Clamp for loading and unloading robot and loading and unloading robot

Abstract

The invention provides a clamp for a loading and unloading robot and the loading and unloading robot. The clamp comprises a clamp body, and the clamp body is provided with a first mounting base and a second mounting base which are sequentially arranged; the first suction cup array is arranged on the first mounting seat; the second suction cup array is arranged on the second mounting base and hinged to the second mounting base; and the first driving motor module is used for driving the second suction cup array to rotate, so that the second suction cup array can be in a state perpendicular to the first suction cup array or in a state in which the second suction cup array and the first suction cup array are in the same plane. The second suction cup array can be driven by the first driving motor module to rotate, so that the second suction cup array can be in the state perpendicular to the first suction cup array or in the state in the same plane with the first suction cup array, and one side face or two side faces of a target box body are grabbed; the application scene and the application range of the clamp can be expanded, and box grabbing in limited spaces such as the container can be achieved.

Description

Technical Field

[0001] The present invention relates to an industrial robot, and in particular to a clamp for loading and unloading a robot and the loading and unloading robot. Background Art

[0002] An industrial robot is an intelligent device equipped with sensors, objective lenses and electronic optical systems that can quickly sort and move goods.

[0003] More and more visual sensors and force sensors will be used in industrial robots, and industrial robots will become more and more intelligent. With the advancement of sensing and recognition systems, artificial intelligence and other technologies, robots are moving from being controlled in one direction to storing and applying data by themselves, and are gradually becoming information-based.

[0004] When an industrial robot is used to sort and carry goods, it is necessary to collect images of the goods through visual sensors, identify the images of the goods to determine their posture, and then the industrial robot picks or carries the goods through the loaded clamps or suction cups. When an industrial robot is used to disassemble goods in a cargo box, due to the limitation of the grabbing direction of the goods, the clamps used in picking scenarios such as palletizing and depalletizing are not only limited in their grabbing range when applied to this scenario, but are also prone to wear and damage. Summary of the invention

[0005] In view of the defects in the prior art, an object of the present invention is to provide a clamp for a loading and unloading robot and a loading and unloading robot.

[0006] A fixture for loading and unloading a robot provided by the present invention comprises:

[0007] A fixture body, on which a first mounting seat and a second mounting seat arranged in sequence are disposed;

[0008] a first suction cup array, wherein the first suction cup array is disposed on a first mounting base;

[0009] a second suction cup array, the second suction cup array being disposed on a second mounting base and being hinged to the second mounting base;

[0010] The first driving motor module is used to drive the second suction cup array to rotate, so that the second suction cup array can be in a state perpendicular to the first suction cup array or in a state in the same plane as the first suction cup array.

[0011] Preferably, the second mounting seat comprises a first support, a second support, a rotating shaft, a driven wheel and a driving wheel;

[0012] The first support and the second support are arranged on the fixture body;

[0013] The rotating shaft is connected to the first support via a first bearing, and is connected to the second support via a second bearing;

[0014] A driven wheel is arranged on the rotating shaft, a driving wheel is arranged on the output shaft of the first driving motor module, and the driving wheel is connected to the driven wheel via a driving belt.

[0015] Preferably, the first mounting seat includes a first fixing seat, a second fixing seat, a first slide rail and a second slide rail;

[0016] The first fixing seat and the second fixing seat are arranged on the clamp body;

[0017] The first fixed seat is provided with a first slide rail, the first slide rail can slide along the first fixed seat, and the second fixed seat is provided with a second slide rail, the second slide rail can slide along the second fixed seat;

[0018] The first suction cup array is fixedly connected to the first slide rail via a first connecting piece, and is fixedly connected to the second slide rail via a second connecting piece.

[0019] Preferably, it further comprises a first suction cup limiting device; the first suction cup limiting device comprises: a motor module, a latch plate, a third slide rail and a latch seat;

[0020] The motor module comprises a workbench capable of reciprocating along a straight line, and one end of the latch piece is fixedly connected to the workbench;

[0021] The third slide rail is arranged on the fixture body, and the latch piece is connected to the third slide rail via a slider;

[0022] The latch seat is arranged on the rear side of the second suction cup array;

[0023] When the second suction cup array is in a state of being in the same plane as the first suction cup array, the latch plate moves to cooperate with the latch seat to limit the rotation of the second suction cup array.

[0024] Preferably, the fixture body comprises: a first mounting plate and a second mounting plate;

[0025] The first mounting plate is connected to the second mounting plate, and a mounting space is formed between the first mounting plate and the second mounting plate;

[0026] The first drive motor module is arranged in the installation space;

[0027] The second mounting seat, the motor module and the third slide rail are arranged on the front side of the first mounting plate.

[0028] Preferably, it further comprises a second suction cup limiting device, wherein the second suction cup limiting device comprises a second motor driving module and a first supporting screw.

[0029] The output shaft of the second motor driving module is connected to the inner side of the first mounting plate or the second mounting plate through a first bearing and a second bearing; the output shaft of the second motor driving module is provided with a first driving gear;

[0030] The first mounting plate is provided with a screw rod passing hole; the first supporting screw rod is arranged in the screw rod passing hole and meshes with the first driving gear;

[0031] The second motor driving module is used to drive the first supporting screw to extend to support the second suction cup array when the second suction cup array is able to be perpendicular to the first suction cup array.

[0032] Preferably, the second suction cup array is connected to one end of the rotating shaft through a first rotating shaft fixing member, and is connected to the other end of the rotating shaft through a second rotating shaft fixing member.

[0033] Preferably, the shaft fixing member comprises a shaft connecting member and a suction cup connecting piece; the shaft connecting member is arranged on one side surface of the suction cup connecting piece, and the other side surface of the suction cup connecting piece is connected to the second suction cup array;

[0034] A first limiting plate is arranged on the lower side of the first rotating shaft fixing member, and a second limiting plate is arranged on the lower side of the second rotating shaft fixing member; when the second suction cup array is perpendicular to the first suction cup array, the suction cup connecting plate on the first rotating shaft fixing member is stuck on the first limiting plate, and the suction cup connecting plate on the second rotating shaft fixing member is stuck on the second limiting plate.

[0035] Preferably, it further comprises a second suction cup limiting device, wherein the second suction cup limiting device comprises a second motor driving module, a first supporting screw and a second supporting screw;

[0036] The output shaft of the second motor driving module is connected to the inner side of the first mounting plate or the second mounting plate through a first bearing and a second bearing; the output shaft of the second motor driving module is provided with a first driving gear and a second driving gear in sequence;

[0037] A first screw hole is provided on one side end of the first mounting plate, and a second screw hole is provided on the other side end; the first support screw is provided in the first screw hole and meshes with the first driving gear, and the second support screw is provided in the second screw hole and meshes with the second driving gear;

[0038] The second motor driving module is used to drive the first supporting screw and the second supporting screw to extend to support the second suction cup array when the second suction cup array is able to be perpendicular to the first suction cup array.

[0039] The loading and unloading robot provided by the present invention comprises the clamp for loading and unloading the robot, and also comprises a mechanical arm and a mobile base;

[0040] The fixture for loading and unloading the robot is arranged at the end of the robot arm;

[0041] The mechanical arm is arranged on the mobile base, and the mobile base is used for driving the mechanical arm to move.

[0042] Compared with the prior art, the present invention has the following beneficial effects:

[0043] In the present invention, a first mounting seat and a second mounting seat arranged in sequence are provided on the clamp body, a first suction cup array is provided on the first mounting seat, and a second suction cup array is provided on the second mounting seat and is hinged to the second mounting seat, so that the second suction cup array can rotate under the drive of the first driving motor module, so that the second suction cup array can be in a state perpendicular to the first suction cup array or in a state in the same plane as the first suction cup array, so as to realize the grasping of one side or two sides of the target box, which can not only expand the application scenarios and use scope of the clamp, but also realize the grasping of boxes in confined spaces such as containers. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following will briefly introduce the drawings required for use in the embodiments or the prior art descriptions. Obviously, the drawings in the following descriptions are only embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without creative work. By reading the detailed description of the non-limiting embodiments with reference to the following drawings, other features, purposes and advantages of the present invention will become more obvious:

[0045] Figure 1 A schematic diagram of a state of a clamp used for loading and unloading a robot in an embodiment of the present invention;

[0046] Figure 2 Schematic diagram of another state of a clamp for loading and unloading a robot in an embodiment of the present invention;

[0047] Figure 3 It is a schematic diagram of a state in which a clamp for a loading and unloading machine clamps a target box in an embodiment of the present invention;

[0048] Figure 4It is a schematic diagram of another state in which a clamp for a loading and unloading machine clamps a target box in an embodiment of the present invention;

[0049] Figure 5 A schematic diagram showing the structure of a first suction cup limiting device in an embodiment of the present invention is shown;

[0050] Figure 6 A schematic diagram showing the structure of a mounting base in an embodiment of the present invention is shown;

[0051] Figure 7 A schematic diagram showing the structure of the second suction cup limiting device in an embodiment of the present invention is shown;

[0052] Figure 8 A schematic diagram showing the structure of the second suction cup limiting device in a modified example of the present invention is shown;

[0053] Fig. 9 A schematic diagram showing the working state of the second suction cup limiting device in a modified example of the present invention;

[0054] Fig.10 Schematic diagram of the structure of the loading and unloading robot in an embodiment of the present invention.

[0055] In the figure:

[0056] 1 is the fixture body; 2 is the first suction cup array; 3 is the second suction cup array; 4 is the first drive motor module; 5 is the first mounting seat; 501 is the first fixed seat; 502 is the second fixed seat; 503 is the first slide rail; 504 is the second slide rail; 6 is the second mounting seat; 601 is the first support; 602 is the second support; 603 is the rotating shaft; 604 is the driven wheel; 605 is the driving wheel; 606 is the rotating shaft fixing piece; 607 is the first limiting piece ; 701 is the motor module; 702 is the latch plate; 703 is the third slide rail; 704 is the latch seat; 705 is the slider; 801 is the second motor drive module; 802 is the first drive gear; 803 is the first support screw; 804 is the second drive gear; 805 is the second support screw; 901 is the first mounting plate; 902 is the second mounting plate; 100 is a fixture for loading and unloading the robot; 200 is a robotic arm; 300 is a mobile base. DETAILED DESCRIPTION

[0057] The present invention is described in detail below in conjunction with specific embodiments. The following embodiments will help those skilled in the art to further understand the present invention, but are not intended to limit the present invention in any form. It should be noted that, for those of ordinary skill in the art, several variations and improvements may be made without departing from the concept of the present invention. These all belong to the protection scope of the present invention.

[0058] The terms "first", "second", "third", "fourth", etc. (if any) in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein, for example, can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0059] The technical solution of the present invention is described in detail with specific embodiments below. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described in detail in some embodiments.

[0060] The following specific embodiments are used to describe in detail the technical solutions of the present invention and how the technical solutions of the present application solve the above-mentioned technical problems. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of the present invention will be described below in conjunction with the accompanying drawings.

[0061] Figure 1 FIG. 1 is a schematic diagram of a state of a clamp for loading and unloading a robot in an embodiment of the present invention, such as Figure 1 As shown, the clamp for loading and unloading a robot provided by the present invention comprises:

[0062] A fixture body 1, on which a first mounting seat 5 and a second mounting seat 6 are arranged in sequence;

[0063] A first suction cup array 2, wherein the first suction cup array 2 is arranged on a first mounting seat 5;

[0064] A second suction cup array 3, the second suction cup array 3 is arranged on a second mounting seat 6 and is hinged to the second mounting seat 6;

[0065] The first driving motor module 4 is used to drive the second suction cup array 3 to rotate, so that the second suction cup array 3 can be in a state of being perpendicular to the first suction cup array 2 or in a state of being in the same plane with the first suction cup array 2.

[0066] In an embodiment of the present invention, the first suction cup array 2 and the second suction cup array 3 include suction cups arranged in a matrix. The first suction cup array 2 is provided with an 8×2 suction cup array, and the second suction cup array 3 is provided with an 8×3 suction cup array. The first suction cup array 2 can also be provided with a 6×3 suction cup array, and the second suction cup array 3 can be provided with a 6×2 suction cup array, that is, the number of suction cups on the first suction cup array 2 and the second suction cup array 3 can be changed according to the demand for grasping the target box.

[0067] In the embodiment of the present invention, the first suction cup array 2 and the second suction cup array 3 generate vacuum through a vacuum pump installed on the back plate.

[0068] Figure 2 FIG. 1 is another schematic diagram of a clamp for loading and unloading a robot in an embodiment of the present invention. Figure 1 As shown, the second suction cup array 3 and the first suction cup array 2 are in the same plane. At this time, the first suction cup array 2 and the second suction cup array 3 cooperate to achieve the grabbing of the target box. The cooperation between the first suction cup array 2 and the second suction cup array 3 can not only increase the upper limit of the weight of the grabbing target box, but also reduce the weight that each suction cup can bear, thereby increasing the service life of the suction cup.

[0069] like Figure 2 As shown, when the second suction cup array 3 is in a vertical position with respect to the first suction cup array 2, at this time, the first suction cup array 2 and the second suction cup array 3 cooperate to grab the side surfaces of one edge of the target box, so that not only the target box at the bottom layer of the box stack can be grabbed, and the second suction cup array 3 applies suction to the target box, but also the target box at the top layer of the box stack in the container can be grabbed, and the second suction cup array 3 applies suction to the target box and supports the target box at the same time.

[0070] Figure 3 FIG. 1 is a schematic diagram of a state in which a clamp for a loading and unloading robot clamps a target box in an embodiment of the present invention. Figure 3 As shown, it can be seen that the first suction cup array 2 and the second suction cup array 3 provided by the present invention are L-shaped, and cooperate to simultaneously grasp two adjacent side surfaces of the target box.

[0071] Figure 5 The schematic diagram of the structure of the first suction cup limiting device in the embodiment of the present invention is shown as follows: Figure 5 As shown, the clamp for loading and unloading a robot provided by the present invention further includes a first suction cup limiting device; the first suction cup limiting device includes: a motor module 701, a latch plate 702, a third slide rail 703 and a latch seat 704;

[0072] The motor module 701 includes a workbench capable of reciprocating along a straight line, and one end of the latch piece 702 is fixedly connected to the workbench;

[0073] The third slide rail 703 is arranged on the fixture body 1, and the latch piece 702 is connected to the third slide rail 703 via a slider 705;

[0074] The latch seat 704 is arranged on the rear side of the second suction cup array 3;

[0075] When the second suction cup array 3 is in a state of being in the same plane as the first suction cup array 2 , the latch piece 702 moves to cooperate with the latch seat 704 to limit the rotation of the second suction cup array 3 .

[0076] In the embodiment of the present invention, the motor module 701 adopts a direct motor module, and drives the workbench to reciprocate along a straight line through a ball screw. The latch piece 702 is T-shaped, and the latch piece 702 includes a vertical section and a horizontal section perpendicularly connected to the vertical section. The end of the horizontal section is connected to the workbench, and the vertical section is connected to the third slide rail 703 through a slider 705.

[0077] Figure 6 The schematic diagram of the structure of the mounting base in the embodiment of the present invention is shown as follows: Figure 6 As shown, the second mounting seat 6 includes a first support 601, a second support 602, a rotating shaft 603, a driven wheel 604 and a driving wheel 605;

[0078] The first support 601 and the second support 602 are arranged on the fixture body 1;

[0079] The rotating shaft 603 is connected to the first support 601 through a first bearing, and is connected to the second support 602 through a second bearing;

[0080] A driven wheel 604 is disposed on the rotating shaft 603 , a driving wheel 605 is disposed on the output shaft of the first driving motor module 4 , and the driving wheel 605 is connected to the driven wheel 604 via a driving belt.

[0081] In the embodiment of the present invention, the first support 601 and the second support 602 are arranged in parallel, and the first suction cup limiting device is arranged between the first support 601 and the second support 602;

[0082] When the driving wheel 605 and the driven wheel 604 are connected by a driving belt, the driving belt passes through the window of the first mounting plate 901 to connect the driving wheel 605 and the driven wheel 604 .

[0083] In the embodiment of the present invention, the first mounting seat 5 includes a first fixing seat 501, a second fixing seat 502, a first slide rail 503 and a second slide rail 504;

[0084] The first fixing seat 501 and the second fixing seat 502 are arranged on the clamp body 1;

[0085] The first fixed seat 501 is provided with a first slide rail 503, and the first slide rail 503 can slide along the first fixed seat 501; the second fixed seat 502 is provided with a second slide rail 504, and the second slide rail 504 can slide along the second fixed seat 502;

[0086] The first suction cup array 2 is fixedly connected to the first slide rail 503 via a first connecting piece, and is fixedly connected to the second slide rail 504 via a second connecting piece.

[0087] More specifically, the first fixing seat 501 is parallel to the second fixing seat 502, and the first slide rail 503 is parallel to the second slide rail 504. The first fixing seat 501 and the second fixing seat 502 are arranged on the front side of the first mounting plate 901.

[0088] In the embodiment of the present invention, the fixture body 1 includes: a first mounting plate 901 and a second mounting plate 902;

[0089] The first mounting plate 901 is connected to the second mounting plate 902, and a mounting space is formed between the first mounting plate 901 and the second mounting plate 902;

[0090] The first drive motor module 4 is arranged in the installation space;

[0091] The second mounting seat 6 , the motor module 701 and the third slide rail 703 are arranged on the front side of the first mounting plate 901 .

[0092] The first mounting plate 901 and the second mounting plate 902 are arranged in parallel, the first mounting plate 901 is arranged on the front side of the second mounting plate 902, and the second mounting plate 902 is used to connect the end of the robot arm.

[0093] Figure 7 The schematic diagram of the structure of the second suction cup limiting device in the embodiment of the present invention is shown as follows: Figure 7 As shown, the clamp for loading and unloading a robot provided by the present invention further includes a second suction cup limiting device, wherein the second suction cup limiting device includes a second motor driving module 801 and a first supporting screw 803.

[0094] The output shaft of the second motor driving module 801 is connected to the inner side of the first mounting plate 901 or the second mounting plate 902 through a first bearing and a second bearing; a first driving gear 802 is provided on the output shaft of the second motor driving module 801;

[0095] The first mounting plate 901 is provided with a screw hole; the first supporting screw 803 is disposed in the screw hole and meshes with the first driving gear 802;

[0096] The second motor driving module 801 is used for driving the first supporting screw 803 to extend to support the second suction cup array 3 when the second suction cup array 3 is able to be perpendicular to the first suction cup array 2.

[0097] When the second suction cup array 3 lifts the target box, Figure 4 As shown, the second suction cup array 3 is subjected to downward pressure, and at this time the second suction cup array 3 supports the target box, as shown in FIG. Figure 3 As shown, the second suction cup array 3 is prevented from rotating around the rotation axis 603 due to pressure.

[0098] In the embodiment of the present invention, the second suction cup array 3 is connected to one end of the rotating shaft 603 through a first rotating shaft fixing member 606 , and is connected to the other end of the rotating shaft 603 through a second rotating shaft fixing member.

[0099] The rotating shaft fixing member 606 includes a rotating shaft connecting member and a suction cup connecting piece; the rotating shaft connecting member is arranged on one side surface of the suction cup connecting piece, and the other side surface of the suction cup connecting piece is connected to the second suction cup array 3;

[0100] A first limiting plate 607 is provided on the lower side of the first rotating shaft fixing member 606, and a second limiting plate is provided on the lower side of the second rotating shaft fixing member; when the second suction cup array 3 is in a vertical position with respect to the first suction cup array 2, the suction cup connecting plate on the first rotating shaft fixing member 606 is stuck on the first limiting plate 607, and the suction cup connecting plate on the second rotating shaft fixing member is stuck on the second limiting plate.

[0101] In the embodiment of the present invention, the first limiting piece 607 is fixed on the first support 601, the second limiting piece is fixed on the second support 602, and the first limiting piece 607 and the second limiting piece are fixed in the same plane;

[0102] When the second suction cup array 3 supports the target box, Figure 3As shown, when the suction cup connecting piece on the first rotating shaft fixing member 606 is stuck on the first limiting piece 607 and the suction cup connecting piece on the second rotating shaft fixing member is stuck on the second limiting piece, the second suction cup array 3 cannot continue to rotate around the rotating shaft 603, thereby limiting the second suction cup array 3 and preventing the target box from applying a pulling force to the second suction cup array 3 after the target box is sucked, causing the second suction cup array 3 to rotate downward.

[0103] Figure 8 The schematic diagram of the structure of the second suction cup limiting device in the modified example of the present invention is shown. Fig. 9 The schematic diagram of the working state of the second suction cup limiting device in the modified example of the present invention is shown as follows: Figure 8 , Fig. 9 As shown, the clamp for loading and unloading a robot provided by the present invention further includes a second suction cup limiting device, and the second suction cup limiting device includes a second motor drive module 801, a first support screw 803 and a second support screw 805;

[0104] The output shaft of the second motor driving module 801 is connected to the inner side of the first mounting plate 901 or the second mounting plate 902 through the first bearing and the second bearing; the output shaft of the second motor driving module 801 is sequentially provided with a first driving gear 802 and a second driving gear 804;

[0105] A first screw hole is provided on one side end of the first mounting plate 901, and a second screw hole is provided on the other side end; the first support screw 803 is provided in the first screw hole and meshes with the first driving gear 802, and the second support screw 805 is provided in the second screw hole and meshes with the second driving gear 804;

[0106] The second motor driving module 801 is used to drive the first supporting screw 803 and the second supporting screw 805 to extend to support the second suction cup array 3 when the second suction cup array 3 is able to be perpendicular to the first suction cup array 2 .

[0107] In a variation of the present invention, the first support screw 803 and the second support screw 805 are parallel to each other, the first driving gear 802 is close to one side end of the first mounting plate 901 , and the second driving gear 804 is close to the other side end of the first mounting plate 901 .

[0108] The second mounting plate 902 is provided with a through hole for the first supporting screw 803 and / or the second supporting screw 805 to move.

[0109] Fig.10 FIG. 1 is a schematic diagram of the structure of a loading and unloading robot in an embodiment of the present invention. Fig.10 As shown, the loading and unloading robot provided by the present invention includes the fixture 100 for loading and unloading the robot, and also includes a mechanical arm 200 and a mobile base 300;

[0110] The fixture 100 for loading and unloading the robot is arranged at the end of the robot arm 200;

[0111] The mechanical arm 200 is disposed on the mobile base 300 , and the mobile base 300 is used to drive the mechanical arm to move.

[0112] In the present invention, a first mounting seat and a second mounting seat arranged in sequence are provided on the clamp body, a first suction cup array is provided on the first mounting seat, and a second suction cup array is provided on the second mounting seat and is hinged to the second mounting seat, so that the second suction cup array can rotate under the drive of the first driving motor module, so that the second suction cup array can be in a state perpendicular to the first suction cup array or in a state in the same plane as the first suction cup array, so as to realize the grasping of one side or two sides of the target box, which can not only expand the application scenarios and use scope of the clamp, but also realize the grasping of boxes in confined spaces such as containers.

[0113] In this specification, each embodiment is described in a progressive manner, and each embodiment focuses on the differences from other embodiments, and the same and similar parts between the embodiments can be referred to each other. The above description of the disclosed embodiments enables professionals and technicians in this field to implement or use the present invention. Various modifications to these embodiments will be obvious to professionals and technicians in this field, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to these embodiments shown in this article, but will comply with the widest range consistent with the principles and novel features disclosed herein.

[0114] The above describes the specific embodiments of the present invention. It should be understood that the present invention is not limited to the above specific embodiments, and those skilled in the art may make various modifications or variations within the scope of the claims, which do not affect the essence of the present invention.

Claims

1. A fixture for loading and unloading a robot, characterized in that: include: A fixture body, on which a first mounting seat and a second mounting seat arranged in sequence are disposed; a first suction cup array, wherein the first suction cup array is disposed on a first mounting base; a second suction cup array, the second suction cup array being disposed on a second mounting base and being hinged to the second mounting base; The first driving motor module is used to drive the second suction cup array to rotate, so that the second suction cup array can be in a state perpendicular to the first suction cup array or in a state in the same plane as the first suction cup array.

2. The fixture for loading and unloading a robot according to claim 1, characterized in that: The second mounting base includes a first support, a second support, a rotating shaft, a driven wheel and a driving wheel; The first support and the second support are arranged on the fixture body; The rotating shaft is connected to the first support via a first bearing, and is connected to the second support via a second bearing; A driven wheel is arranged on the rotating shaft, a driving wheel is arranged on the output shaft of the first driving motor module, and the driving wheel is connected to the driven wheel via a driving belt.

3. The fixture for loading and unloading a robot according to claim 1, characterized in that: The first mounting seat includes a first fixing seat, a second fixing seat, a first slide rail and a second slide rail; The first fixing seat and the second fixing seat are arranged on the clamp body; The first fixed seat is provided with a first slide rail, the first slide rail can slide along the first fixed seat, and the second fixed seat is provided with a second slide rail, the second slide rail can slide along the second fixed seat; The first suction cup array is fixedly connected to the first slide rail via a first connecting piece, and is fixedly connected to the second slide rail via a second connecting piece.

4. The fixture for loading and unloading a robot according to claim 1, characterized in that: It also includes a first suction cup limiting device; the first suction cup limiting device includes: a motor module, a latch plate, a third slide rail and a latch seat; The motor module comprises a workbench capable of reciprocating along a straight line, and one end of the latch piece is fixedly connected to the workbench; The third slide rail is arranged on the fixture body, and the latch piece is connected to the third slide rail via a slider; The latch seat is arranged on the rear side of the second suction cup array; When the second suction cup array is in a state of being in the same plane as the first suction cup array, the latch plate moves to cooperate with the latch seat to limit the rotation of the second suction cup array.

5. The clamp for loading and unloading a robot according to claim 4, characterized in that: The fixture body includes: a first mounting plate and a second mounting plate; The first mounting plate is connected to the second mounting plate, and a mounting space is formed between the first mounting plate and the second mounting plate; The first drive motor module is arranged in the installation space; The second mounting seat, the motor module and the third slide rail are arranged on the front side of the first mounting plate.

6. The fixture for loading and unloading a robot according to claim 5, characterized in that: It also includes a second suction cup limiting device, wherein the second suction cup limiting device includes a second motor drive module and a first support screw, The output shaft of the second motor driving module is connected to the inner side of the first mounting plate or the second mounting plate through a first bearing and a second bearing; the output shaft of the second motor driving module is provided with a first driving gear; The first mounting plate is provided with a screw rod passing hole; the first supporting screw rod is arranged in the screw rod passing hole and meshes with the first driving gear; The second motor driving module is used to drive the first supporting screw to extend to support the second suction cup array when the second suction cup array is able to be perpendicular to the first suction cup array.

7. The fixture for loading and unloading a robot according to claim 6, characterized in that: The second suction cup array is connected to one end of the rotating shaft through a first rotating shaft fixing member, and is connected to the other end of the rotating shaft through a second rotating shaft fixing member.

8. The fixture for loading and unloading a robot according to claim 7, characterized in that: The rotating shaft fixing member includes a rotating shaft connecting member and a suction cup connecting piece; the rotating shaft connecting member is arranged on one side surface of the suction cup connecting piece, and the other side surface of the suction cup connecting piece is connected to the second suction cup array; A first limiting piece is disposed on the lower side of the first rotating shaft fixing piece, and a second limiting piece is disposed on the lower side of the second rotating shaft fixing piece; When the second suction cup array is perpendicular to the first suction cup array, the suction cup connecting piece on the first rotating shaft fixing piece is stuck on the first limiting piece, and the suction cup connecting piece on the second rotating shaft fixing piece is stuck on the second limiting piece.

9. The fixture for loading and unloading a robot according to claim 5, characterized in that: Also included is a second suction cup limiting device, the second suction cup limiting device comprising a second motor drive module, a first support screw and a second support screw; The output shaft of the second motor drive module is connected to the inner side surface of the first mounting plate or the second mounting plate through a first bearing and a second bearing; A first driving gear and a second driving gear are sequentially arranged on the output shaft of the second motor driving module; A first screw hole is provided on one side end of the first mounting plate, and a second screw hole is provided on the other side end; the first support screw is provided in the first screw hole and meshes with the first driving gear, and the second support screw is provided in the second screw hole and meshes with the second driving gear; The second motor driving module is used to drive the first supporting screw and the second supporting screw to extend to support the second suction cup array when the second suction cup array is able to be perpendicular to the first suction cup array.

10. A loading and unloading robot, characterized in that: A fixture for loading and unloading a robot according to any one of claims 1 to 9, further comprising a mechanical arm and a mobile base; The fixture for loading and unloading the robot is arranged at the end of the robot arm; The mechanical arm is arranged on the mobile base, and the mobile base is used for driving the mechanical arm to move.

Images