A clamp and robot arm

Abstract

The application provides a clamp and a robot arm, a clamping device, the clamping device is used for clamping materials; a sucking device, the sucking device is used for sucking materials; the clamping device and the sucking device are located on the same side of a mounting seat; wherein the sucking device comprises a first sucking mechanism and a second sucking mechanism; the first sucking mechanism and the second sucking mechanism respectively comprise at least two sucking discs; the clamping device comprises at least two clamping hands; the interval size of the sucking discs in the first sucking mechanism is L1, the interval size of the sucking discs in the second sucking mechanism is L2, and the interval size of the clamping hands in the clamping device is L3, wherein L1 < L2 = L3. The clamp and the robot arm provided by the application have clamping and sucking functions, the clamp can simultaneously clamp or suck at least two different materials, and two groups of sucking mechanisms with different interval sizes of sucking discs are arranged, so that two kinds of materials with at least two kinds of interval sizes can be simultaneously sucked.

Description

Technical Field

[0001] This application relates to the field of robotic arm technology, specifically to a gripper and a robotic arm. Background Technology

[0002] With social progress and technological development, modern industry has gradually adopted fully automated equipment production in manufacturing. In the production process, the handling of materials has also gradually adopted robotic arms to move and pick up materials. By installing grippers on the robotic arms, the materials can be picked up. However, most robotic arms in the current technology have relatively single functions. For heavy materials that need to be held stably, grippers are mostly used to hold them. For lighter and thinner materials, when grippers cannot pick them up well, suction cups are used. Most robotic arms do not have both functions at the same time.

[0003] The prior art can be referenced in Chinese Patent Publication No. CN208068256U, which provides a fixture, including: a fixture base; a clamping device mounted on the fixture base for clamping a workpiece; and a suction device mounted on the fixture base for suction of the workpiece. The clamping device and the suction device are respectively disposed on both sides of the fixture base. The clamping device includes: at least two clamping plates, one end of which is mounted on the fixture base; and a support plate mounted on the other end of the clamping plate away from the fixture base, extending between the two clamping plates.

[0004] The aforementioned fixture has both clamping and suction functions, and can achieve two sets of clamping functions with the same fixture. However, it places the clamping device and the suction device on both sides of the fixture base. If it is necessary to change the clamping function, the fixture base needs to be rotated to clamp. In terms of time cost, there is room for improvement.

[0005] In addition, the clamping device mentioned above uses clamps to clamp materials. The clamps can only clamp regular materials. If the materials are ring-shaped or thin, the clamps will have difficulty clamping them and may need to be replaced to achieve clamping.

[0006] Furthermore, most existing robotic arms only have one set of suction cups with the same spacing. When picking up materials, only one set of materials can be picked up, and the spacing between the materials cannot be changed. In modern industry, due to the high efficiency of industrial production, materials are mostly automatically arranged by vibratory feeders. However, during production, due to processing requirements, the spacing between the materials is often different. The aforementioned clamps have strong limitations in this situation. Summary of the Invention

[0007] This application proposes a gripper and a robotic arm to solve one of the aforementioned technical problems. The gripper of this application combines a suction device and a grasping device, with both the grasping and suction devices located on the same side of the mounting base, enabling simultaneous gripping and suction of materials. Furthermore, the suction device is equipped with two sets of suction mechanisms with different suction cup spacings, enabling the suction of two types of materials with different placement distances.

[0008] A clamp includes a mounting base, wherein the mounting base is provided with:

[0009] A clamping device for clamping materials;

[0010] A suction device for suctioning materials;

[0011] The clamping device and the suction device are located on the same side of the mounting base;

[0012] in,

[0013] The suction device includes a first suction mechanism and a second suction mechanism;

[0014] The first suction mechanism and the second suction mechanism each include at least two suction cups;

[0015] The gripping device includes at least two grippers;

[0016] The suction cup spacing in the first suction mechanism is L1, the suction cup spacing in the second suction mechanism is L2, and the gripper spacing in the clamping device is L3.

[0017] Among them, L1 <L2=L3。

[0018] Compared with the prior art, the clamp of this application has both a suction device and a gripping device, and the suction device and the gripping device are arranged on the same side of the mounting base, which can simultaneously grip or suck up materials without flipping the mounting base.

[0019] Furthermore, the suction device includes suction mechanisms with different suction cup spacing, enabling the clamp to pick up two materials with different placement spacing and different sizes, thereby increasing the clamp's gripping range.

[0020] Furthermore, the distance between the gripper in the clamping device and the distance between the suction cups in the suction mechanism are equal. When the suction cups are inconvenient to pick up, the gripper can be used to clamp the material, or the suction cups and gripper can clamp the material at the same time and place it on the same workstation, which is convenient for feeding products made from at least two materials.

[0021] Furthermore, the suction cups in the first suction mechanism are arranged in a straight line; the suction cups in the second suction mechanism are arranged in a straight line; the grippers in the gripping device are all arranged in a straight line. The suction cups and the grippers are both arranged in a straight line, which can make the arrangement of the materials more uniform during loading and unloading, saving production costs. Moreover, the way of arranging materials in a straight line is quite common in industry, and this way of material arrangement is also relatively simple, which can improve the processing efficiency.

[0022] Furthermore, the arrangement direction of the suction cups in the first suction mechanism and the second suction mechanism is parallel to the arrangement direction of the grippers in the gripping device. The arrangement directions of the three are the same, which can reduce the occupied space of the fixture, making the overall volume of the fixture smaller. And since the directions of the three are the same, there is no need to rotate the gripper to grip or suck the material. It can be translated to the material to be gripped or sucked and then gripped directly.

[0023] Furthermore, the suction cups in the second suction mechanism are evenly divided into a first group of suction cups and a second group of suction cups, and the first group of suction cups and the second group of suction cups are respectively arranged on both sides of the first suction mechanism; the grippers in the gripping device are evenly divided into a first group of grippers and a second group of grippers, and the first group of grippers and the second group of grippers are respectively arranged on both sides of the first suction mechanism. Dividing the second suction mechanism and the gripping device evenly into two groups can balance L1 < L2 = L3, making the installation length of the gripping device and the suction device smaller and saving space. And arranging the evenly divided two groups of suction cups or grippers on both sides of the first suction mechanism can enable the gripping device and the second suction mechanism to quickly grip and unload at least two kinds of materials when feeding products that require at least two kinds of materials, reducing the moving distance of the fixture, thereby saving time costs.

[0024] Furthermore, the first group of grippers and the first group of suction cups are on the same straight line, and the grippers and the suction cups are arranged at equal intervals; the second group of grippers and the second group of suction cups are on the same straight line, and the grippers and the suction cups are arranged at equal intervals. Arranging the suction cups in the second suction mechanism and the grippers in the gripping device on the same straight line and arranging the suction cups and the grippers at equal intervals can effectively reduce the occupied space. <00000​​​​​​​​​Furthermore, the number of suction cups in the first suction mechanism is N1;

[0029] The number of suction cups in the second suction mechanism is N2;

[0030] The number of grippers in the gripping device is N3;

[0031] Where N1 = N2 = N3. By controlling the quantity, the clamping device and the suction mechanism can be precisely matched during loading and unloading, thus achieving better uniformity.

[0032] Furthermore, the clamping device includes a gripper and a clamping drive mechanism, wherein the gripper is capable of opening and closing to clamp materials, and the gripper is connected to the clamping drive mechanism; the clamping drive mechanism is connected to the mounting base, and the clamping drive mechanism is used to drive the gripper to perform opening and closing movements.

[0033] Furthermore, the gripping drive mechanism includes a finger cylinder connected to the gripper. The finger cylinder controls the opening and closing of the gripper to facilitate the gripping of materials.

[0034] Furthermore, there are at least two grippers, each gripper including two fingers. The inner wall of each finger is provided with an annular clamping portion, and the outer wall of each finger is provided with an annular outer limiting groove. The clamping portion is annular, and in addition to conventional materials, it can grip annular materials. The outer limiting groove can limit hollow materials within it, so that the material can be lifted up by opening the grippers to achieve the gripping of hollow materials.

[0035] Furthermore, the inner wall of the gripper is provided with an annular inner limiting groove. The annular inner limiting groove can grip T-shaped or top-wide and bottom-narrow materials. By engaging the wider portion in the inner limiting groove, such materials can be gripped.

[0036] Furthermore, the first suction mechanism also includes a suction cup driving assembly, which drives the suction cup in the first suction mechanism to move longitudinally. By controlling the suction cup in the first suction mechanism to move up and down, it is convenient to stagger the second suction mechanism and the gripping device during the clamping process, thereby increasing space utilization.

[0037] Furthermore, the mounting base includes a top seat and a base, with the base connected to the top seat;

[0038] The first suction mechanism is connected to the top seat, and the second suction mechanism is connected to the clamping device on the base.

[0039] Furthermore, the base has a through groove in the center, through which the first suction mechanism passes and connects to the top seat.

[0040] A robotic arm includes any of the aforementioned grippers. The robotic arm of this application possesses the functions of any of the aforementioned grippers, combining gripping and suction capabilities, and is capable of simultaneously gripping at least two materials. This enables the robotic arm to grip multiple materials, facilitating its use in industrial production. For products requiring the processing of at least two materials, using the robotic arm of this application can save time on material handling and transportation, thereby reducing production time costs. Attached Figure Description

[0041] Figure 1 This is a schematic diagram of the structure of a robotic arm according to an embodiment of this application. Figure 1 ;

[0042] Figure 2 This is a schematic diagram of the structure of a robotic arm according to an embodiment of this application. Figure 2 ;

[0043] Figure 3 This is a schematic diagram of the structure of a robotic arm according to an embodiment of this application. Figure 3 ;

[0044] Figure 4 This is a schematic diagram of the structure of a robotic arm according to an embodiment of this application. Figure 4 ;

[0045] Figure 5 This is a schematic diagram of the bottom structure of a clamp according to an embodiment of this application;

[0046] Figure 6 This application is Figure 1 A magnified view of part A in the diagram;

[0047] Figure 7 This application is Figure 2 A magnified view of part B in the diagram;

[0048] Figure 8 This application is Figure 3 A magnified view of a portion of C in the diagram;

[0049] Figure 9 This application is Figure 4 A magnified view of a portion of the D area;

[0050] Figure 10 This application is Figure 7 A magnified schematic diagram of a portion of E in the diagram.

[0051] Figure label:

[0052] 1. Fixture;

[0053] 11. Mounting bracket; 111. Top mount; 112. Base; 1121. Through groove; 113. Cylinder mounting plate;

[0054] 12. Gripping device; 121. Gripper; 122. Gripping drive mechanism; 1211. Finger gripper; 1212. Clamping part; 1213. Outer limiting groove; 1214. Inner limiting groove; 1221. Finger cylinder; 1215. One set of grippers; 1216. Two sets of grippers;

[0055] 13. Suction device; 131. First suction mechanism; 132. Second suction mechanism; 1311. Multi-layer suction cup; 1312. Suction cup drive assembly; 1321. Single-layer suction cup; 1322. One set of suction cups; 1323. Two sets of suction cups;

[0056] 2. Robotic arm; 21. Support arm; 22. Lead screw;

[0057] 3. Ring-shaped materials. Detailed Implementation

[0058] To enable those skilled in the art to better understand the technical solutions of this disclosure, the following detailed, clear, and complete description of this disclosure is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of this disclosure and are not intended to limit it.

[0059] In the description of this application, the use of "first" and "second" is for the purpose of distinguishing technical features only, and should not be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated or the order of the technical features indicated.

[0060] Those skilled in the art should understand that in the disclosure of this application, the terms "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, the above terms should not be construed as limitations on this application.

[0061] The present application will now be described in further detail with reference to the accompanying drawings, see below. Figures 1 to 10 illustrate.

[0062] like Figures 1 to 4As shown in the figure, the present application provides a fixture. The fixture 1 includes a mounting base 11, a clamping device 12 and a suction device 13. The clamping device 12 and the suction device 13 are connected to the mounting base 11. The clamping device 12 can open and close to clamp the material, so as to clamp the material. The suction device 13 adsorbs the material through a suction cup. Among them, the suction device 13 includes two sets of suction mechanisms, namely a first suction mechanism 131 and a second suction mechanism 132. Each of the two sets of suction mechanisms includes at least two suction cups, and the clamping device 12 includes at least two clamping hands 121.

[0063] As Figure 5 shown, the distance between the suction cups in the first suction mechanism 131 is L1, the distance between the suction cups in the second suction mechanism 132 is L2, and the distance between the clamping hands 121 in the clamping device 12 is L3. Among them, L1 < L2 = L3. By reasonably setting the distance, at least the fixture 1 can pick up at least two kinds of materials for a processed product that requires at least two kinds of materials. In the present application, L2 = L3, which indicates that the distance between the materials that the second suction mechanism 132 and the clamping device 12 can clamp is the same, while the distance between the materials that the first suction mechanism 131 can suck is less than the distance between the materials in the second suction mechanism 132 and the clamping device 12. If the suction cups and the clamping hands 121 in the fixture 1 work simultaneously, at least two kinds of materials with different distances or at least two kinds of different materials with the same distance, or a combination of both can be sucked at the same time.

[0064] Based on the foregoing embodiments, in an embodiment of the present application, as Figure 5 shown, the suction cups in the first suction mechanism 131 are arranged in a straight line; the suction cups in the second suction mechanism 132 are arranged in a straight line; the clamping hands 121 in the clamping device 12 are all arranged in a straight line. The suction cups and the clamping hands 121 are both arranged in a straight line, which can make the placement and arrangement of the materials more unified during loading and unloading, saving production costs. And the straight-line placement of materials is relatively common in industry, and the placement of materials in this way is also relatively simple, which can promote the increase of processing efficiency.

[0065] Preferably, as Figure 5 shown, the arrangement direction of the suction cups in the first suction mechanism 131 and the second suction mechanism 132 is parallel to the arrangement direction of the clamping hands 121 in the clamping device 12. The placement directions of the three are the same, which can reduce the occupied space of the fixture 1, making the overall volume of the fixture 1 smaller. And the directions of the three are the same, so there is no need to rotate the clamping to pick up or suck the material, and it can be picked up by translating to the material to be picked up or sucked.

[0066] Preferably, as Figure 5As shown, the suction cups in the second suction mechanism 132 are evenly divided into a group of suction cups 1322 and a second group of suction cups 1323. The group of suction cups 1322 and the second group of suction cups 1323 are respectively arranged on both sides of the first suction mechanism 131. The grippers 121 in the gripping device 12 are evenly divided into a group of grippers 1215 and a second group of grippers 1216. The group of grippers 1215 and the second group of grippers 1216 are respectively arranged on both sides of the first suction mechanism 131. Evenly dividing the second suction mechanism 132 and the gripping device 12 into two groups can neutralize L1 < L2 = L3, so that the length of the gripping device 12 and the suction device 13 installed is smaller, saving space. And arranging the evenly divided two groups of suction cups or grippers 121 on both sides of the first suction mechanism 131, when feeding at least two kinds of materials for processing products, the gripping device 12 and the second suction mechanism 132 can quickly grip and unload at least two kinds of materials, reducing the moving distance of the fixture 1, thereby saving time costs.

[0067] Preferably, as Figure 5 shown, the group of grippers 1215 and the group of suction cups 1322 are on the same straight line, and the grippers 121 and the suction cups are arranged at equal intervals; the second group of grippers 1216 and the second group of suction cups 1323 are on the same straight line, and the grippers 121 and the suction cups are arranged at equal intervals. Arranging the suction cups in the second suction mechanism 132 and the grippers 121 in the gripping device 12 on the same straight line and setting the suction cups and the grippers 121 at equal intervals can, while not affecting the gripping of materials by the grippers 121 in the gripping device 12, also enable the suction cups in the second suction mechanism 132 to suck the materials, effectively reducing the occupied space.

[0068] Preferably, as Figure 5 shown, the distance between the grippers 121 in the group of grippers 1215 and the suction cups in the group of suction cups 1322 is L4; the distance between the grippers 121 in the second group of grippers 1216 and the suction cups in the second group of suction cups 1323 is L5; where L1 < L4 = L5 < L2 = L3. By reasonably setting the distance between the grippers 121 and the suction cups, it is ensured that the grippers 121 and the suction cups in the same column grip the materials simultaneously, and the occupied space of the gripping device 12 and the suction device 13 can be minimized, thereby reducing the volume of the fixture 1. It should be noted that the group of grippers 1215 and the second group of grippers are exactly the same, and the two are only different in position, respectively located on both sides of the first suction mechanism 131; the group of suction cups 1322 and the second group of suction cups 1323 are exactly the same, and the two are respectively located on both sides of the first suction mechanism 131.

[0069] Preferably, as Figure 5As shown, the number of suction cups in the first suction mechanism 131 is N1; the number of suction cups in the second suction mechanism 132 is N2; and the number of grippers 121 in the clamping device 12 is N3; where N1 = N2 = N3. By controlling the quantities, the clamping device 1 and the suction mechanism can be precisely matched during loading and unloading, thus achieving better uniformity. In this application, N1 = N2 = N3 = 8, wherein the first suction mechanism 131 is arranged in one column, and the second suction mechanism 132 and the clamping device 12 are each arranged in two columns, with 4 in each column. Figure 5 As shown,

[0070] If (N1-1)*L1<=(N2 / 2-1)*L2=(N3 / 2-1)*L3, it means that the total length of the clamps 121 and suction cups on both sides of the first mechanism is greater than or equal to the total length of the suction cups in the first suction mechanism 131. By setting them reasonably, the positions of the suction cups and clamps 121 in the same row are staggered, so that the fixture 1 can load materials for processing products of at least two kinds of materials and unload them after transportation, thereby saving the transportation time of materials and saving time costs.

[0071] Based on the foregoing embodiments, in one embodiment of this application, as follows: Figures 7 to 10 As shown, the gripping device 12 includes a gripper 121 and a gripping drive mechanism 122, wherein, as Figures 7 to 9 As shown, the gripper 121 is connected to the gripping drive mechanism 122, which is connected to the mounting base 11. The gripping drive mechanism 122 drives the gripper 121 to open and close. When gripping material, the gripper drive mechanism 122 drives the gripper 121 to open, clamping the material, and then drives the gripper 121 to close, securing the material. When releasing the material, the gripper 121 is simply opened. Alternatively, when it is necessary to grip an annular material 3, such as... Figure 5 , Figure 7 As shown in the figure, the gripper 121 grips the annular material 3. The gripper 121 opens and enters the ring of the annular material 3. The gripper 121 is spread open to fit the inner wall of the annular material 3 with the outer wall of the gripper 121, thereby realizing the picking up of the annular material 3.

[0072] Preferred, such as Figures 9 to 10 As shown, the gripping drive mechanism 122 includes a finger cylinder 1221, which is connected to the gripper 121 and drives the gripper 121 to open and close. There are at least two grippers 121, each including two gripping fingers 1211, which are respectively connected to two fingers of the finger cylinder 1221. Figure 10As shown, the inner wall of the gripper finger 1211 is provided with an annular clamping part 1212, and the outer wall of the gripper finger 1211 is provided with an annular outer limiting groove 1213. Compared with the clamping plate in the prior art, the gripper finger 1211 is small and flexible. The two gripper fingers 1211 are respectively connected to the two fingers of the finger cylinder 1221. When the finger cylinder 1221 drives the fingers on the finger cylinder 1221 to open and close, it drives the gripper fingers 1211 to open and close together, thereby realizing the opening and closing of the gripper finger 121. The annular design of the clamping part 1212 of the gripper finger 1211 is not only conducive to gripping materials with regular ring shapes, but also to gripping irregular materials, and can fit with the materials to a greater extent. The outer limiting groove 1213 provided on the outer wall of the gripper 1211 can facilitate the gripping device 12 to grip the annular material. When the gripper 121 passes through the annular material 3, the gripper 121 opens and clamps the annular material 3 in the limiting groove, thereby achieving the gripping of the annular material 3.

[0073] Preferred, such as Figure 10 As shown, the inner wall of the gripper 1211 is provided with an annular inner limiting groove 1214, which is located above the clamping part 1212. It can clamp materials with a diameter larger than the clamping part 1212 and can secure the materials within the inner limiting groove 1214 for further fixation. The clamping effect is good, and it is suitable for T-shaped or top-wide-bottom-narrow materials. Compared to existing clamping plates, the gripper 121 of this application is more flexible, can clamp a wider variety of materials, and has a wider range of applications.

[0074] Based on the foregoing embodiments, in one embodiment of this application, as follows: Figure 5 , Figure 8 As shown, the first suction mechanism 131 also includes a suction cup drive assembly 1312 and a suction cup. The suction cup drive assembly 1312 is used to drive the suction cup in the first suction mechanism 131 to move longitudinally. The suction cup drive mechanism is a cylinder, which can drive the suction cup to move up and down. When it is necessary to suction material, the cylinder drives the vacuum suction cup to move down to suction material, and then move up, or it can remain stationary and maintain the downward position. When the first suction mechanism 131, the second suction mechanism 132, and the gripping device 12 suction material simultaneously, the first suction mechanism 131 can suction material and move upward, offsetting the parallel plane space with the second suction mechanism 132, thus making higher space utilization.

[0075] Preferred, such as Figure 8 As shown, the first suction mechanism 131 uses a multi-layer suction cup 1311. The multi-layer suction cup has a large compression buffer stroke. Since the first suction mechanism 131 needs to extend and retract vertically, the multi-layer suction cup can reduce the vibration during the vertical extension and retraction process. In addition, the multi-layer suction cup 1311 can pick up arc surfaces with a large radius of curvature. The spacing between the multi-layer suction cups 1311 is small, which can pick up irregular and small materials.

[0076] like Figure 8 As shown, the second suction mechanism 132 uses a single-layer suction cup 1321. The single-layer suction cup 1321 has better longitudinal force resistance, and the spacing between the single-layer suction cups 1321 is relatively large, enabling it to pick up larger and more regular materials. The spacing between the single-layer suction cups 1321 is greater than the spacing between the multi-layer suction cups 1311, and the spacing between two single-layer suction cups 1321 can accommodate the length of 3-4 multi-layer suction cups 1311.

[0077] Based on the foregoing embodiments, in one embodiment of this application, as follows: Figure 7 , Figure 8 As shown, the mounting base 11 includes a top seat 111 and a base 112. The base 112 is connected to the top seat 111. A first suction mechanism 131 is connected to the top seat 111, and a second suction mechanism 132 and a clamping device 12 are connected to the base 112. The top seat 111 is connected to the base 112. The first suction mechanism 131 is fixed relative to the top seat 111, but it can move longitudinally relative to the base 112. The second suction mechanism 132 and the clamping device 12 are connected to the bottom of the base 112. The first suction mechanism 131 can extend and retract vertically, protruding beyond the bottom plane of the second suction mechanism 132. When the first suction mechanism 131 is in an un-suctioned state, the bottom of the suction cup in the first suction mechanism 131 is not on the same plane as the suction cup in the second suction mechanism 132 and the bottom of the gripper 121 in the gripping device 12. The suction cup in the first suction mechanism 131 is slightly higher than the other two. This is to stagger the three in terms of height and position, so as to prevent the second suction mechanism 132 or the first suction mechanism 131 from affecting one of the mechanisms when suctioning materials.

[0078] Preferred, such as Figure 7 As shown, the base 112 has a through groove 1121 in the center. The first suction mechanism 131 passes through the through groove 1121 and is connected to the top seat 111. The second suction mechanism 132 is connected to the clamping device 12 on the side of the through groove 1121. The top seat 111 is a U-shaped bracket, and the base 112 is a flat plate with a long hollow cavity in the center to accommodate the first suction mechanism 131. The first suction mechanism 131 passes through the through groove 1121 and is connected to the bottom of the top seat 111. The top of the top seat 111 is connected to the support arm 21, connecting the entire clamp 1 to the support part. The bottom of the base 112 is connected to the second suction mechanism 132 and the clamping device 12.

[0079] Preferred, such as Figure 5As shown, the first suction mechanism 131 is located in the middle of the base 112, and the second suction mechanism 132 and the gripping device 12 are arranged on both sides of the first suction mechanism 131. The first suction mechanism 131 and the second suction mechanism 132 each have no fewer than two suction cups, and the gripping device 12 has no fewer than two grippers 121. The suction cups and grippers 121 in the second suction mechanism 132 are spaced apart and the spacing is equal.

[0080] Preferred, such as Figure 8 As shown, the mounting base 11 also includes a cylinder fixing plate 113, which can fix the finger cylinder 1221. The suction cup in the second suction mechanism 132 is connected to the connecting rod, which passes through the cylinder fixing plate 113 and connects to the base 112. There are two cylinder fixing plates 113, which are respectively set below the base 112 and fixedly connected to the base 112. The two cylinder fixing plates 113 are respectively set on both sides of the through groove 1121 of the base 112. The single-layer suction cup 1321, the multi-layer suction cup 1311, and the gripper 121 are arranged in the same direction and parallel to each other. The gripper 121 and the single-layer suction cup 1321 are located on the same straight line.

[0081] like Figures 1 to 4 As shown, this application provides a robotic arm that includes the gripper described in any of the foregoing embodiments. The robotic arm of this application combines gripping and suction functions and can simultaneously grip at least two materials, thereby enabling the robotic arm 2 to handle multiple materials using the gripper 1. This facilitates its use in industrial production. For products requiring the processing of at least two materials, using the robotic arm 2 of this application can save time on material handling and transportation, thus reducing production time costs.

[0082] Preferably, the robot arm 2 further includes a support arm 21, and the clamp 1 is connected to the support arm 21. The support arm 21 is provided with a through hole, and a lead screw 22 is provided in the through hole. The lead screw 22 is connected to the clamp 1 and is used to drive the clamp 1 to move longitudinally. The clamp 1 can move up and down as a whole along the direction of the lead screw 22.

[0083] One specific practical application process described in this application is as follows:

[0084] After being driven, the suction cup in the first suction mechanism 131 moves downward to clamp the densely packed first material. Then, after the clamp 1 moves to a specific position, the first material can be put down and separated by other devices.

[0085] During the separation process, the clamp 1 is moved to the second material feeding point, the clamping device 12 is used to clamp the second material, and then it is moved to the first material dispensing point, where the second suction mechanism 132 sucks up the first material.

[0086] Then, the first material and the second material are transported to the material processing area. The clamp 1 is moved to align the first clamping device 12 and the second suction mechanism 132 with the processing port, and the materials are placed down in sequence.

[0087] This application discloses a gripper and robotic arm capable of picking up materials, combining gripping and suction functions. The gripper 1 can simultaneously grip at least two types of materials, and the gripper 121 in the gripping device 12 can grip irregular materials and ring-shaped materials 3, etc. The suction device 13 can suction two types of materials with different spacing, and can simultaneously suction densely packed, small-volume, and irregularly shaped materials, or sparsely packed, slightly larger-volume materials. It has a wide range of applications and multiple functions, and can be used for material handling in industrial production, greatly reducing production costs and improving production efficiency.

[0088] The present application has been described in detail above. Specific examples have been used to illustrate the principles and implementation methods of the present application. The descriptions of the embodiments above are only for the purpose of helping to understand the present application and its core ideas. It should be noted that those skilled in the art can make several improvements and modifications to the present application without departing from the principles of the present application, and these improvements and modifications also fall within the protection scope of the claims of the present application.

Claims

1. A clamp, comprising a mounting base (11), wherein the mounting base (11) is provided with: A clamping device (12) is used to clamp materials; A suction device (13) is used to suction materials; Its features are, The clamping device (12) and the suction device (13) are located on the same side of the mounting base (11); in, The suction device (13) includes a first suction mechanism (131) and a second suction mechanism (132); The first suction mechanism (131) and the second suction mechanism (132) each include at least two suction cups; The gripping device (12) includes at least two grippers (121); The distance between the suction cups in the first suction mechanism (131) is L1, the distance between the suction cups in the second suction mechanism (132) is L2, and the distance between the grippers (121) in the clamping device (12) is L3. Among them, L1 <L2=L3; The first suction mechanism (131) moves down to suck up the first material, and then the clamp (1) moves to a specific position to put down the first material for separation; During the separation process, the clamp (1) is moved to the second material feeding position and the clamping device (12) is used to clamp the second material; Then it is moved to the first material distribution point, and the second suction mechanism (132) is used to suction the first material after it has been divided. Then the first and second materials are transported to the material processing area and placed down in sequence.

2. The clamp according to claim 1, characterized in that, The suction cups in the first suction mechanism (131) are arranged in a straight line; The suction cups in the second suction mechanism (132) are arranged in a straight line; The grippers (121) in the gripping device (12) are all arranged in a straight line.

3. A clamp according to claim 2, characterized in that, The suction cups in the first suction mechanism (131) and the second suction mechanism (132) are arranged in a direction parallel to the gripper (121) in the clamping device (12).

4. A clamp according to claim 3, characterized in that, The suction cups in the second suction mechanism (132) are evenly divided into one set of suction cups (1322) and two sets of suction cups (1323), and the one set of suction cups (1322) and the two sets of suction cups (1323) are respectively arranged on both sides of the first suction mechanism (131); The grippers (121) in the gripping device (12) are evenly divided into one set of grippers (1215) and two sets of grippers (1216), and the one set of grippers (1215) and the two sets of grippers (1216) are respectively arranged on both sides of the first suction mechanism (131).

5. A clamp according to claim 4, characterized in that, The set of grippers (1215) and the set of suction cups (1322) are located on the same straight line, and the grippers (121) and the suction cups are equidistantly spaced. The two sets of grippers (1216) and the two sets of suction cups (1323) are located on the same straight line, and the grippers (121) and the suction cups are equidistantly spaced.

6. A clamp according to claim 5, characterized in that, The distance between the gripper in the set of grippers (1215) and the suction cup in the set of suction cups (1322) is L4; The distance between the gripper in the two sets of grippers (1216) and the suction cup in the two sets of suction cups (1323) is L5; Among them, L1 <L4=L5<L2=L3。 7. A clamp according to claim 2, characterized in that, The number of suction cups in the first suction mechanism (131) is N1; The number of suction cups in the second suction mechanism (132) is N2; The number of grippers (121) in the gripping device (12) is N3; Where N1=N2=N3.

8. A clamp according to any one of claims 1 to 7, characterized in that, The clamping device (12) further includes a clamping drive mechanism (122), which is connected to the mounting base (11); The gripper (121) is connected to the gripping drive mechanism (122), which is used to drive the gripper (121) to perform opening and closing movements to grip materials.

9. A clamp according to claim 8, characterized in that, The gripping drive mechanism (122) includes a finger cylinder (1221) which is connected to the gripper (121).

10. A clamp according to claim 8, characterized in that, Each of the grippers (121) includes two gripping fingers (1211), the inner wall of which is provided with an annular clamping portion (1212), and the outer wall of which is provided with an annular outer limiting groove (1213).

11. A clamp according to claim 10, characterized in that, The inner wall of the finger clip (1211) is provided with an annular inner limiting groove (1214).

12. A clamp according to claim 8, characterized in that, The first suction mechanism (131) further includes a suction cup driving assembly (1312), which is used to drive the suction cup in the first suction mechanism (131) to move longitudinally.

13. A clamp according to claim 12, characterized in that, The mounting base (11) includes a top base (111) and a base (112), wherein the base (112) is connected to the top base (111); The first suction mechanism (131) is connected to the top seat (111), and the second suction mechanism (132) and the clamping device (12) are connected to the base (112).

14. A clamp according to claim 13, characterized in that, The base (112) has a through groove (1121) in the center, and the first suction mechanism (131) passes through the through groove (1121) and is connected to the top seat (111).

15. A robotic arm, characterized in that, Includes a clamp as described in any one of claims 1-14.

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