TWI657900B - Claw adapted to object shape - Google Patents

Abstract

A clamping jaw that can adapt to the shape of an object has a plurality of cylinders and a plurality of elastic members. Each of the cylinders abuts each of the elastic members, so that each of the cylinders can compress its corresponding elastic member when it contacts the object. The forces exerted by the various parts of the shape on the pillars may not be consistent, so that the compression lengths of the elastic members corresponding to the pillars are different, so that the contact surfaces formed by the pillars conform to the external shape of the object and can be stably Grip objects of various shapes.

Description

Adaptable jaw

The invention relates to a clamping jaw, in particular to a clamping jaw that can adapt to the shape of an object.

The jaws can be divided into two-jaw type, three-jaw type or multi-jaw type. By opening or closing these jaws to pick and place objects, the jaws are often used in automated machinery to move or position objects. . However, whether it is a two-claw type, a three-claw type, or a multi-claw type gripper, it is quite difficult to grip non-specific shapes or round objects. Generally, the previous technology focuses on increasing the distance between the gripper and the object. The contact area is improved, for example, by changing the jaw material or changing the surface roughness of the jaw, but in this way, the problem of difficult to grip non-specific shapes or round objects cannot be completely solved.

The main purpose of the present invention is to clamp objects by a plurality of cylinders provided on the base, and because the cylinders transmit power and cause the corresponding elastic members to contract when they contact the objects, the cylinders are composed of the cylinders. The contact surface can conform to the shape of the object, and can firmly clamp objects of various shapes.

According to the present invention, a gripper that can adapt to the shape of an object includes a base, a plurality of cylinders, and a plurality of elastic members. The base has a first surface and a second surface, and an arm is coupled to the base. A first surface, the pillars are disposed on the second surface of the base, each of the elastic members abuts the pillars, the baffle is located on the second surface of the base, and the baffle passes through a The connecting member is combined with the base, the baffle has a plurality of positioning holes, each of the pillars penetrates through the positioning holes and protrudes from a surface of the baffle, and one end of each of the pillars and the surface There is a distance, wherein each of the elastic members is compressed when the end portion of each of the cylinders contacts an object, and the distance between the end portion and the surface is changed.

The invention compresses the corresponding elastic members when the pillars are in contact with the object, so that the contact surface formed by the pillars can conform to the shape of the object, and is suitable for clamping objects of any shape.

Please refer to FIGS. 1, 2 and 3, which are a first embodiment of the present invention, a perspective view and an exploded view of a gripper 100 adapted to the shape of an object. The gripper 100 adapted to the shape of an object includes a base. 110, an arm 120, a plurality of pillars 130, a plurality of elastic members 140, a baffle 150, and a plurality of connecting members 160. In this embodiment, the gripper 100 adapted to the shape of an object is a two-claw type For example, it may be a three-claw or multi-claw type in other embodiments, and the present invention is not limited thereto.

Referring to FIGS. 2 and 3, the base 110 has a first surface 111 and a second surface 112, the arm 120 has a mounting surface 121, and the first surface 111 of the base 110 is coupled to the arm The mounting surface 121 of 120, and the other end of the arm 120 opposite to the mounting surface 121 is connected to a driving device (such as a pneumatic device or a micromotor, not shown), and the driving device is used to drive the arm 120 An action is performed to open and close the gripper 100 that can adapt to the shape of the object.

Referring to FIGS. 2, 3 and 4, the second surface 112 of the base 110 is recessed with a plurality of grooves 113. One mounting portion 131 of each of the pillars 130 and each of the elastic members 140 are disposed in each of the recesses. In the groove 113, each of the elastic members 140 abuts against each of the pillars 130, wherein, referring to FIG. 4, each of the grooves 113 has a bottom surface 113a, and each of the elastic members 140 is located on each of the bottom surfaces 113a and each of the pillars. Between the mounting portions 131 of 130, in this embodiment, the elastic members 140 are compression springs. When each of the pillars 130 has not touched an object, each of the elastic members 140 stretches and pushes against each of the pillars 130. When each of the pillars 130 is in contact with an object, each of the pillars 130 presses against each of the elastic members 140 and compresses them.

Please refer to FIG. 5, which is another embodiment of the pillars 130. In this embodiment, each of the pillars 130 has a fixed portion 133 and a moving portion 134. The moving portion 134 has a cavity 134 a. A first end 133a of one of the fixing portions 133 is disposed in the groove 113 of the second surface 112, and a second end 133b of one of the fixing portions 133 is inserted in the cavity 134a of the moving portion 134. The elasticity The member 140 is located in the cavity 134a, and the fixing portion 133 abuts against the cavity 134a via the elastic member 140. Similarly, when each of the pillars 130 has not touched the object, each of the elastic members 140 stretches and pushes against the moving portion 134 of each of the pillars 130, and when each of the pillars 130 contacts the object, each of the pillars The moving portion 134 of the body 130 presses each of the elastic members 140 to compress it.

Please refer to FIGS. 2 and 3 again. The baffle 150 is located on the second surface 112 of the base 110. The baffle 150 is coupled to the base 110 through a plurality of connecting members 160. In this embodiment, Each of these connectors 160 is a pillar, and two ends of the pillar are respectively inserted into a first coupling groove 114 of the base 110 and a second coupling groove 151 of the baffle 150 to connect the base 110 and the baffle 150. They are combined with each other. In addition, one end of the plurality of limiting members 170 is coupled to the support arm 120, and the other ends of the limiting members 170 are stopped on the baffle 150 to limit the baffle 150 and the base 110.于此 支 臂 120。 In the support arm 120. Referring to FIG. 4, the baffle 150 has a plurality of positioning holes 152. One end portion 132 of each of the pillars 130 passes through each of the positioning holes 152 and protrudes from a surface 153 of the baffle 150. There is a distance D between the end portion 132 and the surface 153 of the pillars 130, and each of the positioning holes 152 is used to position each of the pillars 130 to prevent the pillars 130 from being displaced when they abut an object.

Please refer to FIGS. 2, 3 and 4. The jaw 100 adapted to the shape of the object further includes a plurality of stoppers 180, each of the stoppers 180 is coupled to each of the pillars 130, and each of the stoppers 180 Located between the base 110 and the baffle 150, a diameter of each of the stoppers 180 is larger than a diameter of each of the positioning holes 152. Therefore, each of the stoppers 180 is stopped below the baffle 150. When the pillars 130 have not touched the object and each of the elastic members 140 abuts against each of the pillars 130, since each of the stoppers 180 is combined with each of the pillars 130 and is blocked by each of the stoppers 180. The baffle 150 stops and blocks the pillars 130 on the base 110. In this embodiment, each of the blocking members 180 is a C-shaped buckle, and is engaged with one of the engaging grooves 135 of each of the pillars 130. Please refer to FIG. 5. In another embodiment, each of the stoppers 180 is coupled to the moving portion 134 of each of the pillars 130. Similarly, each of the stoppers 180 is located on the base 110 and the base 110. Between the baffles, the diameter of each of the stoppers 180 is larger than the diameter of each of the positioning holes 150, and the moving portion 134 of each of the pillars 130 can be limited.

Please refer to FIG. 6, when the arm 120 is driven by the driving device to move the pillars 130 toward an object O and contact the object O, each of the elastic members 140 abutting each of the pillars 130 will be Compression changes the distance between the end portion 132 of each of the pillars 130 and the surface 153 of the baffle 150, and depending on the shape of the object, the extent to which each of the elastic members 140 is squeezed varies. But not touching the object The elastic members 140 of the pillars 130 are not squeezed to maintain the original length. Because of the distance between the end portion 132 of the pillars 130 and the surface 153 of the baffle 150. It varies according to the force of each pillar 130 being pressed, so that the contact surfaces formed by the ends 132 of the pillars 130 will conform to the shape of the object, so that the gripper 100 that can adapt to the shape of the object Able to grip various shapes firmly.

Please refer to FIGS. 2, 3 and 4. In this embodiment, the mounting surface 121 of the arm 120 is recessed with a mounting groove 121 a, a sensor S is disposed in the mounting groove 121 a, and the base 110 There is an abutting portion 115, which is located on the first surface 111 of the base 110, and the abutting portion 115 abuts the sensor S. Preferably, the sensor S is a strain gauge. When the gripper 100 adapted to the shape of the object grips the object, the elastic members 140 are compressed, and the stresses are transmitted to the location located through the base 110. The resisting portion 115 of the second surface 112 is deformed, so that the sensor S can detect a signal. Preferably, the sensor S installed in the mounting groove 121a is an array, and since the forces contacted by the pillars 130 are not the same, the stress transmitted to the abutting portion 115 is also different, so that the sensing The intensity of the signal measured by the array of the detector S also changes with the calculation and analysis on the back end, so that the shape of the object can be initially determined, and it has a wider range of applications.

The present invention compresses the corresponding elastic members 140 when the pillars 130 abut an object, so that the contact surfaces formed by the pillars 130 can conform to the shape of the object, and is suitable for clamping objects of any shape.

The protection scope of the present invention shall be determined by the scope of the appended patent application. Any changes and modifications made by those skilled in the art without departing from the spirit and scope of the present invention shall fall within the protection scope of the present invention. .

100‧‧‧Claw that can adapt to the shape of the object

110‧‧‧ base

111‧‧‧first surface

112‧‧‧Second surface

113‧‧‧Groove

113a‧‧‧ Underside

114‧‧‧First combining groove

115‧‧‧Conflict

120‧‧‧arm

121‧‧‧Mounting surface

121a‧‧‧Mounting slot

130‧‧‧ cylinder

131‧‧‧Mounting Department

132‧‧‧ tip

133‧‧‧Fixed section

133a‧‧‧First end

133b‧‧‧Second end

134‧‧‧Mobile

134a‧‧‧chamber

135‧‧‧ snap groove

140‧‧‧Elastic piece

150‧‧‧ bezel

151‧‧‧Second combination groove

152‧‧‧ Positioning hole

153‧‧‧ surface

160‧‧‧Connector

170‧‧‧ limit pieces

180‧‧‧stop

D‧‧‧distance

S‧‧‧Sensor

O‧‧‧ Object

Fig. 1: A perspective view of a clamping jaw adapted to the shape of an object according to a first embodiment of the present invention. Fig. 2: An exploded perspective view of the clamping jaw adapted to the shape of an object according to the first embodiment of the present invention. Fig. 3: An exploded perspective view of the clamping jaw adapted to the shape of an object according to the first embodiment of the present invention. Fig. 4: A sectional view of the clamping jaw adapted to the shape of an object according to the first embodiment of the present invention. Fig. 5: A sectional view of a clamping jaw adapted to the shape of an object according to a second embodiment of the present invention. FIG. 6 is a schematic view of an object that can be grasped by the clamping jaw adapted to the shape of the object according to the first embodiment of the present invention.

Claims (10)

A clamping jaw adapted to the shape of an object, comprising: a base having a first surface and a second surface; an arm coupled to the first surface of the base; a plurality of cylinders arranged on the base The second surface of the seat; a plurality of elastic members, each of which abuts against each of the pillars; a baffle, which is located on the second surface of the base, and the baffle is combined with the base via a connecting member The baffle has a plurality of positioning holes, each of the pillars is penetrated through each of the positioning holes and protrudes from a surface of the baffle, and there is a distance between one end of each of the pillars and the surface, where each The elastic member is compressed when the end portion of each of the pillars contacts an object, thereby changing the distance between the end portion and the surface; and wherein the arm has a mounting surface, and the mounting surface is combined with the base The first surface, the mounting surface is recessed with a mounting groove, and a sensor is disposed in the mounting groove, wherein the base has a resisting portion, the resisting portion is located on the first surface, and the resisting portion resists the sense Tester. According to the jaw that can adapt to the shape of an object as described in item 1 of the patent application scope, wherein the base has a plurality of grooves, each of the grooves is recessed on the second surface, and one of the mounting portions of each of the pillars is provided In each of the grooves. According to the jaw that can adapt to the shape of an object as described in item 2 of the scope of patent application, wherein each of the elastic members is located in each of the grooves, each of the grooves has a bottom surface, and each of the elastic members is located on each of the bottom surface and each of the columns Body between the mounting portions. As described in item 2 of the patent application scope, the clamping jaw adapted to the shape of an object includes a plurality of stoppers, each of the stoppers is coupled to each of the pillars, and each of the stoppers is located on the base Between the baffle and the baffle, a diameter of each of the stoppers is larger than a diameter of each of the positioning holes. The clamping jaw adapted to the shape of an object according to item 1 of the patent application scope, wherein the abutting portion protrudes from the first surface. As described in item 1 of the scope of the patent application, the clamping jaws adapted to the shape of an object, wherein each of the cylinders has a fixed portion and a moving portion, the moving portion has a cavity, and a first end of the fixed portion is disposed at The second surface, a second end of the fixed portion is inserted into the cavity of the moving portion, the elastic member is located in the cavity, and the fixed portion abuts the cavity via the elastic member. As described in item 6 of the patent application scope, the gripper that can adapt to the shape of an object, wherein the base has a plurality of grooves, each of the grooves is recessed on the second surface, and the fixing portion of each of the pillars is provided In each of the grooves. As described in item 6 of the scope of the patent application, the gripper that can adapt to the shape of the object includes a plurality of stoppers, each of the stoppers is combined with the moving part of each of the cylinders, and each of the stoppers Located between the base and the baffle, a diameter of each of the stoppers is larger than a diameter of each of the positioning holes. The clamping jaws adapted to the shape of an object, as described in item 3 or 6 of the scope of the patent application, wherein the elastic members are compression springs. A clamping jaw adapted to the shape of an object, comprising: a base having a first surface and a second surface; an arm coupled to the first surface of the base; a plurality of cylinders arranged on the base The second surface of the seat; a plurality of elastic members, each of which abuts against each of the pillars; a baffle, which is located on the second surface of the base, and the baffle is combined with the base via a connecting member The baffle has a plurality of positioning holes, each of the pillars is penetrated through each of the positioning holes and protrudes from a surface of the baffle, and there is a distance between one end of each of the pillars and the surface, where each The elastic member is compressed when the end portion of each of the pillars contacts an object to change the distance between the end portion and the surface; and wherein each of the pillars has a fixed portion and a moving portion, the movement The part has a cavity, a first end of the fixed part is disposed on the second surface, a second end of the fixed part is inserted into the cavity of the moving part, the elastic member is located in the cavity, and The fixing portion abuts the cavity via the elastic member.