A robot double-sided gripper device and robot applied to line conveying

Abstract

The application relates to a robot double-face gripper device applied to line conveying and a robot, and belongs to the technical field of conveying robots. The robot double-face gripper device comprises a frame, a rotary mounting piece, clamping assemblies, a power assembly and an electrical control box. One side of the rotary mounting piece is mounted on a support of the frame towards a robot shaft. Two supports on the frame are oppositely arranged, and clamping assemblies are respectively arranged on the two supports. The clamping assemblies are suitable for clamping a workpiece completed by a clamp or a workpiece to be put into the clamp. The other side of the rotary mounting piece can be 180-degree rotatably mounted on the robot shaft, and the clamping assemblies of the two supports are 180-degree rotatable. Compared with the prior art, the two grippers are synchronously used, the grippers do not need to be replaced, and a gripper parking rack is omitted. The double-face gripper device solves the problems of low production efficiency and large occupied space of a work site of a single-face gripper in the prior art.

Description

Technical Field

[0001] This invention relates to the field of transportation technology, and more particularly to a handling robot. Background Technology

[0002] Material handling robots are widely used in automated production lines. These robots typically use grippers to hold workpieces and perform pick-and-place operations on fixtures. Currently, in the welding process of automotive parts production lines, the pick-and-place operations often utilize robots with single-sided grippers in conjunction with gripper parking racks. Workpieces not yet processed by the fixture are named "workpieces awaiting fixture input," while workpieces processed by the fixture are named "workpieces completed by fixture operation" (workpieces awaiting fixture input and completed by fixture operation are collectively referred to as "workpieces" when no distinction is made). The existing handling robot workflow is as follows: A single-sided gripper is mounted on the robot's 6 axes and grips the workpiece downwards. The single-sided gripper rotates under the robot's drive to above the fixture, then moves down to pick up the completed workpiece and moves it to the material rack or the next fixture under the robot's transport, where it is placed. Afterwards, the operator removes the previous single-sided gripper from the robot and replaces it with another set of single-sided grippers suitable for gripping the workpiece to be placed in the fixture. The other set of single-sided grippers moves to above the material rack under the robot's transport and picks up the workpiece to be placed in the fixture, then moves it to above the fixture and moves it down to place it in the fixture. The robot then waits for the fixture to finish processing the workpiece. During this period, the operator replaces the gripper on the robot with one suitable for the completed workpiece, picks up the completed workpiece, and transports it according to the above process, completing one work cycle, which is repeated sequentially.

[0003] Because the grippers used for the parts to be inserted into the fixture have different structures than those used for the finished parts, gripper racks with these different grippers need to be placed at the work site to facilitate the replacement of different grippers. However, gripper racks occupy a large amount of workspace. Also, because the grippers for picking up and placing parts are different, grippers need to be changed between picking up and placing parts, resulting in a low work cycle. Furthermore, a single-sided gripper can only pick up one workpiece at a time. During the transfer of finished parts, the fixture is in an empty state without any workpieces to be processed. The operator must wait until the single-sided gripper places the finished part on the material rack, then change to a new gripper, pick up a new part to be inserted into the fixture, and place the part into the fixture before the fixture can start processing the next workpiece. All of the above situations reduce the efficiency of the fixture in processing workpieces. Summary of the Invention

[0004] To address the problems of low production efficiency and large workspace occupation of existing single-sided grippers, the present invention aims to propose a robotic double-sided gripper device and robot for production line handling. When the robot adopts the aforementioned double-sided gripper device, a workpiece is always in a processing state in the fixture during the transfer and placement process. The downward-facing side (lower gripper, hereinafter the same) of the robot's double-sided gripper is used to grasp the workpiece to be placed into the fixture, while the upward-facing side (upper gripper, hereinafter the same) becomes downward-facing after the double-sided gripper device completes a certain angle (e.g., 180°) rotation, allowing it to grasp finished workpieces from the fixture. No gripper replacement is required when grasping different workpieces, resulting in high production efficiency and eliminating the need for the gripper parking rack in the prior art, thus saving workspace.

[0005] To achieve this objective, the present invention adopts the following technical solution:

[0006] A robotic double-sided gripper device for handling materials on production lines.

[0007] Includes frame, swivel mount, clamping assembly, power assembly and electrical control box;

[0008] One side of the rotating mounting component is mounted on a bracket of the frame, and clamping assemblies are respectively mounted on two other upper and lower opposing brackets of the frame. A power assembly for controlling the clamping assemblies and an electrical control box for controlling the power assembly are also fixed on the frame. The rotating mounting component can drive the clamping assemblies of the upper and lower brackets to rotate.

[0009] Furthermore, it also includes limit components, positioning components, and sensor components.

[0010] Furthermore, the clamping assembly includes a rotating component, a pressing component, a side stop component, a bottom support component, and a base;

[0011] The rotating component can rotate from bottom to top under the drive of the power component. A clamping component is fixed on one side wall of the rotating component. A bottom support component is provided at the lower part of the clamping component. The bottom support component is fixed to the base. The base is fixed to the frame. Two sets of side stops are provided, arranged side by side on both sides of the bottom support component. The height of the side stops is higher than that of the bottom support component.

[0012] Furthermore, it also includes a support mounting block and an adjusting shim, wherein the support mounting block is L-shaped;

[0013] The rotating component includes an L-shaped rotating pressure arm and an h-shaped rotating arm. The pressing component is a pressing block. The bottom support component is a T-shaped support block. The upper surface of the T-shaped support block is a horizontal support surface. An adjustment shim is provided between the lower surface of the T-shaped support block and the L-shaped support component mounting block. The lower part of the support component mounting block is connected to a base.

[0014] The two ends of the lower opening of the H-shaped rotating arm are respectively rotatably fixed to the power assembly. The lower part of the rotating pressure arm is fixed to the upper protruding part of the H-shaped rotating arm. The H-shaped rotating arm swings from bottom to top, driving the rotating pressure arm to swing from bottom to top synchronously.

[0015] Two clamping blocks are arranged in the front and back along the extension direction of the rotating part, and the parts of the two clamping blocks that are close to each other form a locking groove inward.

[0016] The side stop is a vertically arranged stop, and the rotating pressure arm has an avoidance groove near the stop.

[0017] Furthermore, the limiting component includes a first fitting member and a second fitting member that fit together to abut against each other;

[0018] The first fitting is fixed on one side of the rotating member and rotates synchronously with the rotating member. When the rotating member rotates from below to above, the first fitting rotates exactly above the second fitting, and the lower part of the first fitting fits and abuts against the upper part of the second fitting.

[0019] Furthermore, the limiting component includes an upper limit mounting block, an upper limit block, a lower limit block, and a lower limit mounting block;

[0020] The upper limit mounting block is disposed on one side of the rotating pressure arm. Below the upper limit mounting block is an I-shaped upper limit block. The lower limit block is a convex block with a connecting groove at the bottom. Its convex protrusion is fitted and matched with the lower I-shaped groove of the upper limit block. Its connecting groove is embedded in the upper part of the lower limit mounting block. When the rotating pressure arm swings to the top, the lower I-shaped groove of the upper limit block fits and abuts against the convex protrusion.

[0021] Furthermore, the positioning component includes a positioning pin, a pin seat, a connecting block, and an adjusting shim.

[0022] The positioning pin is vertically mounted on the curved portion above the pin seat. The lower part of the pin seat is a long block, with one side of it positioned on the opposite side of the long block-shaped connecting block. The bottom of the connecting block is mounted on the base. An adjusting shim is also provided between the pin seat and the connecting block.

[0023] Furthermore, the sensor assembly includes a sensor and a mounting bracket;

[0024] The sensor is fixed to the upper part of the mounting bracket, which is a plate-shaped curved part. The lower part of the mounting bracket is a vertical plate, and its bottom is mounted on the base.

[0025] Furthermore, the power assembly is a cylinder assembly, with a cylinder body on top and a cylinder mounting seat on one side, and cylinder shafts extending from both sides of the cylinder body;

[0026] The cylinder shaft has two ends of the lower opening of the H-shaped rotating arm fixed on it. The rotation of the cylinder shaft drives the H-shaped rotating arm to rotate and swing.

[0027] The cylinder assembly is disposed on the side of the frame and is connected to the frame via a cylinder mounting bracket.

[0028] Furthermore, the frame is a triangular frame, the rotating mounting component is a flange, the flange is provided on one side support of the triangular frame, and clamping components, limiting components, positioning components and sensor components are provided on the other two upper and lower opposing supports of the triangular frame. An electrical control box and a power component are fixed on the side of the triangular frame, and a solenoid valve assembly for controlling the power component is provided in the electrical control box.

[0029] A robot includes the aforementioned double-sided gripper device, which is rotatably connected to the robot's 6-axis via a rotating mounting component. When the robot's 6-axis drives the double-sided gripper device to rotate 180 degrees, its two opposing supports rotate synchronously, and the clamping components, positioning components, limiting components, and sensor components located on the two opposing supports rotate synchronously.

[0030] The technical solution provided by this invention may include the following beneficial effects:

[0031] 1. The robot of this invention is equipped with a double-sided gripper device. At the beginning, the lower gripper faces down and grabs the workpiece to be processed by the fixture. After that, the robot controls the upper and lower grippers to rotate at a certain angle (e.g., 180°). At this time, the upper gripper faces down and puts the workpiece to be processed into the fixture. At the same time, the robot moves to place the workpiece to be processed by the lower gripper. Then the robot grabs the workpiece to be processed again, completing one work cycle. This application ensures that a workpiece is always being processed in the fixture when the robot is moving. In contrast, in the prior art, the single-gripper device does not have a workpiece being processed in the fixture when it picks up the completed workpiece and moves it to the finished product rack. Therefore, the robot of this application has higher production efficiency. Furthermore, in the prior art, the gripper for picking up the workpiece to be put into the fixture is different from the gripper for picking up the completed workpiece. The work area needs to be placed with a gripper rack for switching between different grippers, which occupies a large area. At the same time, manual gripper changing is required when picking up different workpieces, resulting in low work efficiency and slow work cycle. In this application, both the upper and lower grippers can pick up either the completed workpiece or the workpiece to be put into the fixture without changing the gripper. The workpiece can be picked up and placed by simply rotating the gripper up and down at a certain angle (e.g., 180°), which improves efficiency, eliminates the need for a gripper rack, and saves space.

[0032] 2. The double-sided gripper device of the present invention has multiple functions such as positioning, limiting, and workpiece detection. It adopts a triangular frame, which has a simple and compact structure. Attached Figure Description

[0033] Figure 1 This is a structural schematic diagram of the double-sided gripper device of the present invention;

[0034] Figure 2 yes Figure 1 Enlarged schematic diagram of region S1 in the middle;

[0035] Figure 3 yes Figure 1 A partially enlarged schematic diagram of the workpiece being clamped at points S1 and S2;

[0036] Figure 4 This is a structural schematic diagram of the framework of the present invention (including a farad and an electrical control box);

[0037] Figure 5 This is a schematic diagram of the structure of the robot of the present invention;

[0038] Figure 6 yes Figure 2 A schematic diagram of the positioning component;

[0039] Figure 7 yes Figure 2 A schematic diagram of the structure of the sensor assembly;

[0040] Figure 8 yes Figure 2 Schematic diagram of the middle limit component;

[0041] Figure 9 yes Figure 2 Structural diagrams of the clamping assembly and power assembly (excluding the stop block and cylinder mounting base; details of these two components can be found in [link to documentation]). Figure 2 ).

[0042] The components are as follows: 1-Frame; 2-Electrical control box; 3-Clamping component to be installed; 4-Clamping completed component; 5-Support mounting block; 6-Adjusting shim one; 7-Rotating pressure arm; 8-H-shaped rotating arm; 9-Clamping block; 10-T-shaped support block; 11-Positioning groove; 12-Stop block; 13-Allowing groove; 14-Upper limit mounting block; 15-Upper limit block; 16-Lower limit block; 17-Lower limit mounting block; 18-Positioning pin; 19-Pin seat; 20-Connecting block; 21-Adjusting shim two; 22-Sensor; 23-Mounting bracket; 24-Cylinder body; 25-Cylinder mounting seat; 26-Cylinder shaft; 27-Flange; 28-Robot; 29-Base. Detailed Implementation

[0043] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0044] See appendix Figure 5 In this article, the fixture part 3 to be put into the fixture and the fixture operation completed part 4 can be collectively referred to as the workpiece.

[0045] See appendix Figure 1-4 Especially attached Figure 2 and Figure 3 A robot, applicable to production line handling, is equipped with a double-sided gripper. The double-sided gripper is rotatably connected to the six axes of the robot 28 via a flange 27. The double-sided gripper includes a triangular frame 1. The flange 27 is mounted on one side of the triangular frame 1. Clamping components, limiting components, positioning components, and sensor components are mounted on the other two opposing upper and lower supports of the triangular frame 1. An electrical control box 2 and a power component are fixed to the side of the triangular frame 1. A solenoid valve assembly (not shown) for controlling the power component is installed inside the electrical control box 2.

[0046] The clamping assembly, limiting assembly, positioning assembly, and sensor assembly of the upper support constitute the upper gripper, and the limiting assembly, positioning assembly, and sensor assembly of the upper gripper act on the workpiece of the upper gripper; the clamping assembly, limiting assembly, positioning assembly, and sensor assembly of the lower support constitute the lower gripper, and the limiting assembly, positioning assembly, and sensor assembly of the lower gripper act on the workpiece of the lower gripper.

[0047] See appendix Figure 2 The clamping assembly includes an L-shaped rotating pressure arm 7, an H-shaped rotating arm 8, a clamping block 9, and a T-shaped support block 10;

[0048] The two ends of the lower opening of the H-shaped rotating arm 8 are respectively rotatably fixed to the power assembly. The lower part of the rotating pressure arm 7 is fixed to the upper protruding part of the H-shaped rotating arm 8. The H-shaped rotating arm 8 swings from bottom to top, driving the rotating pressure arm to swing synchronously from bottom to top. Two clamping blocks 9 are arranged in front and behind along the direction perpendicular to the workpiece (i.e., the extension direction of the rotating part). The parts of the two clamping blocks 9 that are close to each other form a clamping groove 11 for clamping the workpiece. The upper surface of the T-shaped support block 10 is a horizontal support surface, which is used to horizontally support the lower part of the workpiece. An adjustment shim 6 is provided between the lower surface of the T-shaped support block 10 and the L-shaped support mounting block 5. The lower part of the support mounting block 5 is connected to the base 29. The side stop is a vertically arranged stop 12. The rotating pressure arm 7 has an avoidance groove 13 near the stop 12.

[0049] The H-shaped rotating arm 8 drives the rotating pressure arm 7 to swing above the workpiece (see Appendix). Figure 2 and Figure 3 The workpiece is pressed down from above by the clamping block 9, and the lower part of the workpiece is supported by the upper surface of the T-shaped support block 10. The locking groove 11 is used to limit the workpiece in the direction perpendicular to the workpiece (i.e., the workpiece width direction) and form a buffer clearance space to reduce the impact intensity between the clamping block 9 and the workpiece due to the design height error. The adjusting shim 6 is used to accurately adjust the height accuracy of the T-shaped support block 10. The clearance groove 13 plays the role of avoiding the rotating pressure arm 7 and preventing the block 12 from colliding with the rotating pressure arm 7. The block 12 is arranged side by side on both sides of the bottom support member in the direction perpendicular to the workpiece. The height of the side block is higher than that of the bottom support member. It is used to block the workpiece in the direction perpendicular to the workpiece (i.e., the workpiece width direction) to prevent the workpiece from moving in this direction during the displacement process.

[0050] See Figure 2 The limiting component includes an upper limit mounting block 14, an upper limit block 15, a lower limit block 16, and a lower limit mounting block 17.

[0051] The upper limit mounting block 14 is disposed on one side of the rotating pressure arm 7. Below the upper limit mounting block 14, there is an I-shaped upper limit block 15. The lower limit block 16 is a convex block with a connecting groove at the bottom. Its convex protrusion is fitted into the lower I-shaped groove of the upper limit block 15. Its connecting groove is embedded in the upper part of the lower limit mounting block 17. When the rotating pressure arm 7 rotates and swings from below to above the workpiece, the lower I-shaped groove of the upper limit block 15 fits and abuts against the convex protrusion, preventing the rotating pressure arm 7 from rotating and swinging excessively and deforming the workpiece.

[0052] See Figure 2 The positioning assembly includes a positioning pin 18, a pin seat 19, a connecting block 20, and an adjusting shim 21. The positioning pin 18 is vertically mounted on the curved portion above the pin seat 19. The lower part of the pin seat 19 is elongated, with one side positioned on the opposite side of the elongated connecting block 20. The bottom of the connecting block 20 is mounted on the base 29. An adjusting shim 21 is also provided between the pin seat 19 and the connecting block 20. A positioning hole (not shown) adapted to the positioning pin 18 is provided below the workpiece, and the workpiece is inserted into the positioning pin 18.

[0053] See Figure 2 and Figure 3 The positioning component is installed on one side of the clamping component. The positioning pin 18 is used to position the workpiece in a direction parallel to the workpiece (i.e., the length direction of the workpiece) to prevent the workpiece from shaking or displacing in a direction parallel to itself during movement. The adjusting shim 21 is used to adjust the accuracy of the positioning pin 18 so that the positioning pin 18 can be accurately inserted into the positioning hole.

[0054] See Figure 2 The sensor assembly includes a sensor 22 and a mounting bracket 23;

[0055] The sensor 22 is fixed to the upper, plate-shaped curved portion of the mounting bracket 23. The lower portion of the mounting bracket 23 is a vertical plate, with its bottom mounted on the base 29. The sensor 22 is located below the workpiece. The sensor assembly is disposed between the clamping assembly and the positioning assembly and is used to detect the presence or absence of the workpiece.

[0056] See Figure 2 The power assembly is a cylinder assembly. A cylinder body 24 is provided on the top of the cylinder assembly, and a cylinder mounting seat 25 is provided on one side. Cylinder shafts 26 extend from both sides of the cylinder body 24. The two ends of the lower opening of the H-shaped rotating arm 8 are fixed on the cylinder shaft 26. The rotation of the cylinder shaft 26 drives the H-shaped rotating arm 8 to rotate and swing.

[0057] See Figure 1 The cylinder assembly is located on the side of the frame 1 and is connected to the frame 1 via a cylinder mounting seat 25. The cylinder assembly is mounted on the side to save installation space, simplify the structure of the frame 1, and enable miniaturization.

[0058] See Figure 1 and Figure 4 The upper and lower supports are provided with S1 and S2 area structures respectively. The S1 and S2 areas of the upper and lower supports are arranged in a cross manner. Both the S1 and S2 area structures are grippers. The difference is that the S1 area includes the above-mentioned clamping component, limiting component, positioning component and sensor component, while the S2 area does not include the sensor component.

[0059] The robot's double-sided gripper is rotatably connected to the robot's 6-axis via a rotating mounting component. When the robot's 6-axis rotates the double-sided gripper 180 degrees, its two opposing supports rotate 180 degrees simultaneously. The clamping, positioning, limiting, and sensor components located on these opposing supports also rotate 180 degrees synchronously to grip a new workpiece and perform positioning, limiting, and detection. This embodiment is designed for a 180-degree rotation; however, other designs that do not involve a 180-degree rotation can achieve the functionality of this invention and are also within the scope of protection of this invention.

[0060] The working process of robot 28 in this embodiment is as follows: After the lower gripper picks up the completed fixture part 4, robot 28 controls the upper gripper to rotate 180 degrees. At this time, the upper gripper puts the fixture part 3 to be put into the fixture for processing. Then, robot 28 moves to the finished product rack to place the completed fixture part 4 on the upper gripper, completing one work cycle. Then, robot 28 moves to use the upper gripper to pick up a new fixture part 3 to be put into the fixture, and so on.

[0061] This application ensures that there is always a workpiece being processed in the fixture when the robot 28 is in a moving position. In contrast, in the prior art, the single-sided gripper does not have a workpiece being processed in the fixture when it picks up the completed workpiece 4 and moves it to the finished product rack. Therefore, the robot 28 of this application has higher fixture production efficiency. In addition, the gripper that picks up the workpiece 3 to be put into the fixture in the prior art is different from the gripper that picks up the completed workpiece 4 (in this application, both the upper and lower grippers can pick up either the completed workpiece 4 or the workpiece 3 to be put into the fixture, without the need to change the gripper. The workpiece can be picked up and put down simply by flipping the upper and lower grippers). The work area needs to be placed with a gripper parking rack, which occupies a large area. At the same time, manual gripper changing is required when picking up different workpieces, which is inefficient and slow.

[0062] The above example illustrates, demonstrates, supports, and fully discloses the scope of protection of the claims. Based on this embodiment, those skilled in the art can summarize the technical features and solutions to obtain the following solutions with a broader scope of protection:

[0063] A robotic double-sided gripper device for production line handling includes a frame, a rotating mounting component, clamping components, a power component, and an electrical control box. One side of the rotating mounting component is mounted on a bracket of the frame, and clamping components are respectively mounted on two other upper and lower opposing brackets of the frame. The frame is also fixed with a power component for controlling the clamping components and an electrical control box for controlling the power component. The rotating mounting component can drive the clamping components of the upper and lower brackets to rotate.

[0064] The other side of the rotating mounting component can be flipped and mounted on the robot axis. At this time, clamping components are respectively installed on the two opposing supports of the frame. The power component controls the clamping component on the upper support to use the robot to grab the fixture part to be put into the material rack. Then, it waits for the fixture side to send a work completion signal. After receiving the signal, the robot moves above the fixture. The power component controls the clamping component on the lower support to grab the fixture work completed part. Then, the robot's double-sided gripper device flips (for example, it can flip 180°). The power component controls the clamping component on the lower support to place the fixture part to be put into the fixture. Then, the robot runs to the finished product material rack, puts down the fixture work completed part (or puts it into the fixture of the next process), and completes one work cycle. Then, the robot runs back to the material rack to continue grabbing the fixture part to be put into the material rack, and repeats the above work process.

[0065] In practice, the robotic double-sided gripper device used for production line handling also includes a limiting component, a positioning component, and a sensor component.

[0066] The limiting component, positioning component, and sensor component are installed on the two opposing brackets. The clamping part of the clamping component moves toward the workpiece to clamp the workpiece. The limiting component is used to limit the displacement of the clamping part to avoid excessive displacement of the clamping component and overpressure deformation of the product. The workpiece is provided with a positioning component mounting part. The positioning component is used to position the workpiece to prevent the workpiece from shaking during transportation.

[0067] The sensor assembly is used to detect whether a workpiece is present in the clamping assembly.

[0068] The upper support's clamping assembly, limiting assembly, positioning assembly, and sensor assembly constitute the upper gripper, and these components act on the workpiece held in the upper gripper. The lower support's clamping assembly, limiting assembly, positioning assembly, and sensor assembly form the lower gripper, which also acts on the workpiece held in the lower gripper. The other side of the rotating mounting component can be flipped (e.g., 180 degrees) and mounted on the robot axis, allowing the limiting assembly, positioning assembly, and sensor assembly of both the upper and lower supports to be flipped (e.g., 180 degrees).

[0069] The protection range of the above-mentioned clamping assembly is further narrowed. Specifically, the clamping assembly includes a rotating component (a concept above the rotating pressure arm 7 and the h-shaped rotating arm 8 in the embodiment), a clamping component (a concept above the clamping block 9 in the embodiment), a side stop (a concept above the stop block 12 in the embodiment), a bottom support component (a concept above the T-shaped support block 10 in the embodiment), and a base. The rotating component can rotate from bottom to top to above the workpiece under the drive of the power component. A clamping component is fixed on one side wall of the rotating component facing the workpiece to press the workpiece from above. A bottom support component is provided for the lower part of the workpiece. The bottom support component is fixed to the base, and the base is fixed to the frame. Two sets of side stops are provided, arranged side by side on both sides of the bottom support component along the direction perpendicular to the workpiece (workpiece length direction). The height of the side stops is higher than that of the bottom support component.

[0070] In this application, the side baffle blocks the workpiece from both sides to prevent the workpiece from moving in a direction perpendicular to itself (workpiece width direction) during the transfer process. The frame is set in a triangular shape, with a rotating mounting component installed on one side bracket and clamping components installed on the other two vertically opposite brackets. The structure on the two brackets is configured with a gripper that can be flipped to switch the vertical position. An electrical control box is installed on the side. The structure is compact and simple, and the triangular shape saves the most materials while realizing the concept.

[0071] The protection range of the above-mentioned limiting component is further narrowed. Specifically, the limiting component includes a first fitting part (generally summarized from the upper limit mounting block 14 and upper limit block 15 of the above embodiment) and a second fitting part (generally summarized from the lower limit block 16 and lower limit mounting block 17 of the above embodiment) that interlock and abut against each other.

[0072] The first fitting is fixed on one side of the rotating component and rotates synchronously with the rotating component. When the rotating component rotates from bottom to top to above the workpiece, the first fitting rotates to above the second fitting, and the lower part of the first fitting and the upper part of the second fitting fit together to stop the rotation of the rotating component, thereby limiting the rotation of the rotating component and preventing excessive rotation that could deform the workpiece.

[0073] The specific embodiments described above are applicable to explaining and illustrating the technical solutions with the broader scope of protection.

[0074] In the description of this invention, it should be understood that the terms "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for 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, they should not be construed as limitations on the invention. Furthermore, features defined with "first" and "second" may explicitly or implicitly include one or more of these features, used to distinguish and describe features, without any order or emphasis.

[0075] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0076] The technical principles of the present invention have been described above with reference to specific embodiments. These descriptions are merely for explaining the principles of the invention and should not be construed as limiting the scope of protection of the invention in any way. Based on this explanation, those skilled in the art can readily conceive of other specific embodiments of the invention without inventive effort, and these embodiments will all fall within the scope of protection of the present invention.

Claims

1. A robotic double-sided gripper device for production line material handling, characterized in that, Includes a frame, rotary mounting components, clamping assemblies, power assemblies, limit assemblies, positioning assemblies, sensor assemblies, and an electrical control box; One side of the rotating mounting component is mounted on a bracket of the frame, and clamping assemblies are respectively mounted on two other upper and lower opposing brackets of the frame. A power assembly for controlling the clamping assemblies and an electrical control box for controlling the power assembly are also fixed on the frame. The rotating mounting component can drive the clamping assemblies of the upper and lower brackets to rotate. The clamping assembly includes a rotating component, a pressing component, a side stop component, a support mounting block, an adjusting shim, a bottom support component, and a base. The rotating component can rotate from bottom to top under the drive of the power component. A clamping component is fixed on one side wall of the rotating component. A bottom support component is provided at the lower part of the clamping component. The bottom support component is fixed on the base. The base is fixed on the frame. Two sets of side baffles are provided, arranged side by side on both sides of the bottom support component. The height of the side baffles is higher than that of the bottom support component. The support mounting block is L-shaped; The rotating component includes an L-shaped rotating pressure arm and an h-shaped rotating arm. The pressing component is a pressing block. Two pressing blocks are arranged front and back along the extension direction of the rotating component. The parts of the two pressing blocks that are close to each other form a locking groove inward. The bottom support is a T-shaped support block. The upper surface of the T-shaped support block is a horizontal support surface. An adjustment shim is provided between the lower surface of the T-shaped support block and the L-shaped support mounting block. The adjustment shim is used to adjust the height accuracy of the T-shaped support block. A base is connected to the lower part of the support mounting block. The two ends of the lower opening of the H-shaped rotating arm are respectively rotatably fixed to the power assembly. The lower part of the rotating pressure arm is fixed to the upper protruding part of the H-shaped rotating arm. The H-shaped rotating arm swings from bottom to top, driving the rotating pressure arm to swing from bottom to top synchronously. The side stop is a vertically arranged stop block, and the rotating pressure arm has an avoidance groove near the stop block; The limiting component includes an upper limit mounting block, an upper limit block, a lower limit block, and a lower limit mounting block; the upper limit mounting block is disposed on one side of the rotating pressure arm, and an I-shaped upper limit block is disposed below the upper limit mounting block; the lower limit block is a convex block with a connecting groove at the bottom, and its convex protrusion is fitted with the lower I-shaped groove of the upper limit block; its connecting groove is embedded in the upper part of the lower limit mounting block; when the rotating pressure arm swings to the upper position, the lower I-shaped groove of the upper limit block fits perfectly against the convex protrusion. The positioning component includes a positioning pin, a pin seat, a connecting block, and an adjusting shim 2. The positioning pin is vertically mounted on the curved portion above the pin seat. The lower part of the pin seat is elongated, with one side of it positioned on the opposite side of the elongated connecting block. The bottom of the connecting block is mounted on the base. An adjusting shim 2 is also provided between the pin seat and the connecting block. The adjusting shim 2 is used to adjust the accuracy of the positioning pin. The sensor assembly includes a sensor and a mounting bracket; the sensor is fixed to the upper part of the mounting bracket, which is a plate-shaped curved part, and the lower part of the mounting bracket is a vertical plate, with its bottom mounted on the base.

2. The robotic double-sided gripper device for production line handling as described in claim 1, characterized in that, The power assembly is a cylinder assembly. A cylinder body is provided on the top of the cylinder assembly, and a cylinder mounting seat is provided on one side. Cylinder shafts extend from both sides of the cylinder body. The two ends of the lower opening of the H-shaped rotating arm are fixed on the cylinder shafts. The rotation of the cylinder shafts drives the H-shaped rotating arm to rotate and swing. The cylinder assembly is disposed on the side of the frame and is connected to the frame via a cylinder mounting bracket.

3. The robotic double-sided gripper device for production line handling as described in claim 1 or 2, characterized in that, The frame is a triangular frame, the rotating mounting component is a flange, the flange is mounted on one side of the triangular frame, and clamping components, limiting components, positioning components and sensor components are mounted on the other two opposing upper and lower supports of the triangular frame. An electrical control box and a power component are fixed to the side of the triangular frame, and a solenoid valve assembly for controlling the power component is installed inside the electrical control box.

4. A robot, characterized in that, The invention includes the robot double-sided gripper device as described in claim 3. The double-sided gripper device is rotatably connected to the robot's 6-axis via a rotating mounting component. When the robot's 6-axis drives the double-sided gripper device to rotate 180 degrees, its two opposing supports rotate synchronously. The clamping components, positioning components, limiting components, and sensor components located on the two opposing supports rotate synchronously.

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