure data fed back by the air pressure sensor, and when the air pressure in the air bag is abnormal, confirming that the air bag touches the object to be grasped. Therefore, the claw assisting clamp device can conduct closing gesture in real time at a proper distance, and accuracy of grabbing objects by the claw clamp device is improved, and operation complexity is reduced.

Therefore, through the architecture of the above embodiments, the claw clamping device of the present invention can be matched with the judgment of the on-site operator to quickly change the form of the claw clamping module, and maintain the stability of the grabbing object, so as to improve the overall time efficiency of the automation flow. In addition, the invention has the further advantage that the manufacturing cost can be largely saved, and the cost of the stepping motor, the related transmission parts and the controller thereof is saved.

Finally, the embodiments disclosed above are not intended to limit the invention, but one skilled in the art can make various modifications and adaptations without departing from the spirit and scope of the invention. The scope of the invention is therefore defined in the appended claims.

Claims

1. A jaw apparatus, comprising:

A bracket;

at least one first clamping jaw and at least one second clamping jaw;

at least one first telescopic module positioned at one side of the bracket and connected with the first clamping jaw in a telescopic way;

At least one second telescopic module positioned at the other side of the bracket and connected with the second clamping jaw in a telescopic way; an air bag for cooperatively grabbing an object to be grabbed with the first clamping jaw and the second clamping jaw,

An inflator connected to the air bag for inflating the air bag and pressing the object to be grasped, and

The air pressure sensor is positioned in the air bag or in an air charging nozzle of the air bag and is used for sensing the air pressure data fed back by the air bag at present, wherein when the air pressure data reach a specific value, the first clamping jaw and the second clamping jaw grab the object to be grabbed.

2. The device of claim 1, wherein the first telescopic module comprises two first retractors, the first retractors are spaced apart from the side of the frame and are respectively connected to the first clamping jaw in a telescopic manner, and each of the first retractors is pivoted to the first clamping jaw.

3. The device as claimed in claim 2, wherein the second telescopic module comprises two second retractors, the second retractors are located at the other side of the frame at intervals, and are respectively connected with the second clamping jaw in a telescopic manner, and each second retractor is pivoted with the second clamping jaw.

4. The device of claim 1, wherein the frame has an extension direction, the first telescopic module drives the at least one first jaw in a first telescopic direction, the second telescopic module drives the at least one second jaw in a second telescopic direction,

The air bag is positioned between the first clamping jaw and the second clamping jaw, and the first telescopic direction and the second telescopic direction are coaxial and orthogonal to the extending direction of the bracket.

5. The device of claim 1, wherein the frame has an extension direction, the first telescopic module drives the at least one first jaw in a first telescopic direction, the second telescopic module drives the at least one second jaw in a second telescopic direction,

The first telescopic direction, the second telescopic direction and the extending direction are mutually intersected, a minimum included angle between the first telescopic direction and the extending direction and a minimum included angle between the second telescopic direction and the extending direction are acute angles, and the air bag is connected with the bracket and is not positioned in a space between the first clamping jaw and the second clamping jaw.

6. The device of claim 1, wherein the at least one first telescopic module and the at least one first clamping jaw are two, the first telescopic modules are respectively located at two opposite ends of the bracket and at two opposite sides of the bracket, and each first telescopic module drives one of the corresponding first clamping jaws along a first telescopic direction;

The at least one second telescopic module and the at least one second clamping jaw are two, the second telescopic modules are respectively positioned at the two opposite ends of the bracket and at the two opposite sides of the bracket, each second telescopic module drives one of the corresponding second clamping jaws along a second telescopic direction,

The air bag is connected with the bracket and is positioned in a range defined by the first clamping jaws and the second clamping jaws.

7. The jaw apparatus of claim 1 wherein the bladder is coupled to the support and an inflation nozzle of the bladder is positioned within the support.

8. The jaw apparatus of claim 1 further comprising:

An extension column;

The first sliding block is fixedly connected with the bracket and slidably positioned on the extending column for sliding along the long axis direction of the extending column.

9. The jaw apparatus of claim 8 further comprising:

A working module; and

A second sliding block fixedly connected with the working module and slidably positioned on the extending column for sliding along the long axis direction of the extending column,

Wherein the working module is one of a claw clip, an air bag, an air charging device and an air pressure sensor.

10. The jaw apparatus of claim 3 further comprising:

The power device is used for independently controlling each first telescopic device and each second telescopic device to respectively operate the retraction of the first clamping jaw and the retraction of the second clamping jaw; and

And the controller is electrically connected with the power device and used for controlling the output power of the power device so as to respectively operate the retraction of the first clamping jaw and the second clamping jaw and provide one of a plurality of grabbing postures.

11. The jaw apparatus of claim 10 wherein the inflator is electrically connected to the controller, wherein the controller controls the pressure of the inflator to inflate the airbag.

12. The device of claim 11, wherein the controller drives the power device to enable the first jaw and the second jaw to grasp the object to be grasped when the controller determines that the fed back air pressure data has reached the specific value.