Clamp jaw transfer device and method

Abstract

The application relates to the technical field of automatic handling equipment, and particularly discloses a clamping jaw transfer device and method. The device comprises a loading mechanism and a material taking mechanism; the loading mechanism is provided with a plurality of carriers which are uniformly distributed along a first direction and are used for carrying small products; the material taking mechanism comprises a mechanism base and a working module, the mechanism base is fixedly provided with a collecting assembly used for containing the small products, the working module can move along a second direction between a material taking position and a material placing position relative to the mechanism base, the working module comprises a module frame, a clamping jaw assembly and a positioning assembly, the positioning assembly can reciprocate relative to the module frame, the positioning assembly comprises a connecting strip and a positioning pressing piece fixedly connected to the connecting strip, the number of the positioning pressing pieces is the same as that of the carriers, the clamping jaw assembly comprises a connecting plate and a clamping jaw unit fixedly connected to the connecting plate, and the connecting plate can reciprocate between a working position and an avoiding position relative to the module frame. The device reduces the space occupied by the machine and the manufacturing cost through structural improvement.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of automated handling equipment, in particular to a gripper transfer device and method. BACKGROUND

[0002] In the current automation field, the transfer of small products often involves the taking and placing steps of the gripper transfer device. However, the existing gripper transfer device needs to use multiple mechanisms applied to different steps, which will cause the structure of the gripper transfer device to be complex, the control to be difficult, the manufacturing cost to be high, the space to be large, and the position conflicts between the components to be prone to occur.

[0003] Therefore, an integrated gripper transfer device as a motion synthesis mechanism is urgently needed to integrate the taking and placing steps to ensure that the transfer purpose of small products can be successfully achieved. SUMMARY

[0004] The purpose of the present application is to provide a gripper transfer device and method, which adopts an integrated structure to improve the integration of the taking and placing steps, and to reduce the space occupied by the machine and the manufacturing cost.

[0005] To achieve this purpose, the present application adopts the following technical solutions:

[0006] The utility model provides a clamping jaw transfer device for transferring small products, which comprises a loading mechanism and a material taking mechanism, the loading mechanism comprises a bearing base, the bearing base bears a plurality of carriers which are uniformly distributed along a first direction, the carriers are used for bearing the small products, the material taking mechanism comprises a mechanism base and a working module, the mechanism base is fixedly installed with a collecting assembly for accommodating the small products, the working module can move along a second direction between a material taking position and a material placing position relative to the mechanism base, the working module comprises a module frame, a clamping jaw assembly and a positioning assembly, the positioning assembly can reciprocate along a vertical direction relative to the module frame, the positioning assembly comprises a connecting strip and a positioning pressing piece fixed to the connecting strip, the number of the positioning pressing pieces is the same as that of the carriers, the clamping jaw assembly comprises a connecting plate and a clamping jaw unit fixed to the connecting plate, the clamping jaw unit selectively clamps the small products, the connecting plate can reciprocate between a working position and a avoiding position relative to the module frame, when the connecting plate is located at the avoiding position, the clamping jaw assembly is spaced apart from the positioning assembly, when the working module is located at the material taking position and the positioning assembly moves to a limit position below, each positioning pressing piece abuts against a carrier, when the working module is located at the material taking position and the connecting plate is located at the working position, each clamping jaw unit can clamp a small product, when the working module is located at the material placing position and the connecting plate is located at the working position, all the clamping jaw units are located directly above the collecting assembly.

[0007] As a preferred technical scheme of the clamping jaw transfer device, the clamping jaw unit comprises a clamping jaw driving unit and two profiled clamping jaws, the clamping jaw driving unit has two output ends, each profiled clamping jaw is fixed to an output end of the clamping jaw driving unit, the clamping jaw driving unit is used for driving the two profiled clamping jaws to move towards or away from each other, and the two profiled clamping jaws can clamp the small product from both sides.

[0008] As a preferred technical scheme of the clamping jaw transfer device, the clamping jaw unit further comprises a nozzle, the nozzle is fixedly installed on the clamping jaw driving unit, and the nozzle is used for cleaning the two profiled clamping jaws.

[0009] As a preferred technical scheme of the clamping jaw transfer device, the collecting assembly comprises a throwing funnel, a collecting funnel and a collecting box, the number of the throwing funnels is the same as that of the clamping jaw units, when the working module is located at the material placing position and the connecting plate is located at the working position, a throwing funnel is arranged directly below each clamping jaw unit, the collecting funnel is located directly below all the throwing funnels, the collecting box is located directly below the collecting funnel, and the collecting box is used for accommodating the small products.

[0010] As the preferred technical scheme of the clamping jaw transfer device, the module frame comprises a sliding plate and a sliding block fixed to the sliding plate; a pushing driving unit and a linear slide rail extending in the second direction are fixed to the mechanism base, the sliding block is in sliding cooperation with the linear slide rail, the output end of the pushing driving unit is fixed to the sliding plate, and the pushing driving unit is used to drive the working module to reciprocate in the second direction.

[0011] As the preferred technical scheme of the clamping jaw transfer device, a downward pressing driving unit is fixed to the module frame, the output end of the downward pressing driving unit is fixed to the connecting strip, the downward pressing driving unit is used to drive the positioning assembly to reciprocate in the vertical direction; and / or a KK module is fixed to the module frame, the output end of the KK module is fixed to the connecting plate, and the KK module is used to drive the clamping jaw assembly.

[0012] As the preferred technical scheme of the clamping jaw transfer device, a receiving groove is recessed in the middle of the top end of the carrier, and the product small piece is placed in the receiving groove; when the working module is located at the material taking position and the positioning assembly moves to the lower limit position, the positioning pressing piece abuts against the edge of the top end of the carrier.

[0013] As the preferred technical scheme of the clamping jaw transfer device, the positioning pressing piece is a U-shaped piece, and the positioning pressing piece forms an avoiding opening; when the connecting plate is located at the working position, the clamping jaw unit passes through the avoiding opening.

[0014] As the preferred technical scheme of the clamping jaw transfer device, opposite emitting type optical fibers are installed at both ends of the positioning pressing piece, and the two opposite emitting type optical fibers are oppositely arranged and used to detect whether the product small piece is placed in the receiving groove.

[0015] A clamping jaw transfer method applied to the clamping jaw transfer device, comprising the following steps:

[0016] S10: installing the carrier carrying the product small piece on the bearing base;

[0017] S20: moving the working module to the material taking position first, and then moving the positioning assembly to the lower limit position, so that the positioning pressing piece abuts against the carrier;

[0018] S30: moving the connecting plate to the working position, and clamping the product small piece by using the clamping jaw unit;

[0019] S40: moving the connecting plate to the avoiding position first, and then moving the positioning assembly to the upper limit position, and then moving the working module to the material placing position;

[0020] S50: moving the connecting plate to the working position, the clamping jaw unit releases the clamped product to the collection assembly;

[0021] S60: moving the connecting plate to the avoiding position.

[0022] The beneficial effects of the present application:

[0023] The design of the positioning assembly reciprocating in the vertical direction enables the positioning pressing piece to position the carrier between the positioning pressing piece and the bearing base by pressing the carrier, thereby achieving the positioning purpose in the vertical direction and preventing the carrier from being moved when the product is clamped subsequently. Through the movement of the working module between the material taking position and the material placing position, the connecting plate at the working position is in the corresponding position, which can realize the clamping action of the clamping jaw unit on the product carried by the carrier and the releasing action of the clamping jaw unit on the clamped product to the collection assembly. Thus, the clamping jaw transfer device can smoothly complete the material taking and placing operation of the product. The design of the clamping jaw unit selectively clamping the product enables the clamping jaw unit to clamp or release according to the taking and placing demand of the product, so as to ensure the smooth completion of the material taking and placing operation of the product. The design of the connecting plate flexibly moving between the working position and the avoiding position enables the clamping jaw unit to move to the position when there is a clamping or releasing demand, so as to ensure the smooth completion of the material taking and placing operation of the product, and in other cases, the clamping jaw unit can be away from the positioning assembly, thereby reducing the risk of position conflict between components and ensuring the smooth operation of the clamping jaw transfer device. The design of integrating the positioning assembly on the material taking mechanism enables the clamping jaw assembly and the positioning assembly to move synchronously in the second direction, so that the material taking mechanism and the positioning pressing piece can approach the carrier and the product at the same time, which simplifies the position adjustment process and reduces the risk of misoperation. In combination with the displacement of the positioning pressing piece and the material taking mechanism, the carrier can be pressed and held and the product can be taken. The improved clamping jaw transfer device integrates the material taking and placing functions, has simple structure, convenient control, high universality and reliable operation, reduces the space occupied by the machine and reduces the manufacturing cost. Based on the above structural improvement, the integration of the material taking and placing steps is facilitated, the miniaturization and multifunctionalization of the equipment are facilitated, and the transfer purpose of the product is achieved smoothly.

[0024] The clamping jaw transfer method can enable the clamping jaw transfer device to sequentially complete the material taking, detecting, placing and cleaning operations. Thus, the transfer purpose of the product is achieved, and the smooth operation of the clamping jaw transfer device is ensured. BRIEF DESCRIPTION OF DRAWINGS

[0025] Figure 1 is a structural schematic diagram of the clamping jaw transfer device provided by the embodiment of the present application from the first perspective;

[0026] Figure 2 is Figure 1 is a partial enlarged view of A in figure 6;

[0027] Figure 3 is a structural schematic diagram of a second perspective view of the clamping jaw transfer device provided by the embodiment of the present application;

[0028] Figure 4 is a structural schematic diagram of a first perspective view of the material taking mechanism provided by the embodiment of the present application;

[0029] Figure 5 is a structural schematic diagram of a second perspective view of the material taking mechanism provided by the embodiment of the present application;

[0030] Figure 6 is a structural schematic diagram of the clamping jaw assembly and KK module provided by the embodiment of the present application;

[0031] Figure 7 is a structural schematic diagram of the loading mechanism provided by the embodiment of the present application.

[0032] In the figure:

[0033] X, first direction; Y, second direction; Z, vertical direction;

[0034] 100, loading mechanism; 101, bottom plate; 102, loading support plate; 103, carrier plate; 104, carrier; 105, product small piece;

[0035] 200, material taking mechanism; 201, material taking support plate; 202, mounting plate; 203, sliding plate; 204, pushing driving unit; 205, pressing driving unit; 206, support frame; 207, KK mounting plate; 208, clamping jaw assembly; 2081, KK module; 2082, connecting plate; 2083, nozzle; 2084, clamping jaw driving unit; 2085, profiled clamping jaw; 209, connecting strip; 210, positioning pressing piece; 211, material throwing hopper; 212, pair of shot type optical fibers; 213, collecting hopper; 214, collecting box; 215, straight line sliding rail; 216, sliding block. DETAILED DESCRIPTION

[0036] The technical solutions of the present application will be described clearly and completely below with reference to the drawings. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the protection scope of the present application.

[0037] In the description of the present application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate the orientation or positional relationship shown in the drawings based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application. In addition, the terms "first", "second", are only for the purpose of description, and cannot be understood as indicating or implying relative importance. Among them, the terms "first position" and "second position" are two different positions, and moreover, the "above", "over" and "on" of the first feature to the second feature include the first feature above and obliquely above the second feature, or only indicate that the first feature is higher than the second feature in horizontal height. The "below", "under" and "under" of the first feature to the second feature include the first feature below and obliquely below the second feature, or only indicate that the first feature is lower than the second feature in horizontal height.

[0038] In the description of the present application, it should be noted that unless otherwise explicitly specified and limited, the terms "mounting", "connecting", "connecting" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the communication inside two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0039] The embodiments of the present application are described in detail below, examples of which are shown in the drawings, wherein the same or similar reference numerals represent the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the drawings are exemplary and are only used to explain the present application, and cannot be understood as a limitation on the present application.

[0040] As Figures 1 to 7As shown, the embodiment provides a gripper transfer device for transferring product small pieces 105, which comprises a loading mechanism 100 and a taking mechanism 200; the loading mechanism 100 comprises a bearing base, and a plurality of carriers 104 are uniformly distributed on the bearing base along a first direction X, and the carriers 104 are used for bearing the product small pieces 105; the taking mechanism 200 comprises a mechanism base and a working module, the mechanism base is fixedly installed with a collection assembly for accommodating the product small pieces 105, and the working module can move along a second direction Y between a taking position and a placing position relative to the mechanism base, the working module comprises a module frame, a gripper assembly 208 and a positioning assembly, the positioning assembly can reciprocate along a vertical direction Z relative to the module frame, the positioning assembly comprises a connecting strip 209 and a positioning pressing piece 210 fixedly connected to the connecting strip 209, the number of the positioning pressing pieces 210 is the same as that of the carriers 104, the gripper assembly 208 comprises a connecting plate 2082 and a gripper unit fixedly connected to the connecting plate 2082, the gripper unit selectively clamps the product small pieces 105, the connecting plate 2082 can reciprocate between a working position and an avoiding position relative to the module frame, when the connecting plate 2082 is located at the avoiding position, the gripper assembly 208 is spaced apart from the positioning assembly; when the working module is located at the taking position and the positioning assembly moves to the lower limit position, each positioning pressing piece 210 abuts against one carrier 104; when the working module is located at the taking position and the connecting plate 2082 is located at the working position, each gripper unit can clamp one product small piece 105, when the working module is located at the placing position and the connecting plate 2082 is located at the working position, all the gripper units are located directly above the collection assembly.

[0041] The reciprocating design of the positioning assembly along the vertical direction Z enables the positioning pressing piece 210 to position the carrier 104 between the positioning pressing piece 210 and the bearing base by pressing against the carrier 104, thereby achieving the positioning purpose in the vertical direction Z and preventing the carrier 104 from being moved when the product small piece 105 is subsequently gripped. Through the movement of the working module between the material taking position and the material placing position, the connecting plate 2082 located at the working position is in the corresponding position, which can not only achieve the gripping action of the gripper unit on the product small piece 105 carried by the carrier 104, but also achieve the action of releasing the gripped product small piece 105 to the collecting assembly. Thus, the gripper transfer device can smoothly complete the material taking and placing operation of the product small piece 105. The design of the gripper unit selectively gripping the product small piece 105 enables the gripper unit to perform the gripping or releasing action according to the taking and placing requirements of the product small piece 105, so as to ensure the smooth completion of the material taking and placing operation of the product small piece 105. The design of the connecting plate 2082 being capable of flexibly moving between the working position and the avoiding position enables the gripper unit to move to the position when there is a gripping or releasing requirement, so as to ensure the smooth completion of the material taking and placing operation of the product small piece 105, and in other cases, the gripper unit can be away from the positioning assembly, thereby reducing the risk of position conflict between components and ensuring the smooth operation of the gripper transfer device. The design of integrating the positioning assembly on the material taking mechanism 200 enables the gripper assembly 208 and the positioning assembly to move synchronously in the second direction Y, so that the material taking mechanism 200 and the positioning pressing piece 210 can simultaneously approach the carrier 104 and the product small piece 105, simplifying the position adjustment process and reducing the risk of misoperation. In combination with the displacement of the positioning pressing piece 210 and the material taking mechanism 200, the holding of the carrier 104 and the material taking action of the product small piece 105 can be completed. The improved gripper transfer device integrates the material taking and placing functions, has a simple structure, is convenient to control, has high universality and reliable operation, reduces the space occupied by the machine and the manufacturing cost. Based on the above structural improvement, the integration of the material taking and placing steps is facilitated, the miniaturization and multifunctionalization of the equipment are facilitated, and the transfer purpose of the product small piece 105 can be smoothly achieved.

[0042] Specifically, the carrier 104 is provided with five.

[0043] In this embodiment, the bearing base includes a bottom plate 101, a carrier plate 103, and two loading support plates 102. The upper plate surface of the carrier plate 103 is used to carry all the carriers 104, and the bottom plate 101 and the carrier plate 103 are arranged opposite in the vertical direction Z. The bottom end of one loading support plate 102 is fixedly connected to one end of the upper plate surface of the bottom plate 101, and the top end is fixedly connected to one end of the lower plate surface of the carrier plate 103. The bottom end of the other loading support plate 102 is fixedly connected to the other end of the upper plate surface of the bottom plate 101, and the top end is fixedly connected to the other end of the lower plate surface of the carrier plate 103.

[0044] In the embodiment, the clamp jaw unit comprises a clamp jaw driving unit 2084 and two profiled clamping jaws 2085, the clamp jaw driving unit 2084 has two output ends, each profiled clamping jaw 2085 is fixed to an output end of the clamp jaw driving unit 2084, the clamp jaw driving unit 2084 is used to drive the two profiled clamping jaws 2085 to move towards or away from each other, and the two profiled clamping jaws 2085 can clamp the product small piece 105 from both sides.

[0045] With the above design, the clamp jaw driving unit 2084 can drive the two profiled clamping jaws 2085 to realize the clamping and releasing actions of the profiled clamping jaws 2085 on the product small piece 105, thereby ensuring that the selective clamping of the product small piece 105 by the clamp jaw unit can be accurately realized. The production cost of the above structure is low, the structure is simple and the working stability is high, which helps to realize the long-term stable operation of the clamp jaw transfer device.

[0046] In the embodiment, the moving direction of the profiled clamping jaw 2085 is arranged at an angle with the horizontal plane. The above design limits the taking mode of the product small piece 105 by the clamp jaw unit to be oblique taking. In other embodiments of the embodiment, the moving direction of the profiled clamping jaw 2085 is parallel to the horizontal plane. The above design limits the taking mode of the product small piece 105 by the clamp jaw unit to be forward taking. The taking mode of the product small piece 105 by the clamp jaw unit is known in the art, and the specific taking mode is determined by the person skilled in the art according to the engineering practice, and the specific determination method is a conventional technical means in the art, which will not be described here.

[0047] Further, the clamp jaw unit further comprises a nozzle 2083, the nozzle 2083 is fixedly installed on the clamp jaw driving unit 2084, and the nozzle 2083 is used to clean the two profiled clamping jaws 2085. The setting of the nozzle 2083 can play a cleaning role on the profiled clamping jaw 2085, so as to complete the dust cleaning operation on the profiled clamping jaw 2085 after the product small piece 105 is released.

[0048] Still further, the collecting assembly comprises a throwing hopper 211, a collecting hopper 213 and a collecting box 214, the number of the throwing hopper 211 is the same as that of the clamp jaw unit, when the working module is located at the feeding position and the connecting plate 2082 is located at the working position, one throwing hopper 211 is arranged below each clamp jaw unit, the collecting hopper 213 is located below all the throwing hoppers 211, and the collecting box 214 is located below the collecting hopper 213, and the collecting box 214 is used to accommodate the product small piece 105. With the setting of the throwing hopper 211, the collecting hopper 213 and the collecting box 214, the falling track of the product small piece 105 is planned, the probability of the released product small piece 105 falling into other positions due to accidents is reduced, and the collecting purpose of the product small piece 105 is achieved.

[0049] Specifically, the throwing hopper 211 is in a funnel shape with a large upper part and a small lower part. With the above structure, the small product pieces 105 released are not easy to fall into other positions, but can be uniformly collected into the collecting hopper 213. The collecting hopper 213 can collect the small product pieces 105 falling from the throwing hopper 211 above and make all the small product pieces 105 fall into the collecting box 214.

[0050] In the embodiment, the module frame includes a sliding plate 203 and a sliding block 216 fixed to the sliding plate 203; the mechanism base is fixed with a pushing driving unit 204 and a linear slide rail 215 extending along the second direction Y, the sliding block 216 is in sliding cooperation with the linear slide rail 215, and the output end of the pushing driving unit 204 is fixed to the sliding plate 203. The pushing driving unit 204 is used to drive the working module to reciprocate along the second direction Y.

[0051] With the sliding cooperation of the sliding block 216 and the linear slide rail 215, the reciprocating sliding of the working module relative to the mechanism base can be realized. The above design is simple and reliable, occupies small space, and has high working stability. In cooperation with the driving of the sliding plate 203 by the pushing driving unit 204, the relative position of the working module and the mechanism base can be accurately adjusted, the action accuracy is high, and the risk of misoperation is small. At the same time, the driving mode of the pushing driving unit 204 is easy to control by external equipment, and the degree of automation is high.

[0052] Specifically, the mechanism base includes a mounting plate 202 and two material taking support plates 201, the pushing driving unit 204 and the linear slide rail 215 are fixed to the upper plate surface of the mounting plate 202, and the top ends of the two material taking support plates 201 are respectively fixed to the two ends of the lower plate surface of the carrier plate 103. The material taking support plate 201 is used to support the mounting plate 202.

[0053] In the embodiment, the module frame further includes a KK mounting plate 207 and two support frames 206, the KK module 2081 is fixedly installed on the KK mounting plate 207, and the two support frames 206 are used to fixedly connect the KK mounting plate 207 and the sliding plate 203.

[0054] In one implementation manner of the embodiment, the module frame is fixed with a downward pressing driving unit 205, the output end of the downward pressing driving unit 205 is fixed to the connecting strip 209, and the downward pressing driving unit 205 is used to drive the positioning assembly to reciprocate along the vertical direction Z. In another implementation manner of the embodiment, the module frame is fixed with a KK module 2081, the output end of the KK module 2081 is fixed to the connecting plate 2082, and the KK module 2081 is used to drive the clamping jaw assembly 208. In still another implementation manner of the embodiment, the module frame is fixed with the downward pressing driving unit 205 and the KK module 2081.

[0055] By driving the connecting strip 209 through the push-down driving unit 205, the relative position of the positioning assembly and the module frame can be accurately adjusted, with high accuracy and low risk of misoperation. By driving the connecting plate 2082 through the KK module 2081, the high-precision extension of the output end of the KK module 2081 can accurately adjust the relative position of the jaw assembly 208 and the module frame, with high accuracy and low risk of misoperation. At the same time, the driving modes of the push driving unit 204 and the KK module 2081 are easy to control by external equipment, with high automation.

[0056] In this embodiment, the middle part of the top end of the carrier 104 is recessed to form a receiving groove, and the product small piece 105 is placed in the receiving groove; when the working module is located at the taking position and the positioning assembly moves to the lower limit position, the positioning pressing piece 210 abuts against the edge of the top end of the carrier 104. With the above design, the abutting position of the positioning pressing piece 210 and the clamping position of the jaw unit can be distinguished, avoiding the position conflict between the positioning pressing piece 210 and the jaw unit, avoiding the situation that the carrier 104 is taken away together when taking, and ensuring the smooth completion of the taking action.

[0057] Further, the positioning pressing piece 210 is a U-shaped piece, and the positioning pressing piece 210 forms an avoiding opening, and when the connecting plate 2082 is located at the working position, the jaw unit passes through the avoiding opening. The avoiding opening provides space for the jaw unit to avoid the positioning pressing piece 210, thereby preventing the jaw unit from interfering with the position when releasing the product small piece 105, and ensuring the smooth completion of the discharging action of the taking mechanism 200.

[0058] Specifically, the jaw driving unit 2084 is obliquely installed on the connecting plate 2082, and when the jaw unit releases the product small piece 105, it just passes through the avoiding opening, which avoids the position interference between the jaw unit and the positioning pressing piece 210, reduces the space occupied by the machine, and ensures the stable operation of the jaw transfer device.

[0059] Further, the positioning pressing piece 210 is a U-shaped piece, and the positioning pressing piece 210 forms an avoiding opening, and when the connecting plate 2082 is located at the working position, the jaw unit passes through the avoiding opening. The avoiding opening provides space for the jaw unit to avoid the positioning pressing piece 210, thereby preventing the jaw unit from interfering with the position when releasing the product small piece 105, and ensuring the smooth completion of the discharging action of the taking mechanism 200.

[0060] In this embodiment, the first direction X and the second direction Y are perpendicular to each other and are both in the horizontal plane. According to the above definition, the structural layout of the jaw transfer device can be optimized, the risk of position conflict between components can be reduced, the space occupied by the machine can be reduced, and the manufacturing cost of the jaw transfer device can be reduced.

[0061] In this embodiment, the pushing driving unit 204, the pressing driving unit 205 and the gripper driving unit 2084 are all air cylinders.

[0062] The embodiment also provides a gripper transfer method, which is applied to the gripper transfer device and includes the following steps.

[0063] Step one: install the carrier 104 carrying the product small piece 105 on the carrier base.

[0064] Step two: first move the working module to the taking position, and then move the positioning assembly to the lower limit position, so that the positioning pressing piece 210 abuts against the carrier 104.

[0065] Step three: move the connecting plate 2082 to the working position, and use the gripper unit to clamp the product small piece 105.

[0066] Step four: first move the connecting plate 2082 to the avoiding position, and then move the positioning assembly to the upper limit position, and then move the working module to the placing position.

[0067] Step five: move the connecting plate 2082 to the working position, and the gripper unit releases the clamped product small piece 105 to the collecting assembly.

[0068] Step six: move the connecting plate 2082 to the avoiding position.

[0069] Specifically, after the product small piece 105 is taken away by the gripper unit is detected by the opposite emission type optical fiber 212, step four is performed.

[0070] The above flow is adopted in the gripper transfer method, so that the gripper transfer device can sequentially complete the taking, detecting, placing and cleaning operations. Thus, the transfer purpose of the product small piece 105 is achieved, and the smooth operation of the gripper transfer device is ensured.

[0071] Obviously, the above embodiment of the present application is merely an example for clear illustration of the present application, and is not a limitation on the embodiments of the present application. Based on the above description, other different forms of changes or variations can be made by those skilled in the art. Here, all the embodiments are not required to be exhausted. Any modification, equivalent replacement and improvement made within the spirit and principle of the present application shall be included in the protection scope of the claims of the present application.

Claims

1. A gripper transfer device for transferring small product parts (105), characterized in that, include: The loading mechanism (100) includes a support base on which a plurality of carriers (104) are evenly distributed along a first direction (X), the carriers (104) being used to carry the product parts (105). The material handling mechanism (200) includes a base and a working module. A collection component for holding the product parts (105) is fixedly installed on the base. The working module can move relative to the base along a second direction (Y) between a material handling position and a material release position. The working module includes a module frame, a gripper assembly (208), and a positioning component. The positioning component can reciprocate relative to the module frame along a vertical direction (Z). The positioning component includes a connecting strip (209) and positioning pressure members (210) fixed to the connecting strip (209). The number of positioning pressure members (210) is the same as the number of the carrier (104). The gripper assembly (208) includes a connecting plate (2082) and gripper units fixed to the connecting plate (2082). The gripper units selectively grip the product parts. For the small part (105), the connecting plate (2082) can reciprocate between the working position and the avoidance position relative to the module frame. When the connecting plate (2082) is in the avoidance position, the gripper assembly (208) and the positioning assembly are spaced apart. When the working module is in the picking position and the positioning assembly moves to the lower limit position, each positioning pressure member (210) presses against one of the carriers (104). When the working module is in the picking position and the connecting plate (2082) is in the working position, each gripper unit can grip one of the small parts (105). When the working module is in the unloading position and the connecting plate (2082) is in the working position, all the gripper units are located directly above the collecting assembly.

2. The gripper transfer device according to claim 1, characterized in that, The gripper unit includes a gripper drive unit (2084) and two contour grippers (2085). The gripper drive unit (2084) has two output ends. Each contour gripper (2085) is fixed to one of the output ends of the gripper drive unit (2084). The gripper drive unit (2084) is used to drive the two contour grippers (2085) to move towards or away from each other. The two contour grippers (2085) can grip the product part (105) from both sides.

3. The gripper transfer device according to claim 2, characterized in that, The gripper unit also includes a nozzle (2083), which is fixedly installed on the gripper drive unit (2084) and is used to clean the two contour grippers (2085).

4. The gripper transfer device according to claim 1, characterized in that, The collection assembly includes a throwing funnel (211), a collection funnel (213), and a collection box (214). The number of throwing funnels (211) is the same as the number of gripper units. When the working module is located at the material feeding position and the connecting plate (2082) is located at the working position, a throwing funnel (211) is provided directly below each gripper unit. The collection funnel (213) is located directly below all the throwing funnels (211), and the collection box (214) is located directly below the collection funnels (213). The collection box (214) is used to collect the small parts of the product (105).

5. The gripper transfer device according to claim 1, characterized in that, The module frame includes a sliding plate (203) and a slider (216) fixed to the sliding plate (203); a push drive unit (204) and a linear slide rail (215) extending along the second direction (Y) are fixed on the mechanism base. The slider (216) slides in cooperation with the linear slide rail (215). The output end of the push drive unit (204) is fixed to the sliding plate (203). The push drive unit (204) is used to drive the working module to reciprocate along the second direction (Y).

6. The gripper transfer device according to claim 1, characterized in that, A downward driving unit (205) is fixedly connected to the module frame. The output end of the downward driving unit (205) is fixedly connected to the connecting strip (209). The downward driving unit (205) is used to drive the positioning component to reciprocate along the vertical direction (Z); and / or A KK module (2081) is fixedly connected to the module frame. The output end of the KK module (2081) is fixedly connected to the connecting plate (2082). The KK module (2081) is used to drive the gripper assembly (208).

7. The gripper transfer device according to claim 1, characterized in that, The top of the carrier (104) has a recessed accommodating groove in the middle, and the product part (105) is placed in the accommodating groove; when the working module is located at the material picking position and the positioning component moves to the lower limit position, the positioning pressure member (210) presses against the edge of the top of the carrier (104).

8. The gripper transfer device according to claim 7, characterized in that, The positioning clamp (210) is a U-shaped part, and the positioning clamp (210) forms an avoidance opening. When the connecting plate (2082) is in the working position, the gripper unit passes through the avoidance opening.

9. The gripper transfer device according to claim 8, characterized in that, Both ends of the positioning pressure member (210) are equipped with through-beam optical fibers (212), and the two through-beam optical fibers (212) are arranged opposite to each other to detect whether the product part (105) is placed in the receiving groove.

10. A gripper transfer method, applied to the gripper transfer device according to any one of claims 1-9, characterized in that, Includes the following steps: S10: The carrier (104) carrying the product part (105) is mounted on the support base; S20: First, move the working module to the material picking position, and then move the positioning component to the lower limit position so that the positioning pressure member (210) presses against the carrier (104). S30: Move the connecting plate (2082) to the working position and use the gripper unit to grip the product part (105). S40: First, move the connecting plate (2082) to the clearance position, then move the positioning component to the upper limit position, and then move the working module to the feeding position; S50: Move the connecting plate (2082) to the working position, and the gripper unit releases the gripped product part (105) to the collecting assembly; S60: Move the connecting plate (2082) to the avoidance position.

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