An asymmetric gripping device and handling system

Abstract

The application discloses an asymmetric clamping device, which comprises a first clamping piece, a second clamping piece, a first inserting finger arranged on the first clamping piece, a second inserting finger arranged on the second clamping piece, and a driving mechanism for driving the first clamping piece and the second clamping piece to move relatively, wherein the first inserting finger and the second inserting finger are arranged in a staggered mode. The application further discloses a carrying system, which comprises the asymmetric clamping device, a carrying device for driving the asymmetric clamping device to move, and a plurality of first jigs matched with the asymmetric clamping device. The first jigs comprise first jig bodies, first grab ears and second grab ears arranged vertically on opposite sides of top surfaces of the first jig bodies, and the first grab ears and the second grab ears are arranged in a staggered mode. The first grab ears and the second grab ears on adjacent sides of adjacent two first jigs are arranged in a staggered mode. The application can greatly compress the occupation of an instrument device by a clamped object, reduce the overall size of the instrument device, or increase the capacity of the instrument device for accommodating the clamped object.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of material conveying, in particular to an asymmetric clamping device and conveying system. BACKGROUND

[0002] The gripper is the most common type of end effector, which is installed on the mechanical arm of the industrial robot to directly grasp the workpiece or perform the work, and has the function of clamping, transporting and placing the workpiece to a certain position. The conventional gripper has a two-finger, three-finger or four-finger structure. The gripper is opened and closed to grab and release the conveyed object with shape characteristics, and the movement of the mechanical arm is coordinated to complete the conveying of the object. For example, the Chinese utility model patent with publication number CN218082790U and the name of "sample grabbing device for chemical mechanical polishing", the Chinese utility model patent with publication number CN218859719U and the name of "automatic clamping device for washing machine inner drum production line", etc.

[0003] One or more grippers are usually installed on the existing mechanical arm to grab one or more workpieces at a time, such as the Chinese utility model patent with publication number CN216784941U and the name of "material taking and placing equipment and tray", which takes and places the bottle tube on the tray through the gripper. However, when the conveyed objects are closely adjacent and the gap at the grabbing point is small, the gripper cannot effectively extend into the gap to grab and convey the objects, so a certain space needs to be reserved for the placement of the conveyed objects. However, due to the limited internal space of some instruments and equipment, reserving more clamping space between the conveyed objects will increase the overall size of the instruments and equipment, or sacrifice the placement space of the conveyed objects, reduce the number of placed conveyed objects, and reduce the efficiency of the instruments and equipment in each loading operation. SUMMARY

[0004] In view of the above problems, the purpose of the present application is to provide an asymmetric clamping device and conveying system for clamping one or more clamped objects at a time, which can greatly reduce the occupation of the internal space of the instruments and equipment by the clamped objects, reduce the overall size of the instruments and equipment, simplify the instrument structure, or increase the capacity of the instruments and equipment for clamped objects, and improve the efficiency of the instruments and equipment in loading operation.

[0005] To achieve the above purpose, the technical solution proposed by the present application is as follows:

[0006] An asymmetric clamping device, comprising a first clamping member, a second clamping member, a first inserting finger, a second inserting finger and a driving mechanism. The driving mechanism drives the first clamping member and the second clamping member to move relative to each other. The first clamping member is provided with at least one first inserting finger, and the second clamping member is provided with at least one second inserting finger. The first inserting finger and the second inserting finger are arranged in a staggered manner.

[0007] Preferably, the driving mechanism comprises a mounting base, a driver, a transmission assembly and a guiding positioning assembly, the driver and the guiding positioning assembly are fixed on the mounting base, the transmission assembly is connected with the driver, the first clamping member and the second clamping member respectively, the guiding positioning assembly is connected with the first clamping member and the second clamping member respectively, and the driver drives the first clamping member and the second clamping member to move towards or away from each other along the guiding positioning assembly through the transmission assembly.

[0008] Preferably, the guiding positioning assembly comprises a first guide rail, a second guide rail, a first sliding block, a second sliding block, a photoelectric switch and a light shield, the first guide rail and the second guide rail are parallel to each other and are fixed on the mounting base, the first guide rail and the second guide rail are both slidingly connected with the first sliding block and the second sliding block, the first clamping member is connected with the first sliding block on the first guide rail and the second guide rail respectively, the second clamping member is connected with the second sliding block on the first guide rail and the second guide rail respectively, the mounting base is provided with a strip-shaped hole above the first guide rail, one end of the light shield is connected with the second clamping member, the other end of the light shield extends out of the strip-shaped hole, and the photoelectric switch is arranged at one side of the end of the strip-shaped hole to cooperate with the light shield.

[0009] Preferably, the transmission assembly comprises a gear, a first rack and a second rack, the gear is connected with the output end of the driver, the first rack and the second rack are parallel to each other and are arranged on the opposite sides of the gear and are engaged with the gear, the first rack is connected with the first clamping member, and the second rack is connected with the second clamping member.

[0010] A carrying system comprises the asymmetric clamping device, a carrying device and at least two first jigs. Preferably, the first jig comprises a first jig body, a first ear and a second ear, at least one first ear is vertically arranged on one side of the top surface of the first jig body, at least one second ear is vertically arranged on the other side of the top surface of the first jig body, the first ear and the second ear are arranged in a staggered manner, and the first ear and the second ear on the adjacent sides of adjacent two first jigs are arranged in a staggered manner. The carrying device drives the asymmetric clamping device to move, and the asymmetric clamping device clamps the first jig by inserting the first inserting finger into the first ear and the second inserting finger into the second ear.

[0011] Preferably, the first jig body is provided with at least one first insertion hole for inserting a container, and the opening end of the container is formed with a first protruding edge protruding outward, which can be arranged on the top surface of the first jig body.

[0012] Preferably, the carrying system further comprises a second jig which can be arranged on the top surface of the first jig. The second jig comprises a second jig body, at least one third ear and at least one fourth ear, at least one third ear is arranged on one side of the bottom surface of the second jig body, at least one fourth ear is arranged on the other side of the bottom surface of the second jig body, the third ear and the fourth ear are arranged in a staggered manner, and when the first ear and the third ear are located on the same side, the first ear and the third ear are arranged in a staggered manner, and the second ear and the fourth ear are arranged in a staggered manner.

[0013] Preferably, the second jig body comprises a first plate body and an L-shaped support plate, at least one third ear is arranged on one side of the bottom surface of the first plate body and at least one fourth ear is arranged on the other side of the bottom surface of the first plate body, and at least one side socket for inserting the container cover is arranged on one side of the first plate body, and an L-shaped support plate is arranged on the other opposite side of the bottom surface of the first plate body, one end of the L-shaped support plate is connected with the first plate body, and the other end forms an avoiding groove which is matched with the outer contour of the first protruding edge.

[0014] Preferably, the container cover comprises an upper funnel portion, a lower funnel portion, a neck portion, a cup inserting portion and a second protruding edge, the neck portion is connected with the first end of the upper funnel portion, the second end of the neck portion is connected with the neck portion, the first end of the cup inserting portion is connected with the lower funnel portion, and the second protruding edge is outwardly protruded from the first end of the cup inserting portion.

[0015] Preferably, the carrying device comprises an X-axis moving module, a Y-axis moving module arranged on the sliding seat of the X-axis moving module, a Z-axis moving module arranged on the sliding seat of the Y-axis moving module, and the asymmetric clamping device is arranged on the sliding seat of the Z-axis moving module.

[0016] Preferably, the carrying system further comprises a tray, the tray is provided with at least two jig stations arranged side by side, and at least two positioning pins are arranged at each jig station; one first jig is arranged in each jig station, and the first jig is provided with a positioning hole matched with the positioning pin.

[0017] Preferably, the first ears and the second ears arranged on the opposite sides of the first jig are arranged in a rotational symmetry. The first ears and the second ears arranged on the opposite sides of the first jig are arranged in a rotational symmetry, so that the first fingers and the second fingers can be inserted into the corresponding first ears and second ears no matter the first jig is placed in a forward direction or a reverse direction, without the need for special placement, which is beneficial to eliminate the risk of manual error placement of the first jig, and can simplify the movement of the carrying device, without the need for additional alignment adjustment movement of the grabbing point, so that the movement coordinates of the carrying device are reduced, and the carrying movement is fast and simple.

[0018] By adopting the above technical solutions, the present application has the following advantages:

[0019] 1. The first and second insert fingers of the asymmetric gripping device of the present invention are staggered, so that the gripping points on both sides of the object being gripped are not axially symmetrical. Therefore, when the objects being gripped are arranged together, there is no need to leave a large clearance between them, which is conducive to the compact arrangement of the objects being gripped and avoids interference between the asymmetric gripping device and other objects being gripped. This is beneficial for saving internal space of the instrument or increasing the capacity of the instrument.

[0020] 2. The handling device of the present invention uses a first fixture to assist in clamping one or more objects at a time, making the handling operation fast and efficient. Simultaneously, the first fixture allows multiple objects to be placed compactly without leaving large gaps, which helps save internal space in the instrument, reduce the size of the instrument, or increase the instrument's capacity for clamped objects. The first fixture and the gripping points on both sides of the asymmetrical clamping device are asymmetrically arranged, ensuring that the asymmetrical clamping device does not interfere with adjacent first fixtures when clamping the first fixture. This facilitates the asymmetrical clamping device's gripping of the first fixture and allows for a close arrangement of the first fixtures, achieving the purpose of saving internal space in the instrument or increasing its capacity for clamped objects. Attached Figure Description

[0021] Figure 1 This is a three-dimensional structural diagram of the asymmetric gripping device in Embodiment 1.

[0022] Figure 2 of Figure 1 A bottom view of the asymmetric gripping device.

[0023] Figure 3 for Figure 1 A three-dimensional structural diagram of an asymmetric gripping device holding an object.

[0024] Figure 4 This is a three-dimensional structural diagram of the handling system in Example 2.

[0025] Figure 5 for Figure 4 A top view of the first fixture.

[0026] Figure 6 for Figure 5 Schematic diagram of the second section.

[0027] Figure 7 for Figure 4 A three-dimensional structural diagram of an asymmetric gripping device holding a first fixture to transport a container.

[0028] Figure 8 for Figure 1 A top view of the feed tray, the first fixture, and the container.

[0029] Figure 9 Fig. 1 is a schematic view of the perspective structure of the asymmetric clamping device in the first embodiment. Figure 8 Fig. 2 is a schematic view of the perspective structure of the asymmetric clamping device in the second embodiment.

[0030] Figure 10 Fig. 3 is a schematic view of the front view of the tray, the first jig and the container in the first embodiment. Figure 1 Fig. 4 is a schematic view of the front view of the tray, the first jig and the container in the second embodiment.

[0031] Figure 11 Fig. 5 is a schematic view of the perspective structure of the handling system in the second embodiment.

[0032] Figure 12 Fig. 6 is a schematic view of the perspective structure of the container and the container cover in the first embodiment. Figure 11 Fig. 7 is a schematic view of the perspective structure of the container and the container cover in the second embodiment.

[0033] Figure 13 Fig. 8 is a schematic view of the perspective structure of the asymmetric clamping device clamping the second jig to handle the container cover in the first embodiment. Figure 11 Fig. 9 is a schematic view of the perspective structure of the asymmetric clamping device clamping the second jig to handle the container cover in the second embodiment.

[0034] Figure 14 Fig. 10 is a schematic view of the perspective structure of the asymmetric clamping device clamping the first jig to handle the container and the container cover in the first embodiment. Figure 11 Fig. 11 is a schematic view of the perspective structure of the asymmetric clamping device clamping the first jig to handle the container and the container cover in the second embodiment.

[0035] Wherein: 1, the first jig; 11, the first jig body; 111, the first insertion hole; 12, the first ear; 13, the second ear; 14, the positioning hole; 2, the asymmetric clamping device; 21, the first clamping piece; 22, the second clamping piece; 23, the mounting seat; 231, the strip-shaped hole; 24, the driver; 25, the transmission assembly; 251, the gear; 252, the first rack; 253, the second rack; 26, the guiding positioning assembly; 261, the first guide rail; 262, the second guide rail; 263, the first sliding block; 264, the second sliding block; 265, the photoelectric switch; 266, the light shield; 27, the first insertion finger; 28, the second insertion finger; 3, the handling device; 31, the X-axis moving module; 32, the Y-axis moving module; 33, the Z-axis moving module; 4, the second jig; 41, the second jig body; 411, the first plate body; 412, the L-shaped support plate; 413, the avoiding slot; 414, the side insertion port; 42, the third ear; 43, the fourth ear; 5, the container; 51, the first convex edge; 6, the container cover; 61, the upper funnel part; 62, the lower funnel part; 63, the neck part; 64, the cup insertion part; 65, the second convex edge; 7, the tray; 71, the jig station; 72, the upper bottom plate; 721, the second insertion hole; 73, the lower bottom plate; 74, the third support plate; 75, the fourth support plate; 76, the support column; 77, the handle; 78, the support piece; 79, the positioning pin. DETAILED DESCRIPTION

[0036] The present application is further illustrated below in conjunction with the drawings and the specific embodiments.

[0037] In the description of this invention, it should be noted that the directional terms such as "center", "horizontal (X)", "longitudinal (Y)", "vertical (Z)", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", and "counterclockwise" indicate the orientation and positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention 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. They should not be construed as limiting the specific protection scope of this invention.

[0038] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features. Thus, the use of "first" and "second" to define a feature may explicitly or implicitly include one or more of that feature. In the description of this invention, "several" or "a number" means two or more, unless otherwise explicitly specified.

[0039] Example 1

[0040] like Figures 1 to 3 As shown, the asymmetric gripping device 2 of this embodiment includes a first gripping member 21, a second gripping member 22, a driving mechanism, two first insert fingers 27, and two second insert fingers 28. Both the first gripping member 21 and the second gripping member 22 are connected to the driving mechanism. The first gripping member 21 has two first insert fingers 27 on the side facing the second gripping member 22, and the second gripping member 22 has two second insert fingers 28 on the side facing the first gripping member 21. The two first insert fingers 27 on the first gripping member 21 and the two second insert fingers 28 on the second gripping member 22 are staggered and arranged in a parallelogram shape.

[0041] The driving mechanism comprises a mounting base 23, a driver 24 fixed on the upper surface of the mounting base 23, a guide positioning assembly 26 fixed on the lower surface of the mounting base 23, and a transmission assembly 25 connected with the driver 24. The transmission assembly 25 is connected with the first clamping piece 21 and the second clamping piece 22, the first clamping piece 21 and the second clamping piece 22 are connected with the guide positioning assembly 26, and the driver 24 drives the first clamping piece 21 and the second clamping piece 22 to move relatively (move towards or move away) along the guide positioning assembly 26 through the transmission assembly 25, so that the first inserting finger 27 and the second inserting finger 28 are respectively inserted into the corresponding grasping points on the two sides of the clamped object 8. The asymmetric arrangement of the first inserting finger 27 and the second inserting finger 28 of the asymmetric clamping device 2 helps to eliminate the contradiction between the compact arrangement of the clamped object 8 and the need for a certain action space of the asymmetric clamping device 2, saves the internal space of the instrument and equipment, reduces the size of the instrument and equipment, or increases the capacity of the instrument and equipment for the clamped object 8 without changing the size of the internal space of the instrument and equipment, and improves the capacity and efficiency of the instrument and equipment per feeding operation.

[0042] Specifically, the guide positioning assembly 26 of the embodiment comprises a first guide rail 261, a second guide rail 262, two first sliding blocks 263, two second sliding blocks 264, a light shield 266 and a photoelectric switch 265. The first guide rail 261 and the second guide rail 262 are fixed on the lower surface of the mounting base 23, and each of the first guide rail 261 and the second guide rail 262 is slidingly connected with a first sliding block 263 and a second sliding block 264. The two first sliding blocks 263 are connected with the first clamping piece 21, and the two second sliding blocks 264 are connected with the second clamping piece 22. The double guide rail sliding block guides and limits the relative movement of the first clamping piece 21 and the second clamping piece 22, ensuring the stability of the clamping action of the clamping device. The mounting base 23 is provided with a strip-shaped hole 231 above the second clamping piece 22, the light shield 266 passes through the strip-shaped hole 231 and is connected with the second clamping piece 22, and the photoelectric switch 265 is fixed on the upper surface of the mounting base 23 to cooperate with the light shield 266. The information that the first clamping piece 21 and the second clamping piece 22 are moved towards to the position is fed back to the controller, and the corresponding action of the driver 24 is controlled by the controller. At the same time, by adjusting the length of the strip-shaped hole 231, the relative movement distance of the first clamping piece 21 and the second clamping piece 22 can be adjusted, so that the relative movement distance of the first clamping piece 21 and the second clamping piece 22 can be visualized.

[0043] The transmission assembly 25 includes a gear 251, a first rack 252, and a second rack 253. The gear 251 is connected to the output end of the driver 24. The first rack 252 and the second rack 253 are located on opposite sides of the gear 251 and both mesh with the gear 251. The first rack 252 is connected to the first clamping member 21, and the second rack 253 is connected to the second clamping member 22. The driver 24 is preferably a rotary cylinder or a servo motor. When the driver 24 drives the gear 251 to rotate in both directions, the gear 251 drives the first rack 252 and the second rack 253 to move synchronously towards each other or away from each other, thereby causing the first clamping member 21 and the second clamping member 22 to move closer to each other or further away from each other along the first guide rail 261 and the second guide rail 262, inserting the first insert finger 27 and the second insert finger 28 into the clamping points on both sides of the object 8 being clamped. The asymmetric gripping device 2 in this embodiment only needs to be equipped with one driver 24 to complete the gripping action, which reduces the weight of the asymmetric gripping device 2 and the overall size is also smaller, which helps to save installation space.

[0044] Example 2

[0045] like Figures 4 to 10 As shown, the handling system of this embodiment includes the asymmetric gripping device 2, the handling device 3, the tray 7, and at least two first fixtures 1 as described in Embodiment 1. Each first fixture 1 is arranged in a compact array on the tray 7, which facilitates the storage and handling of multiple containers 5. The first fixtures 1 assist the asymmetric gripping device 2 in handling containers 5. In actual use, a corresponding number of container stations can be set on the first fixtures 1 as needed to place containers 5. Since the asymmetric gripping device 2 handles one or more containers 5 at a time by gripping the first fixtures 1, the container stations of the first fixtures 1 can be arranged compactly to reduce the footprint of the tray 7, save internal space of the equipment, reduce the size of the equipment, or increase the capacity of the equipment to hold containers 5 without increasing the footprint of the handling system. The handling device 3 drives the asymmetric gripping device 2 to reciprocate between the tray 7 and the next station to handle containers 5 and the first fixtures 1.

[0046] Specifically, the first jig 1 of the embodiment includes a first jig body 11, two first ears 12 and two second ears 13, the first jig body 11 is provided with the two first ears 12 on one side of the top surface of the first jig body 11 and provided with the two second ears 13 on the other side, the first ears 12 and the second ears 13 on the opposite sides of the first jig body 11 are arranged staggered with each other, and the first ears 12 and the second ears 13 on the adjacent sides of the adjacent two first jigs 1 are arranged staggered with each other. So that when the first jigs 1 are arranged compactly, the first ears 12 on the two sides of the first jig 1 will not be blocked by the second ears 13 of the adjacent first jig 1 to produce interference, affecting the asymmetric clamping device 2 to grab the first jig 1. The asymmetric arrangement of the first ears 12 and the second ears 13 on the two sides of the first jig 1 enables the first jigs 1 on the tray 7 to be arranged compactly, which is beneficial to reduce the gap between the adjacent two first jigs 1, save installation space, or increase the capacity of the container 5, and improve the efficiency of the instrument equipment loading operation. In the embodiment, the first ears 12 and the second ears 13 on the opposite sides of the first jig 1 are arranged symmetrically along the center point O of the first jig 1 (preferably arranged into a parallelogram), so that the first jig 1 is not distinguished from positive and negative, and the first ears 12 and the second ears 13 on the adjacent sides of the adjacent two first jigs 1 can be arranged staggered with each other, which will not affect the asymmetric clamping device 2 to grab the first jig 1, on the one hand, it is convenient to arrange the first jigs 1 on the tray 7, on the other hand, it is also beneficial to simplify the clamping action, the asymmetric clamping device 2 does not need to rotate in positive and negative directions to adjust the grabbing point according to the positions of the first ears 12 and the second ears 13, which can reduce the movement coordinates of the conveying device 3 and simplify the conveying action. In order to lighten the first jig 1 and reduce the clamping burden of the asymmetric clamping device 2, the first jig body 11 of the embodiment is preferably made of a plate body, a certain number of first insertion holes 111 (i.e. the container stations mentioned above) are formed on the plate body. Correspondingly, the opening end of the container 5 is formed with a first convex edge 51 protruding outward, the bottom surface of the container 5 is inserted into the first insertion hole 111, and the first convex edge 51 is arranged on the top surface of the plate body, which is convenient for positioning and installing the container 5.

[0047] The tray 7 of the embodiment comprises an upper bottom plate 72, a lower bottom plate 73, a third support plate 74, a fourth support plate 75, support columns 76, handles 77, supports 78 and positioning pins 79, the upper bottom plate 72 is provided with four rows of four second insertion holes 721, one row of four second insertion holes 721 is a group to form a jig station 71, and four jig stations 71 are formed in total, the opposite sides of the upper bottom plate 72 are connected with the upper bottom plate 72 through the third support plate 74 and the fourth support plate 75 respectively, the lower bottom plate 73 is used to support the container 5 from the bottom surface, a plurality of support columns 76 connecting the upper bottom plate 72 and the lower bottom plate 73 are arranged between the third support plate 74 and the fourth support plate 75, which is used to strengthen the connection strength of the upper bottom plate 72 and the lower bottom plate 73 and avoid deformation of the middle part of the tray 7, one handle 77 is arranged on each of the opposite sides of the upper surface of the upper bottom plate 72, which is used for carrying the tray 7, two supports 78 fixed on the upper surface of the upper bottom plate 72 and arranged in parallel are arranged at each jig station 71, the supports 78 support the first jig 1 from below to avoid the first jig 1 from sliding down from the top surface of the container 5 and affecting the asymmetric clamping device 2 to clamp the first jig 1. The upper surface of the support 78 is provided with a positioning pin 79, and the first jig 1 is provided with a positioning hole 14 matched with the positioning pin 79, so as to realize the positioning of the first jig 1 and ensure that the first jig 1 is placed on the jig station 71 at a correct angle.

[0048] In combination Figure 1 , the carrying device 3 of the present application can also be composed of a plurality of modules, and in the embodiment, the carrying device 3 is composed of a plurality of modules, which comprises an X-axis moving module 31 for driving the asymmetric clamping device 2 to translate along the X-axis direction, a Y-axis moving module 32 for driving the asymmetric clamping device 2 to translate along the Y-axis direction, and a Z-axis moving module 33 for driving the asymmetric clamping device 2 to lift along the Z-axis direction, and the X-axis moving module, the Y-axis moving module and the Z-axis moving module can be selected from linear modules.

[0049] It can be understood that the number of the first clamping ears 12, the second clamping ears 13, the first insertion fingers 27 and the second insertion fingers 28 can be set according to actual needs, and does not constitute a limitation to the present application.

[0050] Embodiment three

[0051] As shown in Figure 11 , in some use scenarios, the container 5 is provided with a container cover 6, in order to facilitate the carrying of the container cover 6, a second jig 4 for assisting in carrying the container cover 6 can be additionally arranged on the basis of the embodiment two. In combination Figure 12The container cover 6 of the embodiment comprises an upper funnel portion 61, a lower funnel portion 62, a neck portion 63, a cup inserting portion 64 and a second protruding rim 65, the neck portion 63 is connected with the first end of the upper funnel portion 61, the second end of the neck portion 63 is connected with the lower funnel portion 62, the first end of the cup inserting portion 64 is connected with the flared end of the lower funnel portion 62, and the outer wall of the first end of the cup inserting portion 64 is connected with the outward protruding second protruding rim 65.

[0052] In combination Figure 13 and Figure 14 The second jig 4 of the embodiment is adapted to the asymmetric clamping device 2, which comprises a first plate body 411, two L-shaped support plates 412, two third ears 42 and two fourth ears 43, the first plate body 411 and the two L-shaped support plates 412 constitute a second jig body 41. The bottom surface of the first plate body 411 is provided with two third ears 42 on one side and two fourth ears 43 on the other side, the third ears 42 and the fourth ears 43 on the opposite sides of the first plate body 411 are arranged in a parallelogram in a staggered manner, and the third ears 42 and the fourth ears 43 on the opposite sides of the first plate body 411 are arranged in a rotational symmetry along the center point of the first plate body 411, so that the second jig 4 does not distinguish between positive and negative directions, and no matter whether it is placed in a positive direction or a negative direction, the four ears can correspond to the four inserting fingers, so as to facilitate the placement and handling operation of the second jig 4. The first plate body 411 is provided with four side insertion openings 414 arranged side by side on one side, so as to facilitate the positioning and installation of the container cover 6. The bottom surface of the first plate body 411 is provided with an L-shaped support plate 412 on each of the other opposite sides, the two L-shaped support plates 412 are arranged in a symmetrical manner, one end of the L-shaped support plate 412 is connected with the first plate body 411, and the other end is formed with an avoiding groove 413 which is matched with the outer contour of the first protruding rim 51 of the container 5, the L-shaped support plate 412 can stably support the second jig 4 on the first jig 1, and the avoiding groove 413 arranged on the L-shaped support plate 412 does not affect the compact arrangement of the first jig 1.

[0053] The container cover 6 can be inserted into the second jig 4 from the side insertion port 414 and hung, the asymmetric clamping device 2 inserts the first insertion finger 27 and the second insertion finger 28 into the corresponding third ear 42 and fourth ear 43 respectively from both sides of the second jig 4 to clamp the second jig 4, and the carrying device 3 carries it to the first jig 1, so that the L-shaped supporting plate 412 is placed on the upper surface of the first jig 1, the cup insertion part 64 is inserted into the container 5 from the container port to the second convex edge 65 resting on the first convex edge 51, and the covering of the container 5 and the container cover 6 is completed. At this time, the first ear 12 and the third ear 42 on the same side of the first jig 1 and the second jig 4 are staggered with each other, and the second ear 13 and the fourth ear 43 are staggered with each other, so that the second jig 4 will not interfere with the first jig 1 when clamping and carrying, and the ears on the same side of the first jig 1 and the second jig 4 will not interfere with each other whether the second jig 4 is placed in the forward direction or the reverse direction, so that the carrying of the container cover 6 is more convenient and fast. And because the ears on the same side of the first jig 1 and the second jig 4 are staggered left and right and staggered up and down, the vertical height of the asymmetric clamping device 2 is reduced, which is beneficial to save the installation space of the carrying system in the instrument equipment, and after the first jig 1 and the second jig 4 are stacked, the first jig 1 can be clamped by the asymmetric clamping device 2 to carry the container 5 and the container cover 6 at the same time.

[0054] The first jig 1 and the second jig 4 of the embodiment are simple in structure and can be directly folded and formed by a sheet metal part, which is beneficial to reduce the cost. It can be understood that the first ear 12, the second ear 13, the third ear 42 and the fourth ear 43 are arranged in various ways, and the user can set the number and arrangement mode of the two according to actual needs.

[0055] Although the present application is specifically shown and introduced in combination with the preferred embodiments, it should be understood by those skilled in the art that various changes can be made to the present application in form and detail without departing from the spirit and scope of the present application defined in the appended claims, and all such changes are within the protection scope of the present application.

Claims

1. A handling system, characterized in that The utility model relates to a kind of asymmetric clamping device, carrying device and at least two first jigs comprising: The first jig includes: first jig body, first ear and second ear, at least one first ear is vertically arranged on one side of the top surface of the first jig body, at least one second ear is vertically arranged on the other side of the top surface of the first jig body, the first ear and the second ear are arranged staggered, and the first ear and the second ear on the adjacent side of the adjacent two first jigs are arranged staggered;The asymmetric clamping device includes: first clamping piece, second clamping piece, first finger, second finger and driving mechanism, the driving mechanism drives the relative movement of the first clamping piece and the second clamping piece, at least one first finger is provided on the first clamping piece, at least one second finger is provided on the second clamping piece, the first finger and the second finger are arranged staggered;The carrying device moves the asymmetric clamping device, and the asymmetric clamping device clamps the first jig by inserting the first finger into the first ear and inserting the second finger into the second ear. The driving mechanism includes: mounting seat, driver, transmission assembly and guide positioning assembly;The driver and the guide positioning assembly are fixed on the mounting seat, the transmission assembly is connected with the driver, the first clamping piece and the second clamping piece respectively, the guide positioning assembly is connected with the first clamping piece and the second clamping piece respectively, and the driver drives the first clamping piece and the second clamping piece to move towards or away from each other along the guide positioning assembly through the transmission assembly.

2. The handling system of claim 1, wherein, The guide positioning assembly includes: first guide rail, second guide rail, first sliding block, second sliding block, photoelectric switch and light shield;The first guide rail and the second guide rail are fixed parallel to each other on the mounting seat, the first guide rail and the second guide rail are both connected with the first sliding block and the second sliding block, the first clamping piece is connected with the first sliding block on the first guide rail and the second guide rail respectively, the second clamping piece is connected with the second sliding block on the first guide rail and the second guide rail respectively, a strip-shaped hole is formed above the first guide rail on the mounting seat, one end of the light shield is connected with the second clamping piece, the other end extends out of the strip-shaped hole, and the photoelectric switch is arranged on one side of the end of the strip-shaped hole to cooperate with the light shield; 3. The handling system of claim 2, wherein, The transmission assembly includes: gear, first rack and second rack, the gear is connected with the output end of the driver, the first rack and the second rack are arranged parallel to each other on the opposite sides of the gear and are both engaged with the gear, the first rack is connected with the first clamping piece, and the second rack is connected with the second clamping piece. The first jig body is provided with at least one first insertion hole for inserting a container, and the open end of the container is formed with a first protruding edge protruding outward, which can be arranged on the top surface of the first jig body.

4. The handling system of claim 1, wherein, ​ 5. The handling system of claim 4, wherein, The second jig is arranged on the top surface of the first jig, and comprises a second jig body, at least one third ear and at least one fourth ear.

6. The handling system according to claim 5, wherein, The second jig body comprises a first plate body and an L-shaped support plate, the first plate body is provided with at least one third ear on one side of the bottom surface and at least one fourth ear on the other side, and at least one side insertion hole for inserting the container cover is formed on one side of the first plate body, and the other two opposite sides of the bottom surface of the first plate body are respectively provided with an L-shaped support plate, one end of the L-shaped support plate is connected with the first plate body, and the other end is formed with a avoiding groove matched with the outer contour of the first convex edge. The container cover comprises an upper funnel portion, a lower funnel portion, a neck portion, a cup inserting portion and a second convex edge, the neck portion is connected with the first end of the lower funnel portion, the second end of the neck portion is connected with the neck portion, the first end of the cup inserting portion is connected with the second convex edge which protrudes outward.

7. The handling system of claim 1, wherein, The handling device comprises an X-axis moving module, a Y-axis moving module arranged on the sliding seat of the X-axis moving module, and a Z-axis moving module arranged on the sliding seat of the Y-axis moving module, and the asymmetric clamping device is arranged on the sliding seat of the Z-axis moving module.

8. The handling system of claim 1, wherein, The tray is provided with at least two parallel arranged jig stations, and at least two positioning pins are arranged at each jig station.

9. The handling system according to any one of claims 1 to 8, characterized in that The first ear and the second ear of the first jig are rotationally symmetrical. The first ear and the second ear of the first jig are rotationally symmetrical.

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