Single-sided grip device

Abstract

A single-sided hand-holding device. This single-sided hand-holding device includes a feeding and adsorption mechanism and a picking and adsorption mechanism. The feeding and adsorption mechanism includes a movable arm and several feeding and adsorption components, which are disposed on the movable arm and used to adsorb the hand-holding working surface of the object to be hand-held. The picking and adsorption mechanism is movable up and down relative to the feeding and adsorption mechanism and includes two adsorption components and an opening and closing drive. The adsorption components are spaced apart from each other. Each of the two adsorption components includes a support arm and several picking and adsorption components, which are disposed on the support arm. When the picking and adsorption mechanism moves to one side of the hand-holding working surface, the picking and adsorption components of the adsorption components adsorb the hand-holding working surface. The opening and closing drive connects to and drives the two adsorption components to adjust the spacing between the adsorption components.

Description

Technical Field

[0001] This disclosure relates to a clasping device, and more particularly to a one-sided clasping device. Background Technology

[0002] Due to limitations in certain customized processes, product handling can only be achieved through single-sided contact. Currently, there are two methods for single-sided contact handling. One method involves a robotic arm and a transfer platform to achieve single-sided contact. The other method involves a contour jig and a transfer platform to achieve single-sided contact.

[0003] Please refer to Figures 1A to 1C This diagram illustrates the operational flow of a prior art method for single-sided contact handling of curved products using a feeding robot arm, a transfer platform, and a picking robot arm. This prior art method uses robot arms 101 and 104 and a transfer platform 103 to perform single-sided contact handling of the curved product 102. Firstly, as... Figure 1A As shown, the feeding robot arm 101 picks up the working curved surface 1021 of one side of the curved product 102. The feeding robot arm 104 then moves to the transfer platform 103 and places the curved product 102 on the transfer platform 103, so that the working curved surface 1021 of the curved product 102 contacts the transfer platform 103, as shown. Figure 1B As shown. Then, as Figure 1C As shown, the robotic arm 104 extends from below the curved product 102 into the transfer platform 103 and picks up the working curved surface 1021 of the curved product 102. This single-sided contact gripping method requires a secondary gripping to achieve the transfer and gripping of the curved product 102.

[0004] Please refer to Figures 2A to 2E This diagram illustrates the operational flow of a prior art technique involving a feeding contour jig, a transfer platform, and a picking contour jig for single-sided contact handling of a curved product. This prior art technique utilizes contour jigs 201 and 204 and a transfer platform 203 to achieve single-sided contact handling of the curved product 202. Figure 2A As shown, the feeding and profiling fixture 201 first picks up the working surface 2021 of the curved product 202. The feeding and profiling fixture 201 then moves to the transfer platform 203 and places the curved product 202 on the transfer platform 203, as shown. Figure 2B As shown. Next, as Figure 2C As shown, the feeding contour jig 201 moves away from below the working surface 2021 of the curved product 202. Figure 2D As shown, the material-taking and profiling fixture 204 then extends into the transfer platform 203 from below the working surface 2021 of the curved product 202. Then, as... Figure 2EAs shown, the material-adhering jig 204 adsorbs the working surface 2021 of the curved product 202. This single-sided contact gripping technology also achieves the transfer and gripping of the curved product 202 through a secondary gripping process.

[0005] Regardless of whether a robotic arm or a contour jig is used for single-sided handshake technology, a transfer platform is required for a second handshake, resulting in low efficiency and high cost. Furthermore, increasing the number of handshakes reduces accuracy; the accuracy of a second handshake is lower than that of a single handshake. Therefore, improving handshake efficiency, reducing costs, and increasing accuracy are among the problems that those skilled in the art seek to solve. Summary of the Invention

[0006] Therefore, one objective of this disclosure is to provide a single-sided handshake device that can improve the current single-sided contact handshake, which requires a transfer platform and a second handshake, resulting in low handshake efficiency, high cost and reduced handshake accuracy.

[0007] In accordance with the aforementioned objectives of this disclosure, a single-sided handshake device is proposed, suitable for performing single-sided contact handshake operations on objects to be handshaked. The single-sided handshake device includes a feeding and adsorption mechanism and a retrieving and adsorption mechanism. The feeding and adsorption mechanism includes a movable arm and several feeding and adsorption components mounted on the movable arm, wherein these feeding and adsorption components are configured to adsorb the handshake working surface of the object to be handshaked. The retrieving and adsorption mechanism is movable vertically relative to the feeding and adsorption mechanism and includes two adsorption components and an opening / closing drive. These adsorption components are spaced apart from each other. Each adsorption component includes a support arm and several retrieving and adsorption components mounted on the support arm. When the retrieving and adsorption mechanism moves to the handshake working surface side, the retrieving and adsorption components of the adsorption components adsorb the handshake working surface. The opening / closing drive is connected to the adsorption components and configured to drive the adsorption components to adjust the spacing between the adsorption components.

[0008] According to one embodiment of this disclosure, the number of the above-mentioned feeding adsorption elements is three.

[0009] According to one embodiment of this disclosure, the vertical heights of the aforementioned feeding and adsorption elements are different.

[0010] According to one embodiment of the present disclosure, each of the above-described adsorption components has two material-taking adsorption elements.

[0011] According to one embodiment of this disclosure, in each of the above-described adsorption components, the distance from the end of the adsorption element to the support arm is different.

[0012] According to one embodiment of this disclosure, the opening and closing drive component is a pneumatic cylinder.

[0013] According to one embodiment of this disclosure, both the feeding adsorption element and the picking adsorption element are vacuum adsorption nozzles.

[0014] According to one embodiment of the present disclosure, the above-mentioned material taking and adsorption mechanism is located above the material feeding and adsorption mechanism and is in a closed state, and the spacing between the adsorption components is less than 30 mm.

[0015] According to one embodiment of this disclosure, the above-described material-taking and adsorption mechanism passes through the object to be grasped in an open state, and the spacing between the adsorption components is greater than 50 mm.

[0016] According to one embodiment of the present disclosure, the above-mentioned material picking and adsorption mechanism moves to one side of the interlocking working surface, and when the material picking and adsorption component adsorbs the interlocking working surface, the spacing between the adsorption components is greater than 15 mm and less than 30 mm.

[0017] In summary, while the feeding and adsorption mechanism adsorbs the object to be grasped, the picking and adsorption mechanism can move up and down. The spacing between the adsorption components can be adjusted via the opening and closing drive, allowing the picking and adsorption mechanism to smoothly pass the object and move to the outside of the feeding and adsorption mechanism. While the feeding and adsorption mechanism is still adsorbing the grasping surface, the adsorption components of the picking and adsorption mechanism can close and move upwards to adsorb the grasping surface, after which the feeding and adsorption mechanism releases its adsorption state. Therefore, the single-sided grasping device, through the grasping and adsorption of the feeding and picking and adsorption mechanisms, does not require a transfer platform and can complete the grasping process in one step, reducing the number of grasping operations. Thus, the single-sided grasping device can improve both grasping efficiency and grasping accuracy.

[0018] In addition, the material adsorption component uses a vacuum adsorption nozzle, which can provide a greater adsorption vacuum force, is not easy to break the vacuum, has high stability, and is low in cost, thus achieving the goal of cost reduction.

[0019] In addition, the configuration of three feeding adsorption elements of unequal height and two picking adsorption elements of unequal height allows the single-sided gripping device to be used for curved objects to be gripped.

[0020] The above description is only used to illustrate the problem to be solved by this disclosure, the technical means to solve the problem, and the effects produced. The specific details of this disclosure will be described in detail in the following implementation methods and related drawings. Attached Figure Description

[0021] A better understanding of the features disclosed herein can be obtained from the following detailed description taken in conjunction with the accompanying drawings. It should be noted that, according to industry standard practice, the features are not drawn to scale. In fact, the dimensions of the features may be increased or decreased arbitrarily for clarity of discussion.

[0022] Figures 1A to 1CThe diagram illustrates the operational process of single-sided contact handling of curved products using a feeding robot arm, a transfer platform, and a picking robot arm in the prior art.

[0023] Figures 2A to 2E The diagram illustrates the operational process of single-sided contact handling of curved products using a feeding molding fixture, a transfer platform, and a picking molding fixture in the prior art.

[0024] Figures 3 to 8 This is a flowchart illustrating a single-sided handshake device according to an embodiment of the present disclosure, used for a single-sided contact handshake operation on an object to be handshake.

[0025] Figure 9 This is a perspective view of the feeding and adsorption mechanism of a single-sided gripping device according to an embodiment of the present disclosure.

[0026] Figure 10 This is a perspective view of the material picking and adsorption mechanism of a single-sided gripping device according to an embodiment of the present disclosure.

[0027] The attached figures are labeled as follows:

[0028] 20: Single-sided interlocking device

[0029] 30: Items to be handed over

[0030] 31: Handshake work surface

[0031] 40: Feeding and adsorption mechanism

[0032] 41: Feeding and adsorption components

[0033] 42: Moving arm

[0034] 50: Material picking and adsorption mechanism

[0035] 51: Adsorption Component

[0036] 52: Opening and closing drive component

[0037] 53: Portable Seat

[0038] 101: Robotic Arm

[0039] 102: Curved surface products

[0040] 103: Transit Platform

[0041] 104: Robotic Arm

[0042] 201:Profiling fixture

[0043] 202: Curved Surface Products

[0044] 203: Transit Platform

[0045] 204:Profiling fixture

[0046] 411: Top

[0047] 421: Top surface

[0048] 511: Support arm

[0049] 512: Material picking and adsorption component

[0050] 1021: Working Surface

[0051] 2021: Working Surface

[0052] 5121: End Detailed Implementation

[0053] The embodiments of this disclosure are discussed in detail below. However, it will be understood that the embodiments provide many applicable concepts that can be implemented in a wide variety of specific situations. The embodiments discussed and disclosed are for illustrative purposes only and are not intended to limit the scope of this disclosure. All embodiments of this disclosure disclose a variety of different features, but these features can be implemented individually or in combination as needed.

[0054] In this text, terms such as "contains" and "including" are open-ended restrictions, meaning that something includes but is not limited to. Furthermore, unless specifically defined by the text regarding articles, "one" and "the" can generally refer to one or more.

[0055] The spatial relationship between the two components described in this disclosure applies not only to the orientations shown in the accompanying drawings, but also to orientations not shown in the drawings, such as inverted orientations. Furthermore, the term "connection" or similar expressions used in this disclosure for the two components are not limited to a direct connection, but may also include indirect connections as needed.

[0056] Please refer to Figures 3 to 8 This is a flowchart illustrating a single-sided handshake device according to an embodiment of the present disclosure, used for a single-sided contact handshake operation on an object to be handshaked. The single-sided handshake device 20 can be used to perform a single-sided contact handshake operation on an object 30 to be handshaked. The object 30 to be handshaked may be an object with a curved surface. For example, the handshake working surface 31 of the object 30 to be handshaked is a curved surface. In some embodiments, such as... Figure 3 As shown, the single-sided gripping device 20 mainly includes a feeding and adsorption mechanism 40 and a picking and adsorption mechanism 50. Figure 3 In the middle, the material taking and adsorption mechanism 50 is located above the material feeding and adsorption mechanism 40, and the material taking and adsorption mechanism 50 is in a closed state.

[0057] The feeding and adsorption mechanism 40 can adsorb the adsorption working surface 31 of the object to be adsorbed 30, thereby holding the object to be adsorbed 30 and steadily transporting it. The feeding and adsorption mechanism 40 mainly includes several feeding and adsorption components 41 and a moving arm 42. The feeding and adsorption components 41 are disposed on the moving arm 42. These feeding and adsorption components 41 can adsorb the adsorption working surface 31 of the object to be adsorbed 30. The feeding and adsorption components 41 can be, for example, vacuum adsorption nozzles. The feeding and adsorption components 41 can be arranged according to the shape of the adsorption working surface 31 of the object to be adsorbed 30.

[0058] For example, an appropriate number of feeding suction members 41 can be selected based on the size and curvature variation of the interlocking working surface 31, and the positions of these feeding suction members 41 on the moving arm 42 can be arranged. The height of each feeding suction member 41 can be adjusted, and / or the direction in which the suction surface of these feeding suction members 41 faces can be adjusted. In some exemplary examples, the number of these feeding suction members 41 is three, and the vertical heights of these feeding suction members 41 are different, to suit the curved interlocking working surface 31.

[0059] Please refer to the following first. Figure 9 This is a perspective view of the feeding and adsorption mechanism of a single-sided grasping device according to an embodiment of the present disclosure. In this embodiment, three feeding and adsorption members 41 are spaced apart on the top surface 421 of the moving arm 42. Furthermore, the three feeding and adsorption members 41 are not parallel or aligned along the same axes. Moreover, the distances from the top tip 411 of the three feeding and adsorption members 41 to the top surface 421 of the moving arm 42 are not the same. By adopting a non-coplanar layout for the grasping working surface 31 of the object to be grasped 30, the feeding and adsorption mechanism 40 can be applied to curved surface objects to be grasped 30.

[0060] like Figure 4 As shown, the material-taking and adsorption mechanism 50 is positioned above the material-feeding and adsorption mechanism 40. At this time, the material-taking and adsorption mechanism 50 is in the open state. Then, as... Figure 5 The material-grabbing adsorption mechanism 50 passes through the object 30 to be grasped in the open state. The material-grabbing adsorption mechanism 50 can move up and down relative to the feeding adsorption mechanism 40, and the material-grabbing adsorption mechanism 50 includes two adsorption components 51 and an opening and closing drive member 52, the two adsorption components 51 being arranged at intervals between each other. Each of the two adsorption components 51 includes a support arm 511 and several material-grabbing adsorption members 512, which are disposed on the support arm 511. Wherein, when the material-grabbing adsorption mechanism 50 moves to one side of the grasping working surface 31, the material-grabbing adsorption members 512 of the two adsorption components 51 adsorb the grasping working surface 31.

[0061] For example, an appropriate number of material-grabbing adsorption elements 512 can be selected based on the size and curvature variation of the interlocking working surface 31. The positions of these adsorption elements 512 on the support arm 511 can be arranged, the height of each adsorption element 512 can be adjusted, and / or the direction in which the adsorption surfaces of these adsorption elements 512 face can be adjusted. In some exemplary examples, in each of the two adsorption components 51, the number of these material-grabbing adsorption elements 512 is two, and the distances from the ends 5121 of these adsorption elements 512 to the support arm 511 are different, to suit the curved interlocking working surface 31.

[0062] like Figure 6 In the indicated state, the material-taking adsorption mechanism 50 moves to the outside of the material-feeding adsorption mechanism 40 and closes. The opening / closing drive 52 connects to these adsorption components 51, and can drive these adsorption components 51 to move towards each other or away from each other to adjust the spacing between them. The opening / closing drive 52 can be a pneumatic cylinder or other equivalent components.

[0063] Please refer to Figure 10 This is a perspective view of the material-taking and adsorption mechanism of a single-sided gripping device according to an embodiment of the present disclosure. The material-taking and adsorption mechanism 50 provides a movable seat 53, which is movable vertically, and an opening and closing drive member 52 disposed on the bottom surface of the movable seat 53. These adsorption components 51 are spaced apart from each other on the movable seat 53 and are connected to and controlled by the opening and closing drive member 52. These adsorption components 51 can move horizontally towards each other or backwards, that is, the spacing between these adsorption components 51 can be increased or decreased by adjusting the opening and closing drive member 52.

[0064] like Figures 3 to 8 The single-sided grasping device shown performs a single-sided contact grasping operation on the grasping object 30 with a curved surface shape, and is explained below.

[0065] like Figure 3 In the shown state, the material-taking adsorption mechanism 50 is located above the material-feeding adsorption mechanism 40, and the material-taking adsorption mechanism 50 is in a closed state. The material-feeding adsorption mechanism 40 provides adsorption function through these material-feeding adsorption components 41, which adsorb the gripping working surface 31 of the object to be gripped 30. At this time, the material-taking adsorption mechanism 50 is located above the material-feeding adsorption mechanism 40, and the material-taking adsorption mechanism 50 is in a closed state. The spacing of the adsorption components 51 can be adjusted according to the size and specifications of the object to be gripped 30. In some embodiments, the spacing of these adsorption components 51 is less than 30 mm when the material-taking adsorption mechanism 50 is in the closed state, but this is not a limitation.

[0066] Then as Figure 4In the shown state, the material-taking adsorption mechanism 50 is positioned above the material-feeding adsorption mechanism 40, thus being in an open state. Within the material-taking adsorption mechanism 50, the opening / closing drive 52 drives the adsorption components 51 to move horizontally in opposite directions, increasing the spacing between these adsorption components 51 and thus opening them to facilitate subsequent movement of the material-taking adsorption mechanism 50. The spacing of the adsorption components 51 can be adjusted according to the size of the object to be grasped 30; the larger the size of the object to be grasped 30, the larger the spacing of the adsorption components 51, and vice versa, to allow the material-taking adsorption mechanism 50 to pass smoothly through the object to be grasped 30. In some embodiments, the spacing of these adsorption components 51 is greater than 50 millimeters when the material-taking adsorption mechanism is in the open state, but this is not a limitation.

[0067] Then as Figure 5 The material-taking and adsorption mechanism 50 passes through the object to be grasped 30 in the open state. With these adsorption components 51 in the open state, the material-taking and adsorption mechanism 50 moves downward toward the object to be grasped 30, driven by a longitudinal moving device (not shown). Since the spacing of the adsorption components 51 has been increased by the opening and closing drive member 52, the adsorption components 51 can pass smoothly through the outside of the object to be grasped 30 without interference or collision. The material-taking and adsorption mechanism 50 stops moving downward when the adsorption components 51 move downward below the bottom edge of the object to be grasped 30, so that the adsorption components 51 will not collide with the object to be grasped 30 during the subsequent closing operation.

[0068] Then as Figure 6 These adsorption components 51 move to the outside of the feeding adsorption mechanism 40 through the aforementioned longitudinal movement operation. These adsorption components 51 are also located on the side of the object to be grasped 30 with the grasping working surface 31. Then, the opening and closing drive 52 drives these adsorption components 51 to move towards each other and close. The spacing of the adsorption components 51 can be adjusted according to the size specifications of the object to be grasped 30. In some embodiments, the spacing of these adsorption components 51 is greater than 15 mm and less than 30 mm when the feeding adsorption mechanism 50 is closed, but this is not a limitation.

[0069] Then as Figure 7 The material-taking and adsorption mechanism 50 moves upward via the longitudinal moving device, causing the material-taking and adsorption components 512 to contact the gripping working surface 31 of the object to be gripped 30. While the material-feeding and adsorption mechanism 40 is still adsorbing the gripping working surface 31, i.e., the object to be gripped 30 is fixed by the material-feeding and adsorption mechanism 40, the material-taking and adsorption components 512 will not cause the object to be gripped 30 to shift when they further adsorb the gripping working surface 31. At this time, both the material-feeding and adsorption mechanism 40 and the material-taking and adsorption mechanism 50 adsorb the gripping working surface 31 of the object to be gripped 30.

[0070] Then as Figure 8 The feeding and adsorption mechanism 40 releases the adsorption state of these feeding and adsorption components 41, and further moves the feeding and adsorption mechanism 40 downward through a pneumatic cylinder (not shown). This causes the feeding and adsorption components 41 to move downward and detach from the grasping working surface 31, and move away from the spaces between these adsorption components 51. At this time, the picking and adsorption mechanism 50 still firmly adsorbs the grasping working surface 31 of the object to be grasped 30, thus completing the grasping operation of the object to be grasped 30.

[0071] When the material-taking adsorption mechanism 50 adsorbs the object to be grasped 30, the object to be grasped 30 remains fixed and does not shift under the adsorption of the material-feeding adsorption mechanism 40. When the material-feeding adsorption mechanism 40 further releases the adsorption state of the object to be grasped 30, the object to be grasped 30 remains fixed and does not shift under the adsorption of the material-taking adsorption mechanism 50. Therefore, during the grasping process, the joint adsorption of the material-feeding adsorption mechanism 40 and the material-taking adsorption mechanism 50, or the mutual cooperation of one adsorption and one release, ensures that the object to be grasped 30 is adsorbed by the material-feeding adsorption mechanism 40 and / or the material-taking adsorption mechanism 50, and that the object to be grasped will not shift, thus improving the grasping accuracy.

[0072] As can be seen from the above embodiments, one advantage of this disclosure is that it provides a feeding and adsorption mechanism and a picking and adsorption mechanism for single-sided contact adsorption of the object to be adsorbed. While the feeding and adsorption mechanism is adsorbing the object, the picking and adsorption mechanism can directly adsorb onto the object by adjusting the spacing of the adsorption components, thus eliminating the need for a transfer platform. The feeding and adsorption mechanisms can adsorb onto the adsorption working surface of the object, completing the adsorption action in a single operation, simplifying the number of adsorption operations and improving adsorption efficiency and accuracy. Furthermore, the adsorption components, through the configuration of the picking and adsorption parts, provide a stronger vacuum force than the vacuum holes of a contour jig, making it less prone to vacuum breakage, and the picking and adsorption parts are also less expensive, thus achieving cost reduction.

[0073] Another advantage of this disclosure is that the feeding and adsorption mechanisms disclosed herein can perform a single adsorption on the objects to be adsorbed, which can improve the offset problem generated during the adsorption process, especially in the adsorption of curved objects to be adsorbed, effectively improving the machine's reliability.

[0074] Although this disclosure has been shown above by way of embodiments, it is not intended to limit this disclosure. Anyone skilled in the art can make various modifications and refinements without departing from the spirit and scope of this disclosure. Therefore, the scope of protection of this disclosure shall be determined by the appended claims.

Claims

1. A single-sided handshake device, suitable for performing a single-sided contact handshake operation on objects to be handshaked, characterized in that: The single-sided interlocking device includes: A feeding and adsorption mechanism includes a movable arm and a plurality of feeding and adsorption components, wherein the plurality of feeding and adsorption components are disposed on the movable arm and wherein the plurality of feeding and adsorption components are configured to adsorb the adsorption working surface of the object to be adsorbed. as well as The material picking and adsorption mechanism is movable up and down relative to the material feeding and adsorption mechanism, wherein the material picking and adsorption mechanism includes; Adsorption components are arranged at intervals between each other. Each of the plurality of adsorption components includes a support arm and a plurality of material-picking adsorption elements. The plurality of material-picking adsorption elements are disposed on the support arm. When the plurality of material-picking adsorption elements adsorb the grasping working surface of the object to be grasped, and when the material-picking adsorption mechanism moves through the material-picking adsorption mechanism to the bottom edge of the object to be grasped and then moves to the grasping working surface, the plurality of material-picking adsorption elements of the plurality of adsorption components adsorb the grasping working surface. as well as An opening and closing drive is connected to the plurality of adsorption components and configured to drive the plurality of adsorption components to adjust the spacing between the plurality of adsorption components.

2. The single-sided interlocking device as described in claim 1, characterized in that: The number of the multiple feeding and adsorption components is three.

3. The single-sided interlocking device as described in claim 1, characterized in that: The vertical heights of the multiple feeding and adsorption components are different.

4. The single-sided interlocking device as described in claim 1, characterized in that: In each of the plurality of adsorption components, the number of the plurality of material-taking adsorption elements is two.

5. The single-sided interlocking device as described in claim 1, characterized in that: In each of the plurality of adsorption components, the distance from the end of the plurality of material-taking adsorption elements to the support arm is different.

6. The single-sided interlocking device as described in claim 1, characterized in that: The opening and closing drive component is a pneumatic cylinder.

7. The single-sided interlocking device as described in any one of claims 1 to 6, characterized in that: The plurality of feeding adsorption elements and the plurality of picking adsorption elements are all vacuum adsorption nozzles.

8. The single-sided interlocking device as described in any one of claims 1 to 6, characterized in that: The material-taking and adsorption mechanism is located above the material-feeding and adsorption mechanism and is in a closed state. The spacing between the multiple adsorption components is less than 30 mm.

9. The single-sided interlocking device as described in any one of claims 1 to 6, characterized in that: The material-taking and adsorption mechanism passes through the object to be grasped in the open state, and the spacing between the multiple adsorption components is greater than 50 mm.

10. The single-sided interlocking device as described in any one of claims 1 to 6, characterized in that: The material-taking and adsorption mechanism moves to one side of the interlocking working surface. When the multiple material-taking and adsorption components adsorb the interlocking working surface, the distance between the multiple adsorption components is greater than 15 mm and less than 30 mm.

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