A gripper and loading workstation

Abstract

The present invention is used in the field of loading workstations, and particularly relates to a gripper and a loading workstation, wherein the gripper includes a frame; a first material dividing component, which is installed on the frame; the first material dividing component includes a clamping claw and a first driving component; the clamping claw is installed at the power output end of the first driving component; the clamping end is provided with a first material dividing block, and the first material dividing block has a first wedge-shaped end face; a sensing device is provided between the first material dividing component and the frame, and the sensing device is higher than the first material dividing block. The manipulator drives the frame to descend until the sensing device senses the workpiece, the first driving component drives the clamping claw to clamp, the first wedge-shaped end face of the first material dividing block is embedded in the gap between adjacent workpieces, the first wedge-shaped end face slowly lifts the workpiece, and finally separates and clamps the workpiece. This gripper can realize the function of automatically dividing materials from stacked workpieces, does not require manual material dividing, can greatly save manpower, effectively save costs, and improve work efficiency, and is any of the above grippers for the loading workstation.

Description

Technical Field

[0001] The present invention is used in the field of loading workstations, and in particular relates to a gripper and a loading workstation. Background Art

[0002] At present, there are problems with the loading of thermoformed parts, such as stacking and difficulty in separating the clamped parts. The current loading solution is as follows:

[0003] 1. Workers separate each workpiece individually and take it to the equipment for manual welding;

[0004] 2. Workers separate each workpiece individually and place them on the conveyor in order. The workpieces are automatically transported and the robot loads the workpieces with the help of a visual guidance system. The robot gripper is a standard clamping cylinder structure, used with positioning pins and limit blocks.

[0005] 3. Workers separate each workpiece individually and place the workpieces on the precision positioning material cart. The robot grabs the materials and welds them. The robot gripper is a common clamping cylinder structure, used with positioning pins and limit blocks.

[0006] All of the above solutions require workers to manually separate each workpiece, which consumes a lot of manpower, has high labor intensity, requires long auxiliary work hours, and has low production efficiency. Summary of the Invention

[0007] In order to solve at least one of the above technical problems, the present invention provides a gripper and a loading workstation, and the technical solution adopted is as follows.

[0008] A gripper for mounting on a manipulator, comprising

[0009] frame;

[0010] a first material dividing assembly, the first material dividing assembly being mounted on the frame, the first material dividing assembly comprising a clamping jaw and a first driving component, the clamping jaw being mounted on a power output end of the first driving component, a first material dividing block being provided at a clamping end of the clamping jaw, the first material dividing block having a first wedge-shaped end surface, the first wedge-shaped end surface being used to be embedded in a gap between two adjacent workpieces;

[0011] The induction device is provided between the first material dividing assembly and the frame, and the induction device is higher than the first material dividing block.

[0012] The gripper of the embodiment of the present invention has at least the following beneficial effects: during operation, the manipulator drives the frame to descend, and the frame drives the clamping jaws and the sensing device to descend. When the frame descends until the sensing device senses the workpiece, the manipulator stops descending. At this time, the clamping jaws embrace both sides of the stacked workpieces, and then the first driving component drives the clamping jaws to clamp. During the clamping process of the clamping jaws, the first wedge-shaped end face of the first dividing block will be embedded in the gap between the two adjacent workpieces. The first wedge-shaped end face will slowly lift the workpiece, and finally separate and clamp the workpiece, and then it will be driven to other workstations by the manipulator. This gripper can realize the function of automatic material separation from stacked workpieces, without the need for manual material separation, which can greatly save manpower, effectively save costs, and improve work efficiency.

[0013] According to some other embodiments of the gripper of the present invention, the gripper also includes a second material dividing assembly, which is installed on the frame and located on one side of the first material dividing assembly. The second material dividing assembly includes a second driving component and a movable block. The movable block is installed at the power output end of the second driving component. The second material dividing block is installed on the movable block. The second material dividing block has a second wedge-shaped end face, the inclination angle of the second wedge-shaped end face is greater than the inclination angle of the first wedge-shaped end face, and the second wedge-shaped end face is used to embed in the gap between two adjacent workpieces.

[0014] According to some other embodiments of the gripper of the present invention, the direction in which the first dividing block is embedded in the gap between two adjacent workpieces is perpendicular to the direction in which the second dividing block is embedded in the gap between two adjacent workpieces.

[0015] According to some other embodiments of the gripper of the present invention, the second driving component is fixedly connected to the frame via a connecting member, and a support block is provided on the connecting member, and the support block is used to press against the workpiece.

[0016] According to some other embodiments of the gripper of the present invention, the sensing device includes a mounting plate and a sensor, the mounting plate is connected to the support block, a mounting hole is provided on the mounting plate, and the sensor is installed in the mounting hole.

[0017] According to some other embodiments of the gripper of the present invention, a positioning device is installed on the frame, and the positioning device includes a connecting block, a mounting seat and a positioning pin. The connecting block is fixed on the frame, one end of the mounting seat is connected to the connecting block, and the positioning pin is installed at the other end of the mounting seat.

[0018] According to some other embodiments of the gripper of the present invention, the positioning device further includes an adjustment block, the adjustment block is provided with a plurality of first adjustment holes, each of the first adjustment holes is arranged laterally at intervals, the connecting block is provided with a plurality of second adjustment holes, each of the second adjustment holes is arranged laterally at intervals, and first fasteners are detachably installed in the first adjustment holes and the second adjustment holes to connect the adjustment block and the connecting block.

[0019] According to some other embodiments of the gripper of the present invention, the adjustment block is provided with a plurality of third adjustment holes, each of the third adjustment holes is vertically spaced apart, the mounting seat is provided with a plurality of fourth adjustment holes, each of the fourth adjustment holes is vertically spaced apart, and second fasteners can be detachably installed in the third adjustment holes and the fourth adjustment holes to connect the adjustment block and the mounting seat.

[0020] According to some other embodiments of the gripper of the present invention, there are multiple positioning devices, and each positioning device is arranged on the frame.

[0021] A loading workstation comprises any one of the grippers described above. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The present invention will be further described below in conjunction with the accompanying drawings:

[0023] Figure 1 This is a schematic diagram of the structure of clamping a workpiece according to an embodiment of the present invention;

[0024] Figure 2 yes Figure 1 A schematic structural diagram of another perspective of the embodiment shown;

[0025] Figure 3 It is a structural diagram of an embodiment of the present invention;

[0026] Figure 4 2 is a schematic structural diagram of a first material distribution component in one embodiment of the present invention;

[0027] Figure 5 2 is a schematic structural diagram of a second material distribution assembly on the right side of a frame in one embodiment of the present invention;

[0028] Figure 6 2 is a schematic structural diagram of a second material distribution assembly on the left side of a frame in one embodiment of the present invention;

[0029] Figure 7 It is a structural diagram of a positioning device in one embodiment of the present invention. DETAILED DESCRIPTION

[0030] This section will describe in detail the specific embodiments of the present invention. The preferred embodiments of the present invention are shown in the accompanying drawings. The purpose of the accompanying drawings is to supplement the description of the text part of the specification with graphics, so that people can intuitively and vividly understand each technical feature and the overall technical solution of the present invention, but it should not be understood as a limitation on the scope of protection of the present invention.

[0031] In the present invention, if directions (up, down, left, right, front and back) are described, it is only for the convenience of describing the technical solution of the present invention, and does not indicate or imply that the technical features referred to must have a specific orientation, be constructed and operate in a specific orientation. Therefore, it cannot be understood as a limitation of the present invention.

[0032] In the present invention, "several" means one or more, "multiple" means more than two, "greater than," "less than," "exceeds," etc. are understood to exclude the number itself; "above," "below," "within," etc. are understood to include the number itself. In the description of the present invention, the use of "first" or "second" is solely for the purpose of distinguishing technical features and is not to be construed as indicating or implying relative importance, implicitly specifying the number of the indicated technical features, or implicitly specifying the order of the indicated technical features.

[0033] In the present invention, unless otherwise expressly defined, terms such as "disposed," "installed," and "connected" should be interpreted broadly. For example, they may refer to direct connection or indirect connection through an intermediate medium; fixed connection or detachable connection or integral molding; mechanical connection or electrical connection or mutual communication; and internal connection between two components or interaction between two components. Those skilled in the art can reasonably determine the specific meanings of the above terms in the present invention based on the specific content of the technical solution.

[0034] At present, there are problems with the loading of thermoformed parts, such as stacking and difficulty in separating the clamped parts. The current loading solution is as follows:

[0035] 1. Workers separate each workpiece individually and take it to the equipment for manual welding;

[0036] 2. Workers separate each workpiece individually and place them on the conveyor in order. The workpieces are automatically transported and the robot loads the workpieces with the help of a visual guidance system. The robot gripper is a standard clamping cylinder structure, used with positioning pins and limit blocks.

[0037] 3. Workers separate each workpiece individually and place the workpieces on the precision positioning material cart. The robot grabs the materials and welds them. The robot gripper is a common clamping cylinder structure, used with positioning pins and limit blocks.

[0038] All of the above solutions require workers to manually separate each workpiece, which consumes a lot of manpower, has high labor intensity, requires long auxiliary work hours, and has low production efficiency.

[0039] In order to solve the above technical problems, the present invention provides a gripper.

[0040] See also Figures 1 to 7 The gripper includes a frame 100, a first material dividing component 200 and a sensing device 300. The first material dividing component 200 is installed on the frame 100. The first material dividing component 200 includes a clamping jaw 210 and a first driving component 220. The clamping jaw 210 is installed at the power output end of the first driving component 220. The clamping end of the clamping jaw 210 is provided with a first material dividing block 213. The first material dividing block 213 has a first wedge-shaped end face, and the first wedge-shaped end face is used to be embedded in the gap between two adjacent workpieces 001. The sensing device 300 is provided between the first material dividing component 200 and the frame 100, and the sensing device 300 is higher than the first material dividing block 213.

[0041] During the operation, the manipulator drives the frame 100 to descend, and the frame 100 drives the clamping jaws 210 and the sensing device 300 to descend together. When the frame 100 descends until the sensing device 300 senses the workpiece 001, the manipulator stops descending. At this time, the clamping jaws 210 embrace the two sides of the stacked workpieces 001, and then the first driving component 220 drives the clamping jaws 210 to clamp. During the clamping process of the clamping jaws 210, the first wedge-shaped end face of the first dividing block 213 will be embedded in the gap between the two adjacent workpieces 001, and the workpiece 001 will be slowly lifted up through the first wedge-shaped end face, and finally the workpiece 001 will be separated and clamped, and then the workpiece 001 will be driven to other workstations by the manipulator. This gripper can realize the function of automatic material separation from the stacked workpieces 001, without the need for manual material separation, which greatly saves manpower, effectively saves costs, and improves work efficiency.

[0042] In some embodiments, the first driving component 220 is a pneumatic cylinder or an electric cylinder.

[0043] See also Figure 4 The clamping jaw 210 includes a first clamping arm 211 and a second clamping arm 212. The first clamping arm 211 and the second clamping arm 212 are arranged opposite to each other. One end of the first clamping arm 211 is installed on the power output end of the first driving component 220 by bolts, and one end of the second clamping arm 212 is installed on the power output end of the first driving component 220 by bolts.

[0044] Specifically, a first dividing block 213 is installed on the opposite sides of the lower ends of the first clamping arm 211 and the second clamping arm 212, and the facing sides of the two first dividing blocks 213 are set to wedge-shaped structures. When the first driving component 220 drives the first clamping arm 211 and the second clamping arm 212 to approach each other to achieve the clamping action, the first wedge-shaped end faces of the two first dividing blocks 213 will be embedded in the gap between the two adjacent workpieces 001. As the first clamping arm 211 and the second clamping arm 212 clamp each other, the gap between the two adjacent workpieces 001 will gradually expand under the action of the first wedge-shaped end faces, gradually lifting the upper workpiece 001, and finally the clamping jaws 210 will clamp the lifted workpiece 001.

[0045] In some embodiments, two first material dividing assemblies 200 are provided, and the two first material dividing assemblies 200 are arranged at intervals on the frame 100. The two first material dividing assemblies 200 can more stably grasp the workpiece 001.

[0046] Specifically, the frame 100 is provided with two outwardly extending first fixing columns 101, and the two first fixing columns 101 are respectively located at both ends of the frame 100. A fixing block 102 is installed on each first fixing column 101, and a first driving component mounting plate 103 is installed on each fixing block 102. The first driving component 220 is fixed on the first driving component mounting plate 103.

[0047] In order to ensure the stability of grabbing, in some embodiments, the gripper also includes a second material dividing component 400, which is installed on the frame 100 and is located on one side of the first material dividing component 200. The second material dividing component 400 includes a second driving component 410 and a movable block 420. The movable block 420 is installed at the power output end of the second driving component 410. A second material dividing block 421 is installed on the movable block 420. The second material dividing block 421 has a second wedge-shaped end face, and the inclination angle of the second wedge-shaped end face is greater than the inclination angle of the first wedge-shaped end face. The second wedge-shaped end face is used to embed in the gap between two adjacent workpieces 001.

[0048] Specifically, the second material dividing component 400 is located on the outside of the first material dividing component 200, the second driving component 410 is fixedly connected to the first fixed column 101 on the frame 100, the movable block 420 is installed at the power output end of the second driving component 410 and the movable block 420 is vertically arranged, and the second material dividing block 421 is arranged at the bottom of the movable block 420, and the side of the second material dividing block 421 facing the clamping jaw 210 is arranged as a wedge structure.

[0049] During operation, when the first dividing block 213 of the clamp 210 is embedded in the gap of the workpiece 001, the workpiece 001 will be lifted to a certain height and clamped, and then the second driving component 410 drives the movable block 420 to move toward the workpiece 001, so that the second wedge-shaped end face of the second dividing block 421 is embedded in the gap opened by the first dividing block 213. Since the inclination angle of the second wedge-shaped end face is greater than the inclination angle of the first wedge-shaped end face, the second wedge-shaped end face will further lift the workpiece 001 after being embedded in the gap of the workpiece 001, thereby completely separating the workpieces and effectively preventing the clamping sleeve between the workpieces from being too tight, causing the workpiece 001 below to be lifted.

[0050] In some embodiments, the second driving component 410 is a pneumatic cylinder or an electric cylinder.

[0051] In some embodiments, two second material-dividing components 400 are provided, and the two second material-dividing components 400 are respectively installed on the two first fixing columns 101 , and the two second material-dividing components 400 are both located outside the first material-dividing component 200 .

[0052] It should be noted that the positional relationship between the movable block 420 and the second driving component 410 can be changed according to actual conditions. For example, in this application, in order to prevent interference, the second driving component 410 of the second material dividing assembly 400 on the left is located on the outside of the movable block 420, and the second driving component 410 of the second material dividing assembly 400 on the right is located on the inside of the movable block 420.

[0053] In some embodiments, the direction in which the first dividing block 213 is embedded in the gap between two adjacent workpieces 001 is perpendicular to the direction in which the second dividing block 421 is embedded in the gap between two adjacent workpieces 001 .

[0054] Specifically, the first clamping arm 211 and the second clamping arm 212 of the clamp 210 perform a clamping action along the front-to-back direction, so the first dividing blocks 213 on the two first dividing components 200 are embedded in the gap between the two adjacent workpieces 001 in the front-to-back direction, and the second dividing blocks 421 on the two second dividing components 400 are embedded in the gap between the two adjacent workpieces 001 along the left-to-right direction. In this way, under the action of the first dividing component 200 and the second dividing component 400, the front, back, left and right sides of the workpiece 001 are embedded, ensuring that the workpiece 001 can be completely separated.

[0055] In some embodiments, the second driving component 410 is fixedly connected to the frame 100 via a connecting member 430 , and a support block 431 is installed on the connecting member 430 , and the support block 431 is used to press against the workpiece 001 .

[0056] Specifically, one end of the connecting member 430 is fixed to the second driving component 410 , and the other end of the connecting member 430 is fixed to the first fixing column 101 . A support block 431 extending downward is installed at one end of the connecting member 430 fixed to the first fixing column 101 .

[0057] During operation, after the clamp 210 lifts the workpiece 001 to a certain height through the first dividing block 213, there is still a certain distance between the surface of the workpiece 001 and the support block 431. When the second driving component 410 drives the movable block 420 to embed the second dividing block 421 into the gap of the workpiece 001, the workpiece 001 will be further lifted by the second dividing block 421, so that the surface of the workpiece 001 rises to contact the support block 431, and then the support block 431 presses the workpiece 001 tightly, so that the workpiece 001 is clamped between the first dividing block 213, the second dividing block 421 and the support block 431.

[0058] In some embodiments, the sensing device 300 includes a mounting plate 310 and a sensor 320 . The mounting plate 310 is connected to the support block 431 . The mounting plate 310 is provided with a mounting hole, and the sensor 320 is mounted in the mounting hole.

[0059] Specifically, the mounting plate 310 is a bent plate structure, the vertical plate of the mounting plate 310 is fixed on the support block 431, the horizontal plate of the mounting plate 310 is provided with a mounting hole, and the sensor 320 is fixed in the mounting hole by a nut.

[0060] In order to ensure that the first dividing block 213 and the second dividing block 421 accurately clamp the workpiece 001, in some embodiments, a positioning device 500 is installed on the frame 100, and the positioning device 500 includes a connecting block 510, a mounting seat 520 and a positioning pin 530. The connecting block 510 is fixed on the frame 100, one end of the mounting seat 520 is connected to the connecting block 510, and the positioning pin 530 is installed at the other end of the mounting seat 520.

[0061] Specifically, the frame 100 is provided with a second fixed column 104 extending outward, the connecting block 510 is installed on the second fixed column 104, the mounting base 520 includes a vertical connecting section 521 and a horizontal mounting section 522, the vertical connecting section 521 of the mounting base 520 is fixed on the connecting block 510, and a positioning pin 530 is installed on the horizontal mounting section 522 of the mounting base 520, the positioning pin 530 passes through the horizontal mounting section 522 of the mounting base 520 along the vertical direction, the lower end of the positioning pin 530 extends from below the horizontal mounting section 522, and the lower end of the positioning pin 530 is a conical structure.

[0062] During operation, the robot drives the frame 100 to descend. When the frame 100 descends, the positioning pin 530 of the positioning device 500 will first be embedded in the positioning hole on the workpiece 001, thereby pre-positioning the workpiece 001, and then the first dividing component 200 and the second dividing component 400 will work to clamp the workpiece 001.

[0063] In some embodiments, a plurality of positioning devices 500 are provided, and each positioning device 500 is disposed on the frame 100 .

[0064] Specifically, there are two positioning devices 500, and two outward-extending second fixed columns 104 are provided on the frame 100. The two second fixed columns 104 are located between the two first fixed columns 101. The two second fixed columns 104 are both equipped with positioning devices 500. The two positioning devices 500 can position the workpiece 001 more stably.

[0065] In order to facilitate the adjustment of the position of the positioning pin 530 on the positioning device 500, so that the positioning pin 530 can be accurately embedded in the positioning hole of the workpiece 001 after the positioning device 500 is lowered, in some embodiments, the positioning device 500 also includes an adjustment block 540, and a plurality of first adjustment holes 541 are provided on the adjustment block 540, and each first adjustment hole 541 is arranged laterally at intervals. A plurality of second adjustment holes are provided on the connecting block 510, and each second adjustment hole is arranged laterally at intervals. The first fastener 542 can be detachably installed in the first adjustment hole 541 and the second adjustment hole to connect the adjustment block 540 and the connecting block 510.

[0066] Specifically, the first adjustment hole 541 and the second adjustment hole are both threaded holes, and the first fastener 542 is a bolt. When the position of the positioning pin 530 needs to be adjusted laterally, the first fastener 542 is loosened, and then the adjustment block 540 is moved laterally to align the first adjustment hole 541 and the second adjustment hole, and then the first fastener 542 is tightened. Furthermore, the adjustment block 540 is provided with a plurality of third adjustment holes, each of which is vertically spaced apart. The mounting base 520 is provided with a plurality of fourth adjustment holes 523, each of which is vertically spaced apart. Second fasteners 524 can be detachably installed in the third and fourth adjustment holes 523 to connect the adjustment block 540 and the mounting base 520.

[0067] Specifically, the third adjustment hole and the fourth adjustment hole 523 are both threaded holes. The fourth adjustment hole 523 is set on the vertical connecting section 521 of the mounting seat 520. The second fastener 524 is a bolt. When the position of the positioning pin 530 needs to be adjusted vertically, the second fastener 524 is loosened, and then the mounting seat 520 is moved vertically so that the third adjustment hole and the fourth adjustment hole 523 are aligned, and then the second fastener 524 is tightened.

[0068] In some other embodiments, multiple first gaskets are provided between the adjusting block 540 and the connecting block 510, the adjusting block 540 and the connecting block 510 are connected by a first bolt, multiple first gaskets are provided between the adjusting block 540 and the connecting block 510, multiple second gaskets are clamped between the vertical connecting section 521 and the adjusting block 540, the vertical connecting section 521 and the adjusting block 540 are connected by bolts, and the vertical connecting section 521 and the adjusting block 540 clamp each second gasket, and the position of the positioning pin 530 can be adjusted by increasing or decreasing the number of first gaskets between the adjusting block 540 and the connecting block 510 and the number of second gaskets between the vertical connecting section 521 and the adjusting block 540.

[0069] The present invention also provides a loading workstation, which includes any one of the above grippers.

[0070] Specifically, a manipulator is installed on the loading workstation, and the gripper frame 100 is installed on the manipulator.

[0071] Of course, the present application is not limited to the above-mentioned embodiments. Those skilled in the art may make equivalent modifications or substitutions without violating the spirit of the present invention. These equivalent modifications or substitutions are all included in the scope defined by the claims of the present application.

Claims

1. A gripper for mounting on a robot, characterized in that: include frame; a first material dividing assembly, the first material dividing assembly being mounted on the frame, the first material dividing assembly comprising a clamping jaw and a first driving component, the clamping jaw being mounted on a power output end of the first driving component, a first material dividing block being provided at a clamping end of the clamping jaw, the first material dividing block having a first wedge-shaped end surface, the first wedge-shaped end surface being used to be embedded in a gap between two adjacent workpieces; An induction device, the induction device being provided between the first material dividing assembly and the frame, and the induction device being higher than the first material dividing block; The second material dividing assembly is installed on the frame and is located on one side of the first material dividing assembly. The second material dividing assembly includes a second driving component and a movable block. The movable block is installed on the power output end of the second driving component. The second material dividing block is installed on the movable block. The second material dividing block has a second wedge-shaped end face. The inclination angle of the second wedge-shaped end face is greater than the inclination angle of the first wedge-shaped end face. The second wedge-shaped end face is used to embed in the gap between two adjacent workpieces.

2. The gripper according to claim 1, characterized in that: The direction in which the first dividing block is embedded in the gap between two adjacent workpieces is perpendicular to the direction in which the second dividing block is embedded in the gap between two adjacent workpieces.

3. The gripper according to claim 1, characterized in that: The second driving component is fixedly connected to the frame via a connecting piece. A supporting block is provided on the connecting piece, and the supporting block is used to press against the workpiece.

4. The gripper according to claim 3, characterized in that: The sensing device includes a mounting plate and a sensor. The mounting plate is connected to the support block. A mounting hole is provided on the mounting plate, and the sensor is mounted in the mounting hole.

5. The gripper according to claim 1, characterized in that: A positioning device is installed on the frame, and the positioning device includes a connecting block, a mounting seat and a positioning pin. The connecting block is fixed on the frame, one end of the mounting seat is connected to the connecting block, and the positioning pin is installed on the other end of the mounting seat.

6. The gripper according to claim 5, characterized in that: The positioning device also includes an adjustment block, which is provided with a plurality of first adjustment holes, each of which is arranged laterally at intervals; the connecting block is provided with a plurality of second adjustment holes, each of which is arranged laterally at intervals; and first fasteners are detachably installed in the first adjustment holes and the second adjustment holes to connect the adjustment block and the connecting block.

7. The gripper according to claim 6, characterized in that: The adjustment block is provided with a plurality of third adjustment holes, each of which is vertically spaced apart. The mounting seat is provided with a plurality of fourth adjustment holes, each of which is vertically spaced apart. Second fasteners can be detachably installed in the third adjustment holes and the fourth adjustment holes to connect the adjustment block and the mounting seat.

8. The gripper according to claim 5, characterized in that: There are multiple positioning devices, and each positioning device is arranged on the frame.

9. A loading workstation, characterized by: The invention comprises the gripper according to any one of claims 1 to 8.

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