A multi-workpiece assembly gripper

Abstract

The application provides a multi-workpiece assembly gripper, comprising a first gripper, a second gripper, a first moving mechanism, a second moving mechanism and a supporting mechanism; the first gripper is used for gripping a first workpiece and a second workpiece; the second gripper is used for gripping the first workpiece; the first moving mechanism is connected with the first gripper and is used for controlling the position of the first gripper in the vertical direction; the second moving mechanism is connected with the second gripper and is used for controlling the position of the second gripper in the vertical direction; the supporting mechanism is connected with the first moving mechanism and the second moving mechanism; the supporting mechanism is also connected with a mechanical hand, and the mechanical hand is used for moving the first workpiece on the supporting mechanism to a third workpiece. The application realizes the technical effect that the workpieces in multiple installation positions are prepositioned at specified positions and installed, improves the assembly efficiency of the multiple workpieces, and avoids the problem that workers are injured during the assembly process.

Description

Technical Field

[0001] This application relates to the field of mechanical technology, and in particular to a multi-workpiece assembly gripper. Background Technology

[0002] With societal progress, competition in the assembly industry is becoming increasingly fierce. In order to improve the automation level of production lines and reduce labor costs, while meeting process requirements, it is necessary to simultaneously position multiple workpieces onto a designated workpiece, and then fix the multiple workpieces onto the designated workpiece manually or with a robotic arm.

[0003] The current approach involves one worker positioning multiple workpieces onto a designated workpiece, and then another worker assembling the multiple workpieces onto the designated workpiece sequentially. However, the inventors discovered that this method is not only inefficient, but also easily causes injury to the worker positioning the workpieces during the assembly process. Summary of the Invention

[0004] This application provides a multi-workpiece assembly gripper to solve the problems of current multi-workpiece assembly methods being not only inefficient, but also easily causing injury to workers positioning the workpieces during the assembly process.

[0005] This application provides a multi-workpiece assembly gripper for assembling at least one first workpiece, at least one second workpiece, and one third workpiece;

[0006] The multi-workpiece assembly gripper includes: a first gripper, a second gripper, at least one first moving mechanism, at least one second moving mechanism, and a support mechanism;

[0007] The first gripper is used to grip at least one first workpiece and at least one second workpiece;

[0008] The second gripper is used to grip at least one of the first workpieces;

[0009] The first gripper and the second gripper are arranged sequentially in the horizontal direction;

[0010] At least one of the first moving mechanisms is connected to the first gripper, and at least one of the first moving mechanisms is used to control the position of the first gripper in the vertical direction;

[0011] At least one of the second moving mechanisms is connected to the second gripper, and the at least one of the second moving mechanisms is used to control the position of the second gripper in the vertical direction;

[0012] The support mechanism is connected to at least one first moving mechanism and at least one second moving mechanism, and the support mechanism is used to support the first gripper, the second gripper, at least one first moving mechanism and at least one second moving mechanism;

[0013] The support mechanism is also connected to a robotic arm, which is used to move the first workpiece on the support mechanism to the third workpiece.

[0014] In the above scheme, the first gripper includes: a first gripper and M gripping positioning pins;

[0015] The first gripper is used to grip at least one of the first workpiece and at least one of the second workpiece;

[0016] The first gripper has at least one first finger, N gripping positioning pins are connected to one of the first fingers, and M gripping positioning pins are used to position at least one first workpiece and at least one second workpiece;

[0017] Where M is a natural number greater than 2, N is a natural number greater than 1, and M is greater than N.

[0018] In the above scheme, the first gripper includes: a first connecting mechanism, a first gripping cylinder, and at least one first finger;

[0019] The top end of the first connecting mechanism is connected to the bottom end of the supporting mechanism, and the bottom end of the first connecting mechanism is connected to the first gripping cylinder.

[0020] At least one of the first fingers is connected to the first grasping cylinder;

[0021] The first gripping cylinder provides the power to move at least one of the first fingers, so that the first gripper grips at least one of the first workpieces and at least one of the second workpieces, or releases at least one of the first workpieces and at least one of the second workpieces.

[0022] In the above scheme, the first gripper further includes: a first opening and closing magnetic switch;

[0023] The first opening and closing magnetic switch is connected to the first grasping cylinder, and the first opening and closing magnetic switch is used to detect the opening and closing state of at least one of the first fingers on the first grasping cylinder.

[0024] In the above scheme, the second gripper includes: a second jaw and P clamping blocks;

[0025] The second gripper is used to grip at least one of the first workpieces;

[0026] The second gripper has at least one second finger, Q clamping blocks are connected to one of the second fingers, and P clamping blocks are used to provide frictional force to at least one of the first workpieces;

[0027] Where P is a natural number greater than 2, Q is a natural number greater than 1, and P is greater than Q.

[0028] In the above scheme, the second gripper includes: a second connecting mechanism, a second gripping cylinder, and at least one second finger;

[0029] The top end of the second connecting mechanism is connected to the bottom end of the supporting mechanism, and the bottom end of the second connecting mechanism is connected to the second gripping cylinder.

[0030] At least one of the second fingers is connected to the second grasping cylinder;

[0031] The second gripping cylinder provides the power to move at least one of the second fingers, causing the second gripper to grip at least one of the first workpieces, or release at least one of the first workpieces.

[0032] In the above scheme, the second gripper further includes: at least one second opening and closing proximity switch; at least one second opening and closing proximity switch is respectively fixed on the support mechanism;

[0033] Each of the second opening and closing proximity switches corresponds to each of the second fingers; each of the second opening and closing proximity switches is used to detect the position of the corresponding second finger.

[0034] In the above solution, the first moving mechanism includes: a first moving cylinder mechanism, a first fixing part, a first connecting part, and a first auxiliary part;

[0035] The first movable cylinder mechanism is fixed to the support mechanism by the first fixing part, the first connecting part is located below the support mechanism, the first movable cylinder mechanism passes through the first fixing part and is connected to the first connecting part, and the first connecting part is connected to the first gripper.

[0036] The first auxiliary unit is connected to the first movable cylinder mechanism. The first auxiliary unit is used to detect the moving distance of the first movable cylinder mechanism and to provide pressurized gas to the first movable cylinder mechanism.

[0037] In the above scheme, the second moving mechanism includes: a second moving cylinder mechanism, a second fixing part, a second connecting part, and a second auxiliary part;

[0038] The second movable cylinder mechanism is fixed to the support mechanism by the second fixing part, the second connecting part is located below the support mechanism, the second movable cylinder mechanism passes through the second fixing part and connects to the second connecting part, and the second connecting part is connected to the second gripper;

[0039] The second auxiliary unit is connected to the second movable cylinder mechanism. The second auxiliary unit is used to detect the moving distance of the second movable cylinder mechanism and to provide pressurized gas to the second movable cylinder mechanism.

[0040] In the above scheme, the support mechanism includes: a connecting flange, a support structure, and a detection device;

[0041] The connecting flange is connected to the robotic arm;

[0042] The connecting flange is fixed to the supporting structure;

[0043] The detection device is fixed to the support structure;

[0044] The detection device is used to detect whether the second gripper has the first workpiece.

[0045] This application provides a multi-workpiece assembly gripper, which uses a first gripper and a second gripper to align the first upper mounting hole of the first workpiece with the second mounting hole of the second workpiece, and fix at least one first workpiece and at least one second workpiece to each other.

[0046] By connecting a robotic arm to a support mechanism, at least one first workpiece and at least one second workpiece are moved to a third workpiece, and the first lower mounting hole of the first workpiece is aligned with the third mounting hole of the third workpiece. The first, second, and third workpieces are then fixed together. This achieves the technical effect of pre-positioning workpieces in designated locations at multiple installation positions and installing them, improving the assembly efficiency of multiple workpieces and avoiding the problem of injury to workers positioning the workpieces during the assembly process. Attached Figure Description

[0047] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0048] Figure 1 A three-dimensional structural diagram of a multi-workpiece assembly gripper provided in this application;

[0049] Figure 2 A three-dimensional structural schematic diagram of a multi-workpiece assembly gripper provided in this application from another perspective;

[0050] Figure 3This is a structural schematic diagram showing the relative positions of the first, second, and third workpieces in this application.

[0051] Figure 4 for Figure 3 A schematic diagram of the cross-sectional structure;

[0052] Figure 5 This is a structural schematic diagram showing another relative position of the first workpiece, the second workpiece, and the third workpiece in this application;

[0053] Figure 6 for Figure 5 A schematic diagram of the cross-sectional structure;

[0054] Figure 7 This is a structural schematic diagram showing another relative position of the first workpiece, the second workpiece, and the third workpiece in this application;

[0055] Figure 8 for Figure 7 A schematic diagram of the cross-sectional structure;

[0056] Figure 9 This is a structural schematic diagram showing another relative position of the first workpiece, the second workpiece, and the third workpiece in this application;

[0057] Figure 10 for Figure 9 A schematic diagram of the cross-sectional structure;

[0058] Figure 11 A side view of the first and second grippers in a multi-workpiece assembly gripper provided in this application;

[0059] Figure 12 A three-dimensional structural diagram of the first gripper in a multi-workpiece assembly gripper provided in this application;

[0060] Figure 13 A front view structural diagram of the first gripper in a multi-workpiece assembly gripper provided in this application;

[0061] Figure 14 A side view of the first gripper in a multi-workpiece assembly gripper provided in this application;

[0062] Figure 15 A three-dimensional structural schematic diagram of the second gripper in a multi-workpiece assembly gripper provided in this application;

[0063] Figure 16 A front view structural diagram of the second gripper in a multi-workpiece assembly gripper provided in this application;

[0064] Figure 17 A side view of the second gripper in a multi-workpiece assembly gripper provided in this application;

[0065] Figure 18 A three-dimensional structural schematic diagram of the first moving mechanism in a multi-workpiece assembly gripper provided in this application;

[0066] Figure 19 A front view structural schematic diagram of the first moving mechanism in a multi-workpiece assembly gripper provided in this application;

[0067] Figure 20 for Figure 19 A schematic diagram of the cross-sectional structure of section AA in the middle;

[0068] Figure 21 A three-dimensional structural schematic diagram of the second moving mechanism in a multi-workpiece assembly gripper provided in this application;

[0069] Figure 22 A front view structural schematic diagram of the second moving mechanism in a multi-workpiece assembly gripper provided in this application;

[0070] Figure 23 for Figure 22 Schematic diagram of the cross-sectional structure of the middle BB section;

[0071] Figure 24 A three-dimensional structural schematic diagram of a support mechanism in a multi-workpiece assembly gripper provided in this application;

[0072] Figure label:

[0073] 1: The first step;

[0074] 2: The second approach;

[0075] 3: First moving mechanism;

[0076] 4: Second moving mechanism;

[0077] 5: Supporting structures;

[0078] 6: First workpiece;

[0079] 7: Second workpiece;

[0080] 8: The third workpiece;

[0081] 11: First gripper;

[0082] 12: Grab the positioning pin;

[0083] 111: First finger;

[0084] 112: First connecting mechanism;

[0085] 113: First gripping cylinder;

[0086] 114: First magnetic switch for opening and closing;

[0087] 1121: First positioning block;

[0088] 1122: First locating screw;

[0089] 1123: First guide rail;

[0090] 1124: First fixing screw;

[0091] 1125: First slider;

[0092] 1126: First locating pin;

[0093] 1127: First mounting bracket;

[0094] 1131: First gripping cylinder;

[0095] 1132: First cylinder connector;

[0096] 1133: First cylinder slider;

[0097] 1134: First pad;

[0098] 1135: First washer screw;

[0099] 1136: First gasket;

[0100] 1137: First pressing block;

[0101] 1138: First pressure block screw;

[0102] 21: Second gripper;

[0103] 22: Clamping block;

[0104] 23: Second downward pressing mechanism;

[0105] 211: Second finger;

[0106] 212: Second connecting mechanism;

[0107] 213: Second gripping cylinder;

[0108] 214: Second opening and closing proximity switch;

[0109] 2121: Second positioning block;

[0110] 2122: Second positioning screw;

[0111] 2123: Second guide rail;

[0112] 2124: Second fixing screw;

[0113] 2125: Second slider;

[0114] 2126: Second locating pin;

[0115] 2127: Second mounting plate;

[0116] 2131: Second gripping cylinder;

[0117] 2132: Second cylinder connector;

[0118] 2133: Second cylinder slider;

[0119] 2135: Second pressing block;

[0120] 2136: Second pressure block screw;

[0121] 2137: Slider mounting plate;

[0122] 231: Second downward-pressing cylinder;

[0123] 232: Second lower pressure plate;

[0124] 233: Second pressing magnetic switch;

[0125] 234: Second support plate;

[0126] 235: Second support screw;

[0127] 236: Second pressing connector

[0128] 31: First moving cylinder mechanism;

[0129] 32: First fixing part;

[0130] 33: First connecting part;

[0131] 34: First Auxiliary Department;

[0132] 311: First moving cylinder;

[0133] 312: First nut;

[0134] 313: First floating joint;

[0135] 314: First floating joint;

[0136] 321: First upper positioning bushing;

[0137] 322: First lower positioning bushing;

[0138] 331: First positioning sleeve;

[0139] 332: First movable cylinder positioning pin;

[0140] 341: First movable magnetic switch;

[0141] 342: First endotracheal connector;

[0142] 41: Second moving cylinder mechanism;

[0143] 42: Second fixing part;

[0144] 43: Second connecting part;

[0145] 44: Second Auxiliary Department;

[0146] 411: Second moving cylinder;

[0147] 412: Second nut;

[0148] 413: Second floating joint;

[0149] 414: Second lower floating joint;

[0150] 421: Second upper positioning bushing;

[0151] 422: Second lower positioning bushing;

[0152] 431: Second positioning sleeve;

[0153] 432: Second moving cylinder positioning pin;

[0154] 441: Second movable magnetic switch;

[0155] 442: Second endotracheal connector;

[0156] 51: Connecting flange;

[0157] 52: Supporting structure;

[0158] 53: Detection device;

[0159] 521: Vertical board;

[0160] 522: Base plate;

[0161] 523: Reinforcing plate;

[0162] 524: Locating block;

[0163] 531: Sensor;

[0164] 532: Sensor bracket;

[0165] 533: Induction bolt;

[0166] 534: Sensor bracket;

[0167] 61: First upper mounting hole;

[0168] 62: First mounting hole;

[0169] 71: Second mounting hole;

[0170] 81: Third mounting hole.

[0171] The accompanying drawings illustrate specific embodiments of this application, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the concept in any way, but rather to illustrate the concept of this application to those skilled in the art through reference to particular embodiments. Detailed Implementation

[0172] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with those of this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of the embodiments of this application as detailed in the appended claims.

[0173] The technical solutions of the embodiments of this application and how the technical solutions of the embodiments of this application solve the current problems are described in detail below with specific examples. These specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments. The embodiments of this application will be described below with reference to the accompanying drawings.

[0174] Please see Figures 1-24 This application provides a multi-workpiece assembly gripper for assembling at least one first workpiece 6, at least one second workpiece 7, and one third workpiece 8; the multi-workpiece assembly gripper includes: a first gripper 1, a second gripper 2, at least one first moving mechanism 3, at least one second moving mechanism 4, and a support mechanism 5;

[0175] The first gripper 1 is used to grip at least one first workpiece 6 and at least one second workpiece 7;

[0176] The second gripper 2 is used to grip at least one of the first workpieces 6;

[0177] The first gripper 1 and the second gripper 2 are arranged sequentially in the horizontal direction;

[0178] At least one of the first moving mechanisms 3 is connected to the first gripper 1, and at least one of the first moving mechanisms 3 is used to control the position of the first gripper 1 in the vertical direction;

[0179] At least one of the second moving mechanisms 4 is connected to the second gripper 2, and at least one of the second moving mechanisms 4 is used to control the position of the second gripper 2 in the vertical direction;

[0180] The support mechanism 5 is connected to at least one first moving mechanism 3 and at least one second moving mechanism 4, and the support mechanism 5 is used to support the first gripper 1, the second gripper 2, at least one first moving mechanism 3 and at least one second moving mechanism 4;

[0181] The support mechanism 5 is also connected to a robotic arm, which is used to move the first workpiece 6 on the support mechanism 5 onto the third workpiece 8.

[0182] In an exemplary embodiment, a robotic arm is connected to a support mechanism 5, and the robotic arm moves the support mechanism 5 above a first loading platform; a second moving mechanism 4 is controlled to move a second gripper 2 to the vicinity of a first workpiece 6 (one or more of a plurality of workpieces), the second gripper 2 is controlled to grip at least one first workpiece 6, and the second moving mechanism 4 is controlled to detach the first workpiece 6 from the first loading platform, wherein the first loading platform is used to place at least one first workpiece 6.

[0183] At least one second workpiece 7 (one or more of a plurality of workpieces) is placed on a designated position of the first workpiece 6, such that the first upper mounting hole 61 of the first workpiece 6 is aligned with the second mounting hole 71 of the second workpiece 7; the first moving mechanism 3 is controlled to move vertically, so that the first gripper 1 moves to the vicinity of the second workpiece 7, and the first gripper 1 is controlled to grip at least one first workpiece 6 and at least one second workpiece 7, and the first gripper 1 is inserted into the first upper mounting hole 61 of the first workpiece 6 and the second mounting hole 71 of the second workpiece 7, so that at least one first workpiece 6 and at least one second workpiece 7 are fixed to each other.

[0184] The robot arm is controlled to move at least one first workpiece 6 and at least one second workpiece 7 to a third workpiece 8 (a designated workpiece), aligning the first lower mounting hole 62 of the first workpiece 6 with the third mounting hole 81 of the third workpiece 8, and fixing the first workpiece 6, second workpiece 7 and third workpiece 8 together. Then, by manual operation or automated equipment, bolts are installed in the third mounting hole 81 and the first lower mounting hole 62 to connect the first workpiece 6 and the third workpiece 8. Next, the first gripper 1 is released from the first workpiece 6 and the second workpiece 7, and bolts are assembled in the first upper mounting hole 61 and the second mounting hole 71 by manual operation or automated equipment to connect the first workpiece 6 and the second workpiece 7 together. This achieves the technical effect of pre-positioning workpieces with multiple installation positions in a designated location and installing them.

[0185] In another exemplary embodiment, a robotic arm is connected to a support mechanism 5, and the support mechanism 5 is moved above a first loading platform by the robotic arm; a second moving mechanism 4 is controlled to move a second gripper 2 to the vicinity of a first workpiece 6, the second gripper 2 is controlled to grip at least one first workpiece 6, and the second moving mechanism 4 is controlled to remove the first workpiece 6 from the first loading platform, wherein the first loading platform is used to place at least one first workpiece 6.

[0186] At least one second workpiece 7 is placed at a designated position on the first workpiece 6, so that the first upper mounting hole 61 of the first workpiece 6 is aligned with the second mounting hole 71 of the second workpiece 7; the first moving mechanism 3 is controlled to move vertically, so that the first gripper 1 moves to the vicinity of the second workpiece 7, and the first gripper 1 is controlled to grip at least one first workpiece 6 and at least one second workpiece 7, and the first gripper 1 is inserted into the first upper positioning groove of the first workpiece 6 and the second positioning groove of the second workpiece 7, so that at least one first workpiece 6 and at least one second workpiece 7 are fixed to each other.

[0187] The robot arm is controlled to move at least one first workpiece 6 and at least one second workpiece 7 to a third workpiece 8, aligning the first lower mounting hole 62 of the first workpiece 6 with the third mounting hole 81 of the third workpiece 8, and fixing the first workpiece 6, second workpiece 7 and third workpiece 8 together. Then, by manual operation or automated equipment, bolts are installed in the third mounting hole 81 and the first lower mounting hole 62 to connect the first workpiece 6 and the third workpiece 8. Bolts are then assembled in the first upper mounting hole 61 and the second mounting hole 71 by manual operation or automated equipment to connect the first workpiece 6 and the second workpiece 7 together. Finally, the first gripper 1 and the second gripper 2 are released from the first workpiece 6 and the second workpiece 7, thus achieving the technical effect of pre-positioning workpieces in multiple installation positions at a designated location and installing them.

[0188] In a preferred embodiment, the first gripper 1 includes: a first gripper 11 and M gripping positioning pins 12;

[0189] The first gripper 11 is used to grip at least one of the first workpiece 6 and at least one of the second workpiece 7;

[0190] The first gripper 11 has at least one first finger 111, N gripping positioning pins 12 are connected to one first finger 111, and M gripping positioning pins 12 are used to position at least one first workpiece 6 and at least one second workpiece 7.

[0191] Where M is a natural number greater than 2, N is a natural number greater than 1, and M is greater than N.

[0192] In this example, N gripping positioning pins 12 on the first finger 111A are inserted into at least one first workpiece 6 or at least one second workpiece 7 to position at least one first workpiece 6 or at least one second workpiece 7; N positioning shafts on the first finger 111B are inserted into at least one first workpiece 6 or at least one second workpiece 7 to position at least one first workpiece 6 or at least one second workpiece 7; the first finger 111A and the first finger 111B are each one of at least one first finger 111.

[0193] Positioning of at least one first workpiece 6 and at least one second workpiece 7 is achieved by inserting M gripping positioning pins 12 into at least one first workpiece 6 and at least one second workpiece 7; clamping force is applied to the first workpiece 6 and at least one second workpiece 7 by at least one first finger 111 of the first gripper 11, thereby achieving a firm clamping of at least one first workpiece 6 and at least one second workpiece 7 and preventing the first workpiece 6 and the second workpiece 7 from shifting when the first gripper 11 moves.

[0194] In this embodiment, the gripping positioning pin 12 is inserted into the first upper mounting hole 61 of the first workpiece 6 and the second mounting hole 71 of the second workpiece 7.

[0195] Furthermore, the first gripper 11 includes: a first connecting mechanism 112, a first gripping cylinder 113, and at least one first finger 111;

[0196] The top end of the first connecting mechanism 112 is connected to the bottom end of the support mechanism 5, and the bottom end of the first connecting mechanism 112 is connected to the first gripping cylinder 113.

[0197] At least one of the first fingers 111 is connected to the first grasping cylinder 113;

[0198] The first gripping cylinder 113 is used to provide the power to move at least one of the first fingers 111, so that the first gripper 11 grips at least one of the first workpieces 6 and at least one of the second workpieces 7, or releases at least one of the first workpieces 6 and at least one of the second workpieces 7.

[0199] In this example, the connection between the first gripping cylinder 113 and the support mechanism 5 is achieved by using the first connecting mechanism 112. The first gripping cylinder 113 provides the power to move the first finger 111. The structure is simple, and the corresponding model of cylinder and finger can be quickly replaced according to the gripping force requirements of the first gripper 11, thus expanding the scope of application of this application.

[0200] Specifically, the first connecting mechanism 112 includes: at least one first positioning block 1121, at least one first positioning screw 1122, a first guide rail 1123, at least one first fixing screw 1124, a first slider 1125, at least one first positioning pin 1126, and a first mounting bracket 1127.

[0201] One of the first positioning blocks 1121 is connected to the support mechanism 5 below by at least one first positioning screw 1122;

[0202] At least one of the first positioning blocks 1121 is slidably connected to the first guide rail 1123, and the first guide rail 1123 is connected to the lower part of the support mechanism 5 by at least one of the first fixing screws 1124;

[0203] The first guide rail 1123 is slidably connected to the first slider 1125. The first slider 1125 is connected to the top of the first mounting bracket 1127 through at least one first positioning pin 1126. The bottom of the first mounting bracket 1127 is connected to the first gripping cylinder 113.

[0204] In this example, the first gripping cylinder 113 moves horizontally by the cooperation of the first slider 1125 and the first guide rail 1123, thereby adjusting the position of the first gripping cylinder 113 in the horizontal direction.

[0205] Specifically, the first gripping cylinder 113 includes: a first gripping cylinder body 1131, at least one first cylinder connector 1132, and at least one first cylinder slider 1133;

[0206] The top of the first gripping cylinder 1131 is connected to the bottom of the first mounting bracket 1127;

[0207] At least one first cylinder connector 1132 is connected to the first gripping cylinder 1131, and one first cylinder connector 1132 is used to input or discharge pressurized gas into the first gripping cylinder 1131.

[0208] At least one of the first cylinder sliders 1133 is movably connected to the first gripping cylinder 1131;

[0209] The first cylinder slider 1133 reciprocates on the first gripping cylinder 1131 by the pressurized gas in the first gripping cylinder 1131;

[0210] A first cylinder slider 1133 is connected to a first finger 111, causing the first finger 111 to reciprocate on the first gripping cylinder 1131.

[0211] In this example, by using the movable connection between the first positioning block 1121 and the first guide rail 1123, the position of the first guide rail 1123 below the support mechanism 5 can be adjusted. By connecting both the first positioning block 1121 and the first guide rail 1123 to the support mechanism 5, the technical effect of fixing the first positioning block 1121 and the first guide rail 1123 to the support mechanism 5 based on multiple connection points (i.e., multiple screws) is achieved, thereby improving the firmness of the connection of the first guide rail 1123.

[0212] The first gripping cylinder 1131 provides the power for the movement of the first cylinder slider 1133 and the first finger 111; the first cylinder slider 1133 avoids the first finger 111 from being directly connected to the first gripping cylinder 1131, making it convenient to replace the first finger 111; the first cylinder connector 1132 is used to realize the input and output of pressurized gas in the first gripping cylinder 1131.

[0213] Optionally, the first gripping cylinder 113 further includes: at least one first pressure block 1137 and at least one first pressure block screw 1138;

[0214] A first pressure block 1137 is located in a groove on the first mounting bracket 1127, and a first slider 1125 is located in the groove. A first pressure block screw 1138 is inserted from the side of the first mounting bracket 1127 into the first mounting bracket 1127 and the first pressure block 1137 to position the first pressure block 1137 and enable at least one first pressure block 1137 to position the first slider 1125 on the first mounting bracket 1127.

[0215] Specifically, the first gripping cylinder 113 further includes: at least one first pad 1134, at least one first pad screw 1135, and at least one first washer 1136;

[0216] One of the first pads 1134 is located on the side of one of the first fingers 111 facing the first workpiece 6 or the second workpiece 7;

[0217] At least one first pad screw 1135 is inserted into a first pad 1134 and a first finger 111, such that a first pad 1134 is fixed to a first finger 111;

[0218] A first pad 1136 is fitted onto a gripping positioning pin 12, the first pad 1136 being located on the side of the first finger 111 away from the first workpiece 6 or the second workpiece 7;

[0219] One of the gripping positioning pins 12 passes sequentially through a first finger 111 and a first pad 1134.

[0220] In this example, the first pad 1134 provides friction for the first workpiece 6 or the second workpiece 7, so as to ensure that the first gripper 11 can improve the clamping firmness of the first workpiece 6 and the second workpiece 7 when gripping the first workpiece 6 and the second workpiece 7.

[0221] Since the gripping positioning pin 12 will be subjected to a large force when it is inserted into the first workpiece 6 and the second workpiece 7, the first shim 1136 is set to ensure that the gripping positioning pin 12 will not directly contact the first finger 111 when it passes through the first finger 111, thereby avoiding the gripping positioning pin 12 rubbing against the first finger 111 and causing damage to the first finger 111.

[0222] Preferably, the first finger 111 has an L-shaped structure, wherein the horizontal portion of the L-shaped structure is connected to the first gripping cylinder 113.

[0223] In this example, by connecting the horizontal part of the L-shaped structure to the first gripping cylinder 113, the vertical part of the L-shaped structure can be close to or away from the second gripper 21, thereby enabling the gripping of the first workpiece 6 and the second workpiece 7 in different positional relationships.

[0224] Furthermore, the first gripper 11 also includes: a first opening and closing magnetic switch 114;

[0225] The first opening and closing magnetic switch 114 is connected to the first grasping cylinder 113, and the first opening and closing magnetic switch 114 is used to detect the opening and closing state of at least one of the first fingers 111 on the first grasping cylinder 113.

[0226] In this example, the state of each first finger 111 is detected by a first magnetic switch 114. The detection of the opening and closing of the first finger 111 by the first magnetic switch 114 mainly relies on its sensitivity to a magnetic field and changes in its switch state. Firstly, a magnet is typically installed on each first finger 111, and this magnet moves with the opening and closing of the grippers. When the grippers are closed, the magnet approaches the first magnetic switch 114, causing the metal plate or spring inside the switch to displace under the influence of the magnetic field, thereby changing the switch state. The first magnetic switch 114 typically has one or more contacts. When the magnet approaches, the contacts close, forming a circuit; when the magnet moves away, the contacts open, breaking the circuit. Therefore, by detecting the contact state of the first magnetic switch 114, the opening and closing state of the first finger 111 can be determined. Specifically, the output signal of the first magnetic switch 114 can be connected to the control system. When the gripper closes, the first magnetic switch 114 sends a signal, and the control system, upon receiving the signal, can determine that the gripper is closed. When the gripper opens, the first magnetic switch 114 stops sending a signal, and the control system knows that the gripper is open. In this way, the first magnetic switch 114 can detect the opening and closing state of the first finger 111 in real time and accurately, providing important feedback information for the automated control system and achieving precise control and operation.

[0227] In a preferred embodiment, the second gripper 2 includes: a second claw 21 and P clamping blocks 22;

[0228] The second gripper 21 is used to grip at least one of the first workpieces 6;

[0229] The second gripper 21 has at least one second finger 211, Q clamping blocks 22 are connected to one second finger 211, and P clamping blocks 22 are used to provide frictional force to at least one of the first workpieces 6;

[0230] Where P is a natural number greater than 2, Q is a natural number greater than 1, and P is greater than Q.

[0231] In this example, at least one second finger 211 clamps the first workpiece 6 through the clamping block 22. The clamping block 22 provides friction for clamping the first workpiece 6, which improves the clamping firmness of the first workpiece 6 and prevents the first workpiece 6 from shifting when the second gripper 21 moves.

[0232] Furthermore, the second gripper 21 includes: a second connecting mechanism 212, a second gripping cylinder 213, and at least one second finger 211;

[0233] The top end of the second connecting mechanism 212 is connected to the bottom end of the support mechanism 5, and the bottom end of the second connecting mechanism 212 is connected to the second gripping cylinder 213.

[0234] At least one of the second fingers 211 is connected to the second grasping cylinder 213;

[0235] The second gripping cylinder 213 is used to provide movement power to at least one of the second fingers 211, so that the second gripper 21 grips at least one of the first workpieces 6, or releases at least one of the first workpieces 6.

[0236] In this example, the connection between the second gripping cylinder 213 and the support mechanism 5 is achieved by using the second connecting mechanism 212. The second gripping cylinder 213 provides the power to move the second finger 211. The structure is simple, and the appropriate model of cylinder and finger can be quickly replaced according to the gripping force required by the second gripper 21, thus expanding the scope of application of this application.

[0237] Specifically, the second connecting mechanism 212 includes: at least one second positioning block 2121, at least one second positioning screw 2122, a second guide rail 2123, at least one second fixing screw 2124, a second slider 2125, at least one second positioning pin 2126, and a second mounting plate 2127.

[0238] A second positioning block 2121 is connected to the support mechanism 5 below by at least one second positioning screw 2122;

[0239] At least one of the second positioning blocks 2121 is slidably connected to the second guide rail 2123, and the second guide rail 2123 is connected to the lower part of the support mechanism 5 by at least one of the second fixing screws 2124;

[0240] The second guide rail 2123 is slidably connected to the second slider 2125. The second slider 2125 is connected to the top of the second mounting plate 2127 through at least one second positioning pin 2126. The bottom of the second mounting plate 2127 is connected to the second gripping cylinder 213.

[0241] In this example, the second gripping cylinder 213 moves horizontally by the cooperation of the second slider 2125 and the second guide rail 2123, thereby adjusting the position of the second gripping cylinder 213 in the horizontal direction.

[0242] Specifically, the second gripping cylinder 213 includes: a second gripping cylinder body 2131, at least one second cylinder connector 2132, and at least one second cylinder slider 2133;

[0243] The top of the second gripping cylinder 2131 is connected to the bottom of the second mounting plate 2127;

[0244] At least one second cylinder connector 2132 is connected to the second gripping cylinder 2131, and one second cylinder connector 2132 is used to input pressurized gas into or discharge pressurized gas into the second gripping cylinder 2131;

[0245] At least one of the second cylinder sliders 2133 is movably connected to the second gripping cylinder 2131.

[0246] The second cylinder slider 2133 reciprocates on the second gripping cylinder 2131 by the pressurized gas in the second gripping cylinder 2131;

[0247] A second cylinder slider 2133 is connected to a second finger 211, causing the second finger 211 to reciprocate on the second gripping cylinder 2131.

[0248] In this example, the second gripping cylinder 2131 provides the power for the movement of the second cylinder slider 2133 and the second finger 211; the second cylinder slider 2133 avoids the second finger 211 from being directly connected to the second gripping cylinder 2131, thus facilitating the replacement of the second finger 211; and the second cylinder connector 2132 enables the input and output of pressurized gas in the second gripping cylinder 2131.

[0249] Specifically, the second gripping cylinder 213 further includes: at least one second pad, at least one second pressure block 2135, and a slider mounting plate 2137;

[0250] One of the second pads is fixed to the side of the second finger 211 facing the second workpiece 7;

[0251] The second slider 2125 is fixed on the slider mounting plate 2137 on the upper surface of the second horizontal support plate. At least one second pressure block 2135 is mounted on the slider mounting plate 2137 by a second pressure block screw 2136. The bottom of the second slider 2125 is located between at least one second pressure block 2135. At least one second pressure block 2135 and the slider mounting plate 2137 cooperate with each other to fix the second slider 2125 on the second mounting support plate 2127.

[0252] In this example, the friction of the second gripper 21 when gripping the first workpiece 6 is increased by using the second pad, thereby ensuring the firmness of gripping the first workpiece 6.

[0253] By using the second cylinder slider 2133 to fix the second cylinder slider 2133 on the second mounting plate 2127, it is convenient to replace the second mounting plate 2127 and the second gripper 21.

[0254] Furthermore, the second gripper 21 also includes at least one second opening / closing proximity switch 214; at least one second opening / closing proximity switch 214 is respectively fixed on the support mechanism 5;

[0255] Each of the second opening and closing proximity switches 214 corresponds to each of the second fingers 211; each of the second opening and closing proximity switches 214 is used to detect the position of the corresponding second finger 211.

[0256] Therefore, the second opening and closing proximity switch 214 achieves the technical effect of detecting the opening and closing state of at least one of the second fingers 211 on the second gripping cylinder 213.

[0257] In this example, the second proximity switch 214 is used to detect the movement position of the second finger 211, primarily through its non-contact detection characteristics. The second proximity switch 214 can sense changes in the position of the second finger 211 without direct contact and outputs a corresponding signal. Specifically, the second proximity switch 214 is typically installed near the second finger 211. When the second finger 211 moves, its position change causes a change in the distance between it and the second proximity switch 214. The second proximity switch 214 detects this distance change based on its working principle (e.g., inductive, photoelectric, or capacitive). For an inductive second proximity switch 214, when the second finger 211 (usually made of metal) approaches its sensing surface, eddy currents are generated in the induction coil, thereby changing the coil's impedance. The second proximity switch 214 determines the position of the second finger 211 by detecting this impedance change. A photoelectric second proximity switch 214 detects the position of the second finger 211 by utilizing the blocking or scattering of a light beam. When the second finger 211 moves into the beam path, it blocks or scatters the beam, causing a change in the signal strength of the light receiver, thereby triggering the action of the second opening / closing proximity switch 214. The capacitive second opening / closing proximity switch 214 determines its position by detecting changes in capacitance between the second finger 211 and the switch housing. When the second finger 211 approaches the switch, the capacitance value changes, and the second opening / closing proximity switch 214 outputs a corresponding signal based on this change.

[0258] Optionally, the second gripper 2 may also include a second pressing mechanism 23, which is used to apply pressure to the first workpiece 6 on the second gripper 21 to disengage the first workpiece 6 from the second gripper 21.

[0259] The second pressing mechanism 23 includes: a second pressing cylinder 231, a second pressing plate 232, a second pressing magnetic switch 233, a second support plate 234, and a second support screw 235. The second support plate 234 has a U-shaped structure and is located below the second mounting plate 2127. The second support plate 234 is connected to the second mounting plate 2127 as a whole by at least one second support screw 235. The second gripping cylinder 2131 is located in the space surrounded by the second support plate 234. The second pressing cylinder 231 is located outside the second support plate 234 and is fixed to the bottom of the second support plate 234. The second pressing plate 232 is connected to the cylinder rod of the second pressing cylinder 231. The second pressing cylinder applies pressure to the first workpiece 6 located on the second gripper 21 through the second pressing plate 232, causing the first workpiece 6 to disengage from the second gripper 21.

[0260] The second pressing magnetic switch 233 is connected to the second pressing cylinder 231 and is used to detect the extension length of the cylinder rod of the second pressing cylinder 231; the second pressing connector 236 is connected to the second pressing cylinder 231 and is used to supply pressurized gas to the second pressing cylinder 231.

[0261] In a preferred embodiment, the first moving mechanism 3 includes: a first moving cylinder mechanism 31, a first fixing part 32, a first connecting part 33, and a first auxiliary part 34;

[0262] The first movable cylinder mechanism 31 is fixed to the support mechanism 5 by the first fixing part 32. The first connecting part 33 is located below the support mechanism 5. The first movable cylinder mechanism 31 passes through the first fixing part 32 and is connected to the first connecting part 33. The first connecting part 33 is connected to the first gripper 1.

[0263] The first auxiliary part 34 is connected to the first moving cylinder mechanism 31. The first auxiliary part 34 is used to detect the moving distance of the first moving cylinder mechanism 31 and to provide pressurized gas to the first moving cylinder mechanism 31.

[0264] In this example, the first moving cylinder mechanism 31 is used to move the first gripper 1 in the vertical direction.

[0265] The first fixed part 32 fixes and guides the first movable cylinder 311, ensuring the firmness of the first movable cylinder 311 fixed on the support mechanism 5 and the stability of the running direction of the first movable cylinder 311.

[0266] The first connecting part 33 enables the connection between the first movable cylinder 311 and the first gripper 1, thereby facilitating the replacement of the first gripper 1 and the first movable cylinder mechanism 31 and expanding the scope of application of this application.

[0267] The first auxiliary part 34 detects the moving distance of the first moving cylinder mechanism 31, providing a data basis for reliable control of the extension and retraction of the first moving cylinder mechanism 31.

[0268] Specifically, the first movable cylinder mechanism 31 includes: a first movable cylinder 311, a first nut 312, a first upper floating joint 313, and a first lower floating joint 314;

[0269] The first fixing part 32 includes: a first upper positioning bushing 321 and a first lower positioning bushing 322;

[0270] The first connecting part 33 includes: a first positioning sleeve 331 and a first moving cylinder positioning pin 332;

[0271] The first auxiliary part 34 includes: a first movable magnetic switch 341 and a first air pipe connector 342;

[0272] The first movable cylinder 311 is fixed above the first positioning bushing, and the first upper positioning bushing 321 is fixed on the support mechanism 5, so that the first movable cylinder 311 is located above the support mechanism 5; thus, the technical effect of fixing the first movable cylinder 311 on the support mechanism 5 is achieved, ensuring the fixing strength of the first movable cylinder 311 is guaranteed.

[0273] The first lower positioning bushing 322 is connected to the lower surface of the first lower positioning bushing 322. The first lower positioning bushing 322 is used to accommodate the first moving cylinder 311 rod, the first nut 312, the first upper floating joint 313, and the first lower floating joint 314 of the first moving cylinder 311. Therefore, it realizes the guidance and protection of the first moving cylinder 311 rod, the first nut 312, the first upper floating joint 313, and the first lower floating joint 314, and ensures the stability of the moving direction of the first moving cylinder mechanism 31.

[0274] The first nut 312 is connected to the first moving cylinder 311 rod of the first moving cylinder 311, and the first moving cylinder 311 rod is inserted into the first upper floating joint 313. The first moving cylinder 311 rod is screwed into the first upper floating joint 313 by the thread, and the first nut 312 achieves the technical effect of fixing the first moving cylinder 311 rod to the first upper floating joint 313, so as to avoid the first moving cylinder 311 rod from deflecting in the first upper floating joint 313 after long-term use and detaching from the first upper floating joint 313.

[0275] The bottom of the first upper floating joint 313 is connected to the first lower floating joint 314, the first positioning sleeve 331 is located below the first positioning bushing, and the first lower floating joint 314 is connected to the first positioning sleeve 331; therefore, the first moving cylinder 311 or the first gripper 1 can be replaced by disassembling the first lower floating joint 314, which improves the convenience of use and replacement.

[0276] The first movable cylinder positioning pin 332 passes through the first positioning sleeve 331 and the first gripper 1, fixing the first positioning sleeve 331 to the first mounting bracket 1127 of the first gripper 1; the positioning pin connects the first gripper 1 and the first positioning sleeve 331, improving installation efficiency.

[0277] The first movable magnetic switch 341 is connected to the first movable cylinder 311, and the first movable magnetic switch 341 is used to detect the extension distance of the first movable cylinder 311 rod of the first movable cylinder 311.

[0278] The first air pipe connector 342 is connected to the first movable cylinder 311, and the first air pipe connector 342 is used to provide pressurized gas to the first movable cylinder 311.

[0279] In this embodiment, the first movable magnetic switch 341 detects the moving distance of the piston of the first movable cylinder 311, typically through interaction with a magnet inside the first movable cylinder 311. The following is a basic description of the steps:

[0280] Magnet installation: First, install a magnet on the piston or piston of the first moving cylinder 311. This magnet will move as the piston moves.

[0281] Position of the first movable magnetic switch 341: The first movable magnetic switch 341 is installed outside the first movable cylinder 311, near the location where the magnet might pass. The position of the switch needs to be determined based on the working stroke of the first movable cylinder 311 and the required detection distance range.

[0282] Magnetic field induction: When the piston of the first moving cylinder 311 moves, the magnet also moves accordingly. When the magnet approaches the first moving magnetic switch 341, the metal plate or spring inside the switch will be displaced due to the influence of the magnetic field.

[0283] Signal output: The displacement of the first moving magnetic switch 341 changes its circuit state, thereby outputting a signal. This signal can be received and processed by the control system.

[0284] Distance detection: The control system can determine the moving distance of the piston of the first moving cylinder 311 by monitoring the signal changes output by the first moving magnetic switch 341. For example, multiple first moving magnetic switches 341 can be set at different positions, and the approximate position of the piston can be determined by detecting which switch is triggered. Alternatively, a continuously monitored first moving magnetic switch 341 can be used to estimate the piston's moving distance by monitoring changes in signal strength.

[0285] In a preferred embodiment, the second moving mechanism 4 includes: a second moving cylinder mechanism 41, a second fixing part 42, a second connecting part 43, and a second auxiliary part 44;

[0286] The second movable cylinder mechanism 41 is fixed to the support mechanism 5 by the second fixing part 42, the second connecting part 43 is located below the support mechanism 5, the second movable cylinder mechanism 41 passes through the second fixing part 42 and is connected to the second connecting part 43, and the second connecting part 43 is connected to the second gripper 2.

[0287] The second auxiliary part 44 is connected to the second moving cylinder mechanism 41. The second auxiliary part 44 is used to detect the moving distance of the second moving cylinder mechanism 41 and to provide pressurized gas to the second moving cylinder mechanism 41.

[0288] In this example, the second moving cylinder mechanism 41 is used to move the second gripper 2 in the vertical direction.

[0289] The second fixing part 42 fixes and guides the second moving cylinder 411, ensuring the firmness of the second moving cylinder 411 fixed on the support mechanism 5 and the stability of the running direction of the second moving cylinder 411.

[0290] The second connecting part 43 enables the connection between the second moving cylinder 411 and the second gripper 2, facilitating the replacement of the second gripper 2 and the second moving cylinder mechanism 41, thus expanding the scope of application of this application.

[0291] The second auxiliary unit 44 detects the moving distance of the second moving cylinder mechanism 41, providing a data basis for reliable control of the extension and retraction of the second moving cylinder mechanism 41.

[0292] Specifically, the second movable cylinder mechanism 41 includes: a second movable cylinder 411, a second nut 412, a second upper floating joint 413, and a second lower floating joint 414;

[0293] The second fixing part 42 includes: a second upper positioning bushing 421 and a second lower positioning bushing 422;

[0294] The second connecting part 43 includes: a second positioning sleeve 431 and a second moving cylinder positioning pin 432;

[0295] The second auxiliary part 44 includes: a second movable magnetic switch 441 and a second air pipe connector 442;

[0296] The second movable cylinder 411 is fixed above the second positioning bushing, and the second upper positioning bushing 421 is fixed on the support mechanism 5, so that the second movable cylinder 411 is located above the support mechanism 5; thus, the technical effect of fixing the second movable cylinder 411 on the support mechanism 5 is achieved, ensuring the fixing strength of the second movable cylinder 411 is guaranteed.

[0297] The second lower positioning bushing 422 is connected to the lower surface of the second lower positioning bushing 422. The second lower positioning bushing 422 is used to accommodate the second moving cylinder 411 rod, the second nut 412, the second upper floating joint 413, and the second lower floating joint 414 of the second moving cylinder 411. Therefore, it realizes the guidance and protection of the second moving cylinder 411 rod, the second nut 412, the second upper floating joint 413, and the second lower floating joint 414, and ensures the stability of the moving direction of the second moving cylinder mechanism 41.

[0298] The second nut 412 is connected to the rod of the second moving cylinder 411 of the second moving cylinder 411, which is inserted into the second upper floating joint 413. The rod of the second moving cylinder 411 is screwed into the second upper floating joint 413 by the thread, and the second nut 412 achieves the technical effect of fixing the rod of the second moving cylinder 411 to the second upper floating joint 413, so as to avoid the second moving cylinder 411 rod from deflecting in the second upper floating joint 413 after long-term use and detaching from the second upper floating joint 413.

[0299] The bottom of the second upper floating joint 413 is connected to the second lower floating joint 414, the second positioning sleeve 431 is located below the second positioning bushing, and the second lower floating joint 414 is connected to the second positioning sleeve 431; therefore, the second moving cylinder 411 or the second gripper 2 can be replaced by disassembling the second lower floating joint 414, which improves the convenience of use and replacement.

[0300] The second movable cylinder positioning pin 432 passes through the second positioning sleeve 431 and the second gripper 2, fixing the second positioning sleeve 431 to the second mounting bracket of the second gripper 2; the second gripper 2 and the second positioning sleeve 431 are connected by the positioning pin, which improves the installation efficiency.

[0301] The second movable magnetic switch 441 is connected to the second movable cylinder 411, and the second movable magnetic switch 441 is used to detect the extension distance of the second movable cylinder 411 rod of the second movable cylinder 411.

[0302] The second air pipe connector 442 is connected to the second movable cylinder 411, and the second air pipe connector 442 is used to provide pressurized gas to the second movable cylinder 411.

[0303] In this embodiment, the second movable magnetic switch 441 detects the moving distance of the piston of the second movable cylinder 411, typically through interaction with a magnet inside the second movable cylinder 411. The following is a basic description of the steps:

[0304] Magnet installation: First, install a magnet on the piston or piston of the second moving cylinder 411. This magnet will move as the piston moves.

[0305] Position of the second movable magnetic switch 441: The second movable magnetic switch 441 is installed outside the second movable cylinder 411, near the location where the magnet may pass. The position of the switch needs to be determined based on the working stroke of the second movable cylinder 411 and the required detection distance range.

[0306] Magnetic field induction: When the piston of the second moving cylinder 411 moves, the magnet also moves accordingly. When the magnet approaches the second moving magnetic switch 441, the metal plate or spring inside the switch will be displaced due to the influence of the magnetic field.

[0307] Signal output: The displacement of the second movable magnetic switch 441 changes its circuit state, thereby outputting a signal. This signal can be received and processed by the control system.

[0308] Distance detection: The control system can determine the moving distance of the piston of the second moving cylinder 411 by monitoring the signal changes output by the second moving magnetic switch 441. For example, multiple second moving magnetic switches 441 can be set at different positions, and the approximate position of the piston can be determined by detecting which switch is triggered. Alternatively, a continuously monitored second moving magnetic switch 441 can be used to estimate the piston's moving distance by monitoring changes in signal strength.

[0309] In a preferred embodiment, the support mechanism 5 includes: a connecting flange 51, a support structure 52, and a detection device 53;

[0310] The connecting flange 51 is connected to the robotic arm;

[0311] The connecting flange 51 is fixed to the support structure 52;

[0312] The detection device 53 is fixed on the support structure 52;

[0313] The detection device 53 is used to detect whether the second gripper 2 has the first workpiece 6.

[0314] Specifically, the support structure 52 includes: a vertical plate 521 and a bottom plate 522;

[0315] The upright plate 521 and the base plate 522 are perpendicular to each other, and one side of the base plate 522 is connected to one side surface of the upright plate 521.

[0316] The connecting flange 51 is connected to the other side surface of the vertical plate 521;

[0317] The first upper positioning bushing 321 of the first fixing part 32 of the first moving mechanism 3 is fixed on the base plate 522;

[0318] The first lower positioning bushing 322 of the first fixed part 32 of the first moving mechanism 3 is located below the base plate 522.

[0319] The support structure 52 further includes: at least one reinforcing plate 523 and at least one positioning block 524;

[0320] A first side of the reinforcing plate 523 is connected to one side surface of the upright plate 521 facing the base plate 522;

[0321] A second side of the reinforcing plate 523 is connected to the upper surface of the base plate 522;

[0322] The first side and the second side are perpendicular to each other.

[0323] The reinforcing plate 523 is used to improve the firmness of the vertical relationship between the upright plate 521 and the base plate 522, and to ensure the stability of the supporting structure 52.

[0324] At least one of the positioning blocks 524 is attached to the surface of the upright plate 521 facing the bottom plate 522.

[0325] The positioning block 524 is a component used to ensure that the workpiece or support mechanism 5 is processed in a fixed initial position. Its main function is to limit the movement boundaries of the workpiece and support mechanism 5, keeping the workpiece in a stable position, thereby achieving precise processing. The positioning block 524 determines the position of the workpiece through multiple points such as points, lines, and surfaces in contact with the workpiece, thus ensuring processing accuracy.

[0326] The detection device 53 includes: a sensor 531, a sensor bracket 532, a sensing bolt 533, and a sensing bracket 534;

[0327] The sensor 531 is used to detect whether the second gripper 2 has the first workpiece 6.

[0328] One end of the sensing bracket 532 is connected to the sensor 531, and the other end of the sensing bracket 532 is connected to the second mounting plate 2127 of the second gripper 2; wherein, the sensing bracket 532 is a U-shaped mechanism, and the sensing bracket 532 is located on the side of the second mounting plate 2127 away from the first gripper 1.

[0329] One end of the sensing bracket 534 is connected to the second mounting plate 2127, and the other end of the sensing bracket 534 is connected to the sensing bolt 533.

[0330] In this embodiment, the second mounting plate 2127 includes a second horizontal plate and a second vertical plate, the second moving cylinder 411 is fixed on the lower surface of the second horizontal plate, the second slider 2125 is fixed on the upper surface of the second horizontal plate, and the sensing bracket 532 is connected to the second vertical plate.

[0331] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0332] Other embodiments of the present application will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. The embodiments of this application are intended to cover any variations, uses, or adaptations of the embodiments of this application that follow the general principles of the embodiments of this application and include common knowledge or customary techniques in the art not disclosed in the embodiments of this application. The specification and embodiments are to be considered exemplary only, and the true scope and spirit of the embodiments of this application are indicated by the following claims.

[0333] It should be understood that the embodiments of this application are not limited to the precise structures described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from their scope. The scope of the embodiments of this application is limited only by the appended claims.

Claims

1. A multi-workpiece assembly gripper, characterized in that, Used to assemble at least one first workpiece, at least one second workpiece, and one third workpiece; The multi-workpiece assembly gripper includes: a first gripper, a second gripper, at least one first moving mechanism, at least one second moving mechanism, and a support mechanism; The first gripper is used to grip at least one first workpiece and at least one second workpiece; The second gripper is used to grip at least one of the first workpieces; The first gripper and the second gripper are arranged sequentially in the horizontal direction; At least one of the first moving mechanisms is connected to the first gripper, and at least one of the first moving mechanisms is used to control the position of the first gripper in the vertical direction; At least one of the second moving mechanisms is connected to the second gripper, and the at least one of the second moving mechanisms is used to control the position of the second gripper in the vertical direction; The support mechanism is connected to at least one first moving mechanism and at least one second moving mechanism, and the support mechanism is used to support the first gripper, the second gripper, at least one first moving mechanism and at least one second moving mechanism; The support mechanism is also connected to a robotic arm, which is used to move at least one first workpiece and at least one second workpiece on the support mechanism to the third workpiece, and then cause the first gripper and the second gripper to release the first workpiece and the second workpiece. The first gripper includes: a first gripper and M gripping positioning pins; The first gripper is used to grip at least one of the first workpiece and at least one of the second workpiece; The first gripper has at least one first finger, N gripping positioning pins are connected to one of the first fingers, and M gripping positioning pins are used to position at least one first workpiece and at least one second workpiece, so that at least one first workpiece and at least one second workpiece are fixed to each other; Where M is a natural number greater than 2, N is a natural number greater than 1, and M is greater than N.

2. The multi-workpiece assembly gripper according to claim 1, characterized in that, The first gripper includes: a first connecting mechanism, a first gripping cylinder, and at least one first finger; The top end of the first connecting mechanism is connected to the bottom end of the supporting mechanism, and the bottom end of the first connecting mechanism is connected to the first gripping cylinder. At least one of the first fingers is connected to the first grasping cylinder; The first gripping cylinder provides the power to move at least one of the first fingers, so that the first gripper grips at least one of the first workpieces and at least one of the second workpieces, or releases at least one of the first workpieces and at least one of the second workpieces.

3. The multi-workpiece assembly gripper according to claim 2, characterized in that, The first gripper also includes: a first opening and closing magnetic switch; The first opening and closing magnetic switch is connected to the first grasping cylinder, and the first opening and closing magnetic switch is used to detect the opening and closing state of at least one of the first fingers on the first grasping cylinder.

4. The multi-workpiece assembly gripper according to claim 1, characterized in that, The second gripper includes: a second jaw and P clamping blocks; The second gripper is used to grip at least one of the first workpieces; The second gripper has at least one second finger, Q clamping blocks are connected to one of the second fingers, and P clamping blocks are used to provide frictional force to at least one of the first workpieces; Where P is a natural number greater than 2, Q is a natural number greater than 1, and P is greater than Q.

5. The multi-workpiece assembly gripper according to claim 4, characterized in that, The second gripper includes: a second connecting mechanism, a second gripping cylinder, and at least one second finger; The top end of the second connecting mechanism is connected to the bottom end of the supporting mechanism, and the bottom end of the second connecting mechanism is connected to the second gripping cylinder. At least one of the second fingers is connected to the second grasping cylinder; The second gripping cylinder provides the power to move at least one of the second fingers, causing the second gripper to grip at least one of the first workpieces, or release at least one of the first workpieces.

6. The multi-workpiece assembly gripper according to claim 5, characterized in that, The second gripper further includes: at least one second opening / closing proximity switch; at least one second opening / closing proximity switch is respectively fixed on the support mechanism; Each of the second opening and closing proximity switches corresponds to each of the second fingers; each of the second opening and closing proximity switches is used to detect the position of the corresponding second finger.

7. The multi-workpiece assembly gripper according to claim 1, characterized in that, The first moving mechanism includes: a first moving cylinder mechanism, a first fixing part, a first connecting part, and a first auxiliary part; The first movable cylinder mechanism is fixed to the support mechanism by the first fixing part, the first connecting part is located below the support mechanism, the first movable cylinder mechanism passes through the first fixing part and is connected to the first connecting part, and the first connecting part is connected to the first gripper. The first auxiliary unit is connected to the first movable cylinder mechanism. The first auxiliary unit is used to detect the moving distance of the first movable cylinder mechanism and to provide pressurized gas to the first movable cylinder mechanism.

8. The multi-workpiece assembly gripper according to claim 1, characterized in that, The second moving mechanism includes: a second moving cylinder mechanism, a second fixing part, a second connecting part, and a second auxiliary part; The second movable cylinder mechanism is fixed to the support mechanism by the second fixing part, the second connecting part is located below the support mechanism, the second movable cylinder mechanism passes through the second fixing part and connects to the second connecting part, and the second connecting part is connected to the second gripper; The second auxiliary unit is connected to the second movable cylinder mechanism. The second auxiliary unit is used to detect the moving distance of the second movable cylinder mechanism and to provide pressurized gas to the second movable cylinder mechanism.

9. The multi-workpiece assembly gripper according to claim 1, characterized in that, The support mechanism includes: a connecting flange, a support structure, and a detection device; The connecting flange is connected to the robotic arm; The connecting flange is fixed to the supporting structure; The detection device is fixed to the support structure; The detection device is used to detect whether the second gripper has the first workpiece.

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