A mechanical claw

Abstract

The present application provides a mechanical claw, comprising a mounting base, wherein the mounting base is provided with a suction mechanism and a control mechanism, wherein the control mechanism is used to control the suction mechanism to suck and put down a workpiece; the suction mechanism includes a suction cup group, wherein the suction cup group is at least N groups, and each suction cup group includes at least Q suction cups; the control mechanism includes a control unit, wherein the control unit is at least M, and each control unit controls at least one suction cup group, wherein one control unit controls at least two suction cup groups; the control mechanism is capable of sucking N×Q suction cups at a time, and the control mechanism is capable of putting down N suction cup groups in M ​​times. A mechanical claw of the present application adopts at most (N‑1) groups of control units to control N groups of suction cups, is capable of sucking N×Q workpieces at a time, and puts down the workpiece in (N‑1) times, thereby reducing the handling time and improving the handling efficiency while ensuring the handling accuracy of the mechanical claw.

Description

Technical Field

[0001] The present application relates to the technical field of mechanical claws, and in particular to a mechanical claw. Background Art

[0002] Robots are indispensable handling tools in modern automated industrial production. They are widely used in picking and placing workpieces. Their main task is to transfer workpieces from point A to point B.

[0003] With the development of industry, the functions of robotic grippers have also been updated and iterated to meet the needs of different industries. Compared with the initial function of imitating the human arm to grasp a single workpiece, it can no longer meet the handling speed required by current industrial production. For example, small and more delicate workpieces such as tabs are relatively small in size. To ensure control accuracy when most robotic grippers are handling, the control unit on the robotic gripper will adopt a single-group control mode. That is, the suction cups are set into N groups, and N control valves are required to control the N groups of suction cups. Each control valve controls a group of suction cups separately. The robotic gripper can pick up the workpiece in N times or pick up and place it in one time.

[0004] However, when the robotic gripper controls the suction cup to place the workpiece, the robotic gripper will place the workpiece individually in a single group. In this way, the process of the robotic gripper placing the workpiece takes a long time, that is, the overall handling time of the robotic gripper is long, and there is room for further improvement. Summary of the Invention

[0005] The present application proposes a mechanical claw to solve the above-mentioned technical problems. The present application provides a mechanical claw, which includes a suction cup group and a control unit, wherein the number of suction cup groups is N, and the number of control units is M. Each control unit controls at least one suction cup group, and one control unit can control at least two suction cup groups to work, and M≤(N-1), that is, the mechanical claw can suck up N groups of suction cups at one time, but it takes at most N-1 times to place N groups of workpieces. That is, while ensuring the control accuracy of the control unit on the suction cup, it also reduces the time for the mechanical claw to place the workpiece, thereby speeding up the handling speed of the workpiece.

[0006] The present application provides a mechanical gripper, comprising a mounting base, on which is provided:

[0007] A suction mechanism, the suction mechanism is used to suck the workpiece;

[0008] A control mechanism, the control mechanism being connected to the suction mechanism and being used to control the suction mechanism to suck and place the workpiece;

[0009] Wherein, the suction mechanism includes a suction cup group, the number of the suction cup groups is at least N, and each suction cup group includes at least Q suction cups; and

[0010] The control mechanism includes a control unit, wherein there are at least M control units, each control unit controls at least one suction cup group, and one control unit controls at least two suction cup groups;

[0011] The control mechanism can absorb N×Q suction cups at one time, and can put down N suction cup groups in M ​​times.

[0012] Compared with the prior art, the mechanical gripper of the present application includes a control mechanism and a suction mechanism, wherein the control mechanism is used to control the suction mechanism to suck the workpiece;

[0013] Among them, the suction mechanism includes a suction cup group, the control mechanism includes a control unit, and the control unit is used to control the suction cup group to suck and put down the workpiece; the improvement of the present application is that the number of suction cup groups is at least N groups, the number of control units is at least M, and each control unit controls at least one suction cup group, that is, one of the M control units can control at least two groups of suction cups. Therefore, compared with the mechanical claw in the prior art in which a single control unit controls a single group of suction cups and N groups of suction cups require N groups of control units, the mechanical claw of the present application can have two control modes, one is that a single control unit controls a single group of suction cups, and the other is that a single control unit controls two groups of suction cups. The plurality of control modes makes the control accuracy of the mechanical claw higher and the flexibility higher. The time for the mechanical claw of the present application to put down the workpiece is reduced and has better control accuracy.

[0014] In addition, the number of suction cups in each suction cup group is Q, which can ensure that the robotic claw can grasp more suction cups at one time, thereby improving the grasping efficiency.

[0015] Furthermore, the control mechanism also includes a power component, which is used to provide power for the suction mechanism to suck the workpiece.

[0016] Furthermore, the power assembly includes a cylinder, and the cylinder is connected to the control unit.

[0017] Furthermore, the control unit includes a direction control element and a processing element, the direction control element is communicated with the processing element, and the power assembly is communicated with the direction control element.

[0018] Furthermore, the directional control element is a pilot-operated solenoid valve.

[0019] Furthermore, the processing element is a digital pressure switch.

[0020] Furthermore, the mounting seat includes a top seat and a base that are connected to each other, the suction mechanism is fixedly connected to the base, and the control mechanism is fixedly connected to the top seat.

[0021] Furthermore, the top seat includes a mounting base plate and a mounting side plate connected to each other, the mounting side plate is connected to the mounting base plate, the control unit is fixedly connected to the mounting side plate, and the power assembly is fixedly connected to the mounting base plate.

[0022] Furthermore, the mounting seat also includes a cover, which is connected to the top seat to cover a portion of the control mechanism.

[0023] Furthermore, the suction mechanism satisfies N=8, M=7, and Q=10.

[0024] The present application discloses a mechanical gripper comprising a control mechanism and a suction mechanism, wherein the suction mechanism comprises a suction cup group, and the control mechanism comprises a control unit, wherein each control unit controls at least one suction cup group, and one control unit controls at least two suction cup groups, i.e., the mechanical gripper can pick up 80 suction cups at a time, thereby increasing handling efficiency. While ensuring control accuracy, it only takes 7 times to place 8 suction cups, thereby reducing the waiting time for the mechanical gripper to place a workpiece.

[0025] In addition, by setting a direction control element and a processing element in the control unit, the control accuracy of the control unit is increased, and the real-time pressure output value of the power component can be displayed, which is convenient for staff to monitor. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 This is a schematic structural diagram of a mechanical claw according to an embodiment of the present application;

[0027] Figure 2 This is a schematic diagram of an exploded structure of a mechanical claw according to an embodiment of the present application;

[0028] Figure 3 This is a schematic diagram of the partial structure of a mechanical claw in one embodiment of the present application. Figure 1 ;

[0029] Figure 4 This is a schematic diagram of the partial structure of a mechanical claw in one embodiment of the present application. Figure 2 ;

[0030] Figure 5 1 is a schematic diagram of the bottom structure of a clamp according to an embodiment of the present application;

[0031] Figure 6 yes Figure 2 An enlarged schematic diagram of part A.

[0032] Reference numerals:

[0033] 1. Mechanical claw;

[0034] 11. Mounting seat; 111. Top seat; 112. Base; 113. Cover;

[0035] 1111. Install the bottom plate; 1112. Install the side plates; 11121. First side plate; 11122. Second side plate; 11123. Third side plate; 11124. First horizontal plate; 11125. Second horizontal plate;

[0036] 12. Control mechanism; 121. Control unit; 122. Power assembly; 1211. Direction control element; 1212. Processing element; 1213. Three-way connector;

[0037] 13. Suction mechanism; 131. Suction cup assembly; 132. Suction cup. DETAILED DESCRIPTION

[0038] In order to enable those skilled in the art to better understand the technical solutions of the present disclosure, the present disclosure is described in detail, clearly, and completely in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present disclosure and are not intended to limit the present disclosure.

[0039] In the description of this application, if there is a description of first or second, it is only for the purpose of distinguishing technical features, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the order of the indicated technical features.

[0040] Those skilled in the art should understand that, in the disclosure of this application, the terms "longitudinal", "transverse", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, which 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, be constructed and operated in a specific orientation. Therefore, the above terms cannot be understood as limiting this application.

[0041] The present application will be described in further detail below with reference to the accompanying drawings. Figures 1 to 6 illustrate.

[0042] like Figures 1 to 2 As shown in FIG. 1 , a mechanical gripper of the present application is provided. The mechanical gripper 1 includes a mounting base 11 and a control mechanism 12 and a suction mechanism 13 connected to the mounting base 11. The control mechanism 12 is connected to the suction mechanism 13 and controls the suction mechanism 13 to suck and put down the workpiece. Figure 5 As shown, the suction mechanism 13 includes at least N suction cup groups 131, each suction cup group 131 has Q suction cups 132, the suction cup groups 131 are equidistantly spaced apart with a spacing of L1, and the suction cups 132 in each suction cup group 131 are equidistantly spaced apart with a spacing of L2, where L2 ≥ L1;

[0043] The control mechanism 12 includes M control units 121, each control unit 121 can control at least one suction cup group 131, wherein one control unit 121 in the M groups of control units 121 can control at least two suction cup groups 131, the control mechanism 12 can absorb N×Q suction cups 132 at one time, and the control mechanism 12 can put down N groups of suction cup groups 131 in M ​​times, wherein it should be noted that in actual use, the following quantity setting relationship M≤(N-1) must be satisfied, that is, the number of control units 121 is at most (N-1); that is, the control mechanism 12 can use M control units 121 to control N groups of suction cup groups 131 to absorb once, and then put them down in M ​​times, and one control unit 121 in the M control units 121 can control two suction cup groups 131 in the N suction cup groups 131 to absorb and put them down at the same time, while ensuring that the control unit 121 of the mechanical claw 1 has high control accuracy for each suction cup group 131, it can also reduce the time the mechanical claw 1 takes to transport the workpiece, thereby reducing the transportation cost.

[0044] Based on the above embodiment, in another embodiment of the present application, Figures 2 to 4 As shown, the control mechanism 12 also includes a power assembly 122, which is used to provide power for the suction mechanism 13 to pick up the workpiece. The power assembly 122 is connected to the control unit 121. The control assembly controls the power output of the power assembly 122 to the suction mechanism 13, thereby achieving precise control of the suction mechanism 13, so that each suction cup assembly 131 in the suction mechanism 13 can more accurately pick up and place the workpiece. In this embodiment, the power assembly 122 can also be called an actuator, which can complete the control of the suction mechanism 13 based on the control information of the control unit 121.

[0045] Based on the above embodiment, in another embodiment of the present application, Figure 4 As shown, the power component 122 includes a cylinder, which is connected to the control unit 121. The cylinder is a pneumatic actuator that converts the pressure energy of compressed gas into mechanical energy in pneumatic transmission. The cylinder provides power for the mechanical claw 1 to absorb and put down the workpiece, so that the mechanical claw 1 can carry the workpiece. It is used in conjunction with the suction cup 132 to easily absorb the workpiece without pollution or damage to the workpiece. It is more suitable for more precise workpieces.

[0046] It should be noted that, since the air pipe connection diagram between the various pneumatic parts is relatively complicated, in order to facilitate technical personnel in this field to review the technical solution of this application in conjunction with the accompanying drawings, the connection of the air pipe is not shown in the drawings.

[0047] In this embodiment, the cylinder uses a dual-axis roller slide cylinder. The slide cylinder has high precision, high density, stable movement, and small size. It is generally used for transporting precision instruments. It is the preferred cylinder type in this embodiment and can provide a good foundation for the work of the mechanical claw 1. It ensures that the mechanical claw 1 can still maintain good stability and movement accuracy during the process of sucking, transporting, and putting down the workpiece, thereby increasing the transportation success rate of the mechanical claw 1.

[0048] Based on the above embodiment, in another embodiment of the present application, Figure 2 、 Figure 3 As shown, the control unit 121 includes a direction control element 1211 and a processing element 1212, the direction control element 1211 is connected to the processing element 1212, and the power component 122 is connected to the direction control element 1211, wherein a three-way joint 1213 is connected to the air hole of the direction control element 1211, and the power component 122 and the processing element 1212 are connected to the direction control element 1211 through the three-way joint 1213. The direction control element 1211 controls the power output direction of the power component 122 through the three-way joint 1213. The direction control element 1211 can control the on and off of the airflow or change the direction of the gas flow, so that each group of control units 121 can accurately control the suction cup group 131 connected to each of them, thereby improving the suction accuracy of the suction mechanism 13 for the workpiece.

[0049] Based on the above embodiment, in another embodiment of the present application, Figure 2 、 Figure 3 As shown, the direction control element 1211 is a pilot solenoid valve. The pilot solenoid valve has good control accuracy and can better control the switching speed of the valve port. It has a good improvement effect on the movement accuracy of the mechanical claw 1 to suck the workpiece. In addition, the electromagnetic head of the pilot solenoid valve is small, the power consumption is small, it is more beautiful and saves installation space, thereby reducing the overall volume of the mechanical claw 1, making the mechanical claw 1 not take up space when moving and more flexible.

[0050] Preferably, in the present application, the pilot solenoid valve uses a seat valve type three-way solenoid valve, and adopts a containerized type. The containerized type has the advantages of saving wiring, saving space, and the number of container positions can be changed, and is more convenient to be set up on the mechanical claw 1 for use.

[0051] Based on the above embodiment, in another embodiment of the present application, Figure 3 、 Figure 4As shown, processing element 1212 is a digital pressure switch connected to direction control element 1211. This digital pressure switch displays the pressure output of direction control element 1211 on suction mechanism 13, making it easier for staff to monitor the operating status of the gripper 1. Its key operation allows for easy setting of basic parameters, greatly facilitating on-site commissioning. This makes it easier for staff to monitor the gripper 1 in real time, helping to improve its operating efficiency.

[0052] Based on the above embodiment, in another embodiment of the present application, Figures 2 to 4 As shown, the mounting base 11 includes a top base 111 and a base 112 connected to each other. The suction mechanism 13 is fixedly connected to the base 112, and the control mechanism 12 is fixedly connected to the top base 111. The base 112 is a flat plate, and the top base 111 is substantially perpendicular to the base 112. A suction cup assembly 131 is connected to the bottom of the base 112. Each suction cup 132 passes through the base 112 and is connected to a pneumatic micro connector at the top of the suction cup 132, thereby achieving power connection to the power assembly 122.

[0053] In this application, the suction cup 132 in the suction cup group 131 uses a double-layer vacuum suction cup 132. The double-layer vacuum suction cup 132 has a larger compression buffer stroke. The suction cup 132 can slow down the vibration of the mechanical claw 1 during movement, and the multi-layer suction cup 132 can absorb arc surfaces with a larger curvature radius. It can absorb irregular and smaller materials. For more precise workpieces, the multi-layer suction cup 132 has better applicability.

[0054] Based on the above embodiment, in another embodiment of the present application, Figure 2 、 Figure 3 As shown, the top seat 111 includes a mounting base plate 1111 and a mounting side plate 1112 connected to each other, the mounting side plate 1112 is connected to the mounting base plate 1111, the control unit 121 is fixedly connected to the mounting side plate 1112, and the power assembly 122 is fixedly connected to the mounting base plate 1111. Figure 3 As shown, the mounting base plate 1111 is a vertical flat plate, which is vertically connected to the mounting side plate 1112. The control unit 121 can be installed on the mounting side plate 1112. The advantage of this arrangement is that it maximizes the reduction of the installation space of the control unit 121 and the power component 122, increases the utilization rate of the space, and thereby reduces the overall volume of the mechanical claw 1, making the mechanical claw 1 more flexible when moving and taking up less space.

[0055] Preferably, Figure 6As shown, the mounting side panel 1112 is configured in a bow shape, and the mounting side panel 1112 includes a first side panel 11121, a second side panel 11122, a third side panel 11123, a first transverse panel 11124, and a second transverse panel 11125, wherein the first side panel 11121 is connected to the mounting base panel 1111, the first side panel 11121, the second side panel 11122, and the third side panel 11123 are parallel to each other, the first transverse panel 11124 and the second transverse panel 11125 are parallel to each other and are aligned with the first side panel 11121, the second side panel 11122, and the third side panel 11123. 1123 is vertical, the first transverse plate 11124 connects the first side plate 11121 and the second side plate 11122, the second transverse plate 11125 connects the second side plate 11122 and the third side plate 11123, the direction control element 1211 is connected to the side of the first transverse plate 11124 away from the power component 122, and the processing element 1212 is connected to the side of the third side plate 11123 away from the mounting base plate 1111; wherein, two through holes are provided on the second transverse plate 11125 to facilitate the connection between the direction control element 1211 and the power component 122.

[0056] Based on the above embodiment, in another embodiment of the present application, Figure 1 、 Figure 2 As shown, the mounting base 11 further includes a cover 113, which is connected to the top base 111 to cover part of the control mechanism 12. Figure 2 As shown, the cover 113 is an inverted L-shape. When the cover 113 is installed on the mechanical claw 1, the cover 113 is connected to the mounting base 1111, partially shielding the control mechanism 12. This can minimize the impact of the external environment (such as dust, etc.) on the interior of the control mechanism 12, avoid affecting the operation of the mechanical claw 1, and improve the aesthetics of the mechanical claw 1, making the mechanical claw 1 look more regular.

[0057] Based on the above embodiment, in another embodiment of the present application, Figure 2 As shown, the cover 113 is provided with a through hole, and the processing element 1212 can protrude from the through hole, so that the operator can observe and operate the processing element 1212. The overall effect is shown in FIG. Figure 1 As shown, the direction control element 1211 also protrudes from the cover 113 and is in direct contact with the outside world. This is to facilitate heat dissipation of the direction control element 1211 and increase the service life of the mechanical claw 1.

[0058] Based on the above embodiment, in another embodiment of the present application, Figure 5As shown, the suction mechanism 13 satisfies M=7, N=8, Q=10, that is, the mechanical claw 1 can control 8 suction cup groups 131 to suck 80 workpieces at one time for transportation through 7 groups of control units 121. When the workpieces need to be put down in order after being transported to the target position, the 7 groups of control units 121 can control the 8 suction cup groups 131 to put them down in 7 times.

[0059] Preferably, when the mechanical claw 1 of the present application puts down the workpiece, in the first 6 groups of control units 121, each control unit 121 controls one suction cup group 131 to put down the workpiece each time, for a total of 6 times, placing a group of workpieces each time, and the 7th group of control units 121 controls the last two suction cup groups 131 to put down the workpiece at one time, which reduces the number of times the workpiece is placed, thereby ensuring better handling accuracy of the mechanical claw 1 and saving handling time, thereby improving handling efficiency and reducing handling costs.

[0060] It should be noted that the order of the control units 121 is not unique, and each suction cup group 131 controlled by each group of control units 121 is also not unique. It is only necessary to ensure that 6 groups of control units 121 out of the 7 groups of control units 121 each control one suction cup group 131, and the last group of control units 121 controls the remaining two suction cup groups 131.

[0061] In actual use, a mechanical claw of the present application, such as Figure 3 、 Figure 5 As shown, the power component 122 works to provide power, and the direction control element 1211 controls the power direction or power amount transmitted by the power component 122 to the suction mechanism 13, so that the 7 groups of control units 121 can accurately control the 8 groups of suction cups 132 to suck and put down the workpiece. The operator monitors the pressure output value controlled by each group of control units 121 through the digital pressure switch, thereby monitoring the operation of the mechanical claw 1 in real time to facilitate on-site debugging by the operator.

[0062] The present application has been described in detail above. Specific examples have been used herein to illustrate the principles and implementation methods of the present application. The description of the above embodiments is intended only to facilitate understanding of the present application and its core concepts. It should be noted that, without departing from the principles of the present application, a number of improvements and modifications may be made to the present application by a person skilled in the art, and such improvements and modifications shall fall within the scope of protection of the claims of the present application.

Claims

1. A mechanical claw, characterized in that: It comprises a mounting seat (11), on which is provided: A suction mechanism (13), wherein the suction mechanism (13) is used to suck a workpiece; A control mechanism (12), wherein the control mechanism (12) is connected to the suction mechanism (13), and the control mechanism (12) is used to control the suction mechanism (13) to suck and put down the workpiece; Wherein, the suction mechanism (13) includes a suction cup group (131), the suction cup group (131) is at least N groups, and each suction cup group (131) includes at least Q suction cups (132); and, The control mechanism (12) includes a control unit (121), wherein there are at least M control units (121), where M≤(N-1); each control unit (121) controls at least one suction cup group (131), and one control unit (121) controls at least two suction cup groups (131); The control mechanism (12) can use M control units (121) to control N groups of suction cups (131) to perform one-time suction, the control mechanism (12) can suck N×Q suction cups (132) at one time, and the control mechanism (12) can place N suction cup groups (131) in M ​​times.

2. The mechanical claw according to claim 1, characterized in that: The control mechanism (12) further comprises a power assembly (122), and the power assembly (122) is used to provide power for the suction mechanism (13) to suck the workpiece.

3. The mechanical claw according to claim 2, characterized in that: The power assembly (122) comprises a cylinder, and the cylinder is connected to the control unit (121).

4. The mechanical claw according to claim 2, characterized in that: The control unit (121) comprises a direction control element (1211) and a processing element (1212); the direction control element (1211) is in communication with the processing element (1212); and the power component (122) is in communication with the direction control element (1211).

5. The mechanical claw according to claim 4, characterized in that: The directional control element (1211) is a pilot-operated solenoid valve.

6. The mechanical claw according to claim 5, characterized in that: The processing element (1212) is a digital pressure switch.

7. The mechanical claw according to claim 4, characterized in that: The mounting seat (11) comprises a top seat (111) and a base (112) connected to each other, the suction mechanism (13) is fixedly connected to the base (112), and the control mechanism (12) is fixedly connected to the top seat (111).

8. The mechanical claw according to claim 7, characterized in that: The top seat (111) comprises a mounting base plate (1111) and a mounting side plate (1112) connected to each other, the mounting side plate (1112) being connected to the mounting base plate (1111), the control unit (121) being fixedly connected to the mounting side plate (1112), and the power assembly (122) being fixedly connected to the mounting base plate (1111).

9. The mechanical claw according to claim 7, characterized in that: The mounting seat (11) further comprises a cover (113), wherein the cover (113) is connected to the top seat (111) and is used for covering a portion of the control mechanism (12).

10. A mechanical gripper according to any one of claims 1 to 9, characterized in that: The suction mechanism (13) satisfies N=8, M=7, and Q=10.

Images