Clamp and carrying system

Abstract

The invention relates to the technical field of carrying systems, and discloses a clamp and a carrying system.The clamp comprises a connecting base, a suction structure and a clamping structure; the connecting base is used for being connected to a robot. A suction station and a clamping station are arranged on the connecting seat at an interval; the suction structure is connected to the suction station; the clamping structure is connected to the clamping station and comprises at least three clamping jaws, and the at least three clamping jaws are distributed in the circumferential direction of the clamping station at intervals. According to the clamp provided by the invention, a part with an eccentric problem can be clamped and fixed through the suction structure, a part with residual scraps such as scrap iron on the surface after machining can also be clamped and fixed through the clamping structure, the application range is wide, the grabbing difficulty of the clamp is reduced, and the grabbing accuracy of the clamp is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of handling systems, and in particular to a clamp and a handling system. Background Art

[0002] With the development of intelligent manufacturing companies and the diversification of product types, manual loading and unloading methods can no longer meet the company's production efficiency requirements. Some companies have transformed their current production lines through automation upgrades, using robots instead of manual labor to perform loading and unloading operations, reducing costs while also reducing safety risks.

[0003] However, for some disc-like parts, the incoming materials may be eccentric due to being non-round, or there may be residual iron filings after processing. The above problems will increase the robot's grasping difficulty and reduce grasping accuracy. Summary of the invention

[0004] In view of this, the present invention provides a clamp and a handling system to solve the problem of increased grasping difficulty and reduced grasping accuracy caused by problems such as eccentricity or residual iron filings.

[0005] In a first aspect, the present invention provides a clamp, comprising:

[0006] A connecting seat, used for connecting to the robot; a suction station and a clamping station are provided on the connecting seat at intervals;

[0007] A suction structure connected to the suction station;

[0008] The clamping structure is connected to the clamping station, and the clamping structure includes at least three clamping jaws, and the at least three clamping jaws are distributed at intervals around the circumference of the clamping station.

[0009] Beneficial effects: The connection seat is connected with a suction structure, which is mainly used for the material picking and clamping of parts in the blank state. It can be used for suction and fixation of parts of different sizes and relatively heavy parts. It can achieve suction and fixation of parts without precise positioning, and will not be affected by the deviation of the external dimensions of the parts in the blank state due to errors; the connection seat is also connected with a clamping structure, which includes at least three circumferentially spaced jaws around the clamping station, which can better clamp and fix the periphery of disc-like parts, and has a better clamping and fixing effect for some parts with iron filings and other debris attached to the surface after processing. The clamp provided in this embodiment can not only clamp and fix parts with eccentricity problems through the suction structure, but also clamp and fix parts with iron filings and other debris remaining on the surface after processing through the clamping structure. It has a wide range of applications, reduces the difficulty of gripping the clamp and increases the gripping accuracy of the clamp.

[0010] In an optional embodiment, the connection base includes:

[0011] A connecting bracket is provided with the suction station and the clamping station;

[0012] A first connecting flange, connected to the suction station and detachably connected to the suction structure;

[0013] A second connecting flange, connected to the clamping station and detachably connected to the clamping structure;

[0014] The third connecting flange is connected to the connecting bracket and is detachably connected to the robot.

[0015] Beneficial effects: By setting the first connecting flange, it is convenient to disassemble and connect the suction structure with the suction station on the connecting seat, and a stable connection effect can be obtained; by setting the second connecting flange, it is convenient to disassemble and connect the clamping structure with the clamping station on the connecting seat, and a stable connection effect can be obtained; by setting the third connecting flange, it is convenient to disassemble and connect the fixture with the edge (joint) of the robot, and a stable connection effect can be obtained. In addition, the first connecting flange, the second connecting flange and the third connecting flange are arranged at intervals from each other to avoid interference with each other.

[0016] In an optional embodiment, the connecting bracket includes:

[0017] a first connecting plate, one side of which is connected to the first connecting flange;

[0018] A second connecting plate, one end of which is connected to the other side of the first connecting plate by a clamp, the second connecting plate is connected to the second connecting flange; the other end of the second connecting plate is connected to the third connecting flange;

[0019] A reinforcing plate is connected to both a side of the first connecting plate facing away from the first connecting flange and a side of the second connecting plate facing away from the second connecting flange, and the third connecting flange is connected to the reinforcing plate.

[0020] Beneficial effects: The reinforcing plate is connected to both the first connecting plate and the second connecting plate, so that the connecting bracket can form a relatively stable triangular structure as a whole, which does not take up too much space, saves materials and reduces the overall weight of the connecting bracket, and can also form a relatively stable and high-strength connecting bracket; and the first connecting plate is provided with a suction station, which is convenient for detachable connection and matching with the first connecting flange; the second connecting plate is provided with a clamping station, which is convenient for detachable connection and matching with the second connecting flange; the third connecting flange is connected to both the second connecting plate and the reinforcing plate, and can have a better fixed connection effect. Further, the first connecting flange is connected to the first connecting plate, the second connecting flange is connected to the second connecting plate, and the third connecting flange is connected to both the reinforcing plate and the second connecting plate. The positions of the first connecting flange, the second connecting flange and the third connecting flange are separated from each other, and the suction structure connected to the first connecting flange, the clamping structure connected to the second connecting flange and the operation of the robot connected to the third connecting flange are separated to avoid mutual interference.

[0021] In an optional embodiment, the fixture further includes a first proximity switch and a first distance measuring sensor; the first proximity switch is arranged on the suction station and located on the side of the suction structure; the first distance measuring sensor is arranged on the suction station and located on the side of the suction structure;

[0022] Beneficial effects: The first distance measuring sensor can detect the number of stacked layers of parts to be transported, and the distance of each layer can be set in advance. The robot can control the movement of the fixture according to the information fed back by the first distance measuring sensor. When the fixture moves to just above the part, it begins to slowly descend, searching for the position layer by layer. The fixture is controlled to descend the corresponding distance according to the distance of the corresponding number of layers, until it approaches the part, the first proximity switch generates a signal that there is a part, and then controls the fixture to absorb and clamp the part.

[0023] In an optional embodiment, the clamp further includes a second proximity switch and a second ranging sensor; the second proximity switch is arranged on the clamping station and is located on the side of the clamping structure; the second ranging sensor is arranged on the clamping station and is located on the side of the clamping structure.

[0024] Beneficial effects: The second ranging sensor can detect the number of stacked layers of parts to be transported, and the distance of each layer can be set in advance. The robot can control the movement of the fixture according to the information fed back by the second ranging sensor. When the fixture moves to directly above the part, it begins to slowly descend, searching for the position layer by layer. The fixture is controlled to descend the corresponding distance according to the distance of the corresponding number of layers. When it approaches the part, the second proximity switch generates a signal that there is a part, and then controls the fixture to grab the part.

[0025] In an optional embodiment, the suction structure includes an electromagnet suction cup.

[0026] Beneficial effects: When the electromagnet chuck is powered on, it can generate magnetism and magnetically clamp the parts. The electromagnet chuck is not affected by the eccentricity caused by the shape and size deviation of the parts, and can better adsorb and clamp the parts in the blank state with relatively clean surfaces, reducing the difficulty of debugging, greatly improving the efficiency of material removal, and having good adsorption effect and high clamping stability.

[0027] In an optional embodiment, the clamping structure includes a first driving mechanism and three clamping jaws; one end of the first driving mechanism is connected to the clamping station, and the other end is provided with three clamping mounting positions, and the three clamping jaws are respectively connected to the three clamping mounting positions.

[0028] In a second aspect, the present invention further provides a handling system, comprising a robot and the above-mentioned clamp.

[0029] In an optional embodiment, the transport system further includes a positioning device, and the positioning device includes:

[0030] Support seat;

[0031] A positioning plate, obliquely connected to the top of the support seat;

[0032] Two first positioning blocking rods are connected to the top surface of the positioning plate and are arranged at intervals in the horizontal direction. The distance between the two first positioning blocking rods is smaller than the diameter of the parts to be transported.

[0033] Beneficial effect: When the positioning device switches from clamping the parts by the suction structure to clamping the parts by the clamping structure, the parts can be re-positioned to facilitate the positioning and clamping of the clamping structure. The positioning plate is tilted, and after the suction structure stops sucking and clamping and places the parts on the positioning plate, the parts slide downward along the tilt angle of the positioning plate under the action of gravity until they are blocked by the two first positioning stop bars, thereby realizing the secondary positioning of the parts.

[0034] In an optional embodiment, the positioning device also includes a second positioning stop rod connected to the top surface of the positioning plate, the second positioning stop rod having one group or at least two groups spaced apart in the vertical direction, each group of the second positioning stop rods includes two spaced apart in the horizontal direction, the second positioning stop rod is arranged above the first positioning stop rod, the distance between the two second positioning stop rods in each group is greater than the distance between the two first positioning stop rods, and the distance between the second positioning stop rods in the upper group is greater than the distance between the second positioning stop rods in the lower group.

[0035] Beneficial effect: The setting of the second positioning stopper can guide and limit the downward sliding of the component above the first positioning stopper, further enhancing the positioning effect of the component, and can also enhance the stability of the component during and after positioning to prevent the positioning piece from falling.

[0036] In an optional embodiment, the positioning device also includes balls, which are rotatably connected to the top surface of the positioning plate, and at least part of the balls are protruding from the top surface of the positioning plate; there are at least three balls, and at least one ball is arranged between two of the first positioning bars.

[0037] Beneficial effect: When the parts slide downward, they cooperate with the rolling of the balls, which can not only reduce the friction between the parts and the positioning plate and reduce the sliding noise, but also separate the parts from the top surface of the positioning plate, making it easier for the clamping structure's claws to extend between the positioning plate and the parts for clamping.

[0038] In an optional embodiment, the handling system further includes a turning device, and the turning device includes:

[0039] Flip bracket;

[0040] A support plate is connected to the top of the flip bracket, and a support area is provided on the top surface of the support plate. The support area is used to support the parts to be flipped, and an avoidance through hole is provided in the support area. The support plate is also provided with an opening extending from the avoidance through hole to the side wall of the support plate. The clamp clamps the parts from the bottom of the support plate through the avoidance through hole, and drives the parts to rise through the avoidance through hole and the opening.

[0041] Beneficial effects: The setting of the flipping device can realize the flipping and clamping of the component after one side of the component is processed, through the cooperation of the flipping device and the clamp, so as to facilitate the processing of the other side of the component. The flipping bracket can support the support plate at a corresponding height, so that the clamp can clamp the component from the bottom of the support plate; the avoidance through hole can provide operating space for the clamp to clamp the component, and the opening can facilitate the clamp to rise up after clamping the component to disengage from the flipping device to complete the flipping.

[0042] In an optional embodiment, the turning device further comprises:

[0043] A second driving mechanism, fixedly connected to the support plate, arranged opposite to the opening, and arranged at two ends of the avoidance through hole with the opening respectively;

[0044] Two third positioning blocking rods are respectively arranged on both sides of the opening.

[0045] Beneficial effects: The second driving mechanism can drive the component to move in the opening direction, and the two third positioning bars cooperate with the second driving mechanism to realize the positioning of the component, so that the fixture can clamp the component.

[0046] In an optional embodiment, the avoidance through hole includes a first avoidance hole and a second avoidance hole, the first avoidance hole is a rectangular hole, the opening is arranged at one end of the first avoidance hole in the length direction, and the width of the first avoidance hole is smaller than the diameter of the component; the clamping structure includes three clamps evenly distributed along the circumferential direction, the second avoidance hole is connected to the first avoidance hole, there are two second avoidance holes, and the clamp between the two second avoidance holes is consistent with the clamp between the two adjacent clamps.

[0047] Beneficial effect: The three clamps can respectively clamp and fix the components from the bottom of the support plate through the first avoidance hole and the two second avoidance holes, and clamp the components from the first avoidance hole, the second avoidance hole and the opening to the top of the support plate to achieve flip-over clamping of the components. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the related technologies, the drawings required for use in the specific embodiments or the related technical descriptions will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0049] Figure 1 A schematic diagram of a clamp from one viewing angle according to an embodiment of the present invention;

[0050] Figure 2 is a schematic diagram of another viewing angle of a clamp according to an embodiment of the present invention;

[0051] Figure 3 is a schematic diagram of a first driving mechanism of a clamp according to an embodiment of the present invention;

[0052] Figure 4 A schematic structural diagram of a positioning device of a handling system according to an embodiment of the present invention;

[0053] Figure 5 It is a structural schematic diagram of a turning device of a handling system according to an embodiment of the present invention;

[0054] Figure 6 A first schematic diagram of a transport system according to an embodiment of the present invention;

[0055] Figure 7 for Figure 6 A is a partial enlarged schematic diagram;

[0056] Figure 8 A second schematic diagram of a transport system according to an embodiment of the present invention;

[0057] Fig. 9 for Figure 8 A partial enlarged schematic diagram of B in the middle;

[0058] Fig.10 A third schematic diagram of a transport system according to an embodiment of the present invention;

[0059] Fig.11 A fourth schematic diagram of a transport system according to an embodiment of the present invention;

[0060] Fig.12 A fifth schematic diagram of a transport system according to an embodiment of the present invention;

[0061] Fig.13 for Fig.12 A partial enlarged schematic diagram of C in the middle.

[0062] Description of reference numerals:

[0063] 1. Connecting seat; 11. Connecting bracket; 111. First connecting plate; 112. Second connecting plate; 113. Reinforcing plate; 12. First connecting flange; 13. Second connecting flange; 14. Third connecting flange;

[0064] 2. Absorb structure;

[0065] 3. Clamping structure; 31. Clamping claw; 32. First driving mechanism; 321. Clamping installation position;

[0066] 4. A first proximity switch; 5. A first distance measuring sensor;

[0067] 6. Second proximity switch; 7. Second distance measuring sensor;

[0068] 100. Robots;

[0069] 200, fixture;

[0070] 300, positioning device; 301, support seat; 302, positioning plate; 303, first positioning stop bar; 304, second positioning stop bar; 305, ball bearing;

[0071] 400, turning device; 401, turning bracket; 402, support plate; 403, opening; 404, second driving mechanism; 405, third positioning lever; 406, first avoidance hole; 407, second avoidance hole; 408, in-place detection structure;

[0072] 500. Conveyor line; 600. Parts; 700. Air blowing structure; 800. Solenoid valve. DETAILED DESCRIPTION

[0073] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0074] Combine the following Figures 1 to 13 , describing an embodiment of the present invention.

[0075] According to an embodiment of the present invention, on the one hand, a clamp 200 is provided, including a connecting seat 1, a suction structure 2 and a clamping structure 3; the connecting seat 1 is used to be connected to the robot 100; a suction station and a clamping station are arranged at intervals on the connecting seat 1; the suction structure 2 is connected to the suction station; the clamping structure 3 is connected to the clamping station, and the clamping structure 3 includes at least three clamps 31, and at least three of the clamps 31 are distributed at circumferential intervals around the clamping station.

[0076] The connecting seat 1 is connected to a suction structure 2, which is mainly used for picking up and clamping parts 600 in a blank state. It can suck and fix parts 600 of various sizes and relatively heavy weights without precise positioning, and will not be affected by the dimensional deviation of the parts 600 in the blank state caused by errors; the connecting seat 1 is also connected to a clamping structure 3, which includes at least three circumferentially spaced jaws 31 surrounding the clamping station, and can better clamp and fix the outer periphery of disc-type parts 600, and has a better clamping and fixing effect on some parts 600 with iron filings and other debris attached to the surface after processing. The clamp 200 provided in this embodiment can not only clamp and fix the component 600 with eccentricity problem through the suction structure 2, but also clamp and fix the component 600 with iron filings and other debris remaining on the surface after processing through the clamping structure 3. It has a wide range of applications, reduces the grasping difficulty of the clamp 200 and increases the grasping accuracy of the clamp 200.

[0077] Specifically, the fixture 200 in this embodiment is connected to the robot 100 via the connecting base 1 to form the end effector of the robot 100 .

[0078] In one embodiment, the connecting base 1 includes a connecting bracket 11, a first connecting flange 12, a second connecting flange 13 and a third connecting flange 14; the connecting bracket 11 is provided with the suction station and the clamping station; the first connecting flange 12 is connected to the suction station and is detachably connected to the suction structure 2; the second connecting flange 13 is connected to the clamping station and is detachably connected to the clamping structure 3; the third connecting flange 14 is connected to the connecting bracket 11 and is detachably connected to the robot 100.

[0079] By setting the first connection flange 12, it is convenient to disassemble and connect the suction structure 2 with the suction station on the connection seat 1, and a stable connection effect can be obtained; by setting the second connection flange 13, it is convenient to disassemble and connect the clamping structure 3 with the clamping station on the connection seat 1, and a stable connection effect can be obtained; by setting the third connection flange 14, it is convenient to disassemble and connect the fixture 200 with the edge (joint) of the robot 100, and a stable connection effect can be obtained. In addition, the first connection flange 12, the second connection flange 13 and the third connection flange 14 are arranged at intervals from each other to avoid interference with each other.

[0080] In a specific embodiment, the first connection flange 12 is detachably connected to the suction station through a first fastener; the second connection flange 13 is detachably connected to the clamping station through a second fastener; and the third connection flange 14 is detachably connected to the robot 100 through a third fastener. The first fastener, the second fastener, and the third fastener can all be threaded fastening structures such as screws and bolts.

[0081] In one embodiment, the connecting bracket 11 includes a first connecting plate 111, a second connecting plate 112 and a reinforcing plate 113; one side of the first connecting plate 111 is connected to the first connecting flange 12; one end of the second connecting plate 112 is connected to the other side of the first connecting plate 111 by a clamp, and the second connecting flange 13 is connected to the second connecting plate 112; the other end of the second connecting plate 112 is connected to the third connecting flange 14; the reinforcing plate 113 is connected to the side of the first connecting plate 111 facing away from the first connecting flange 12 and the side of the second connecting plate 112 facing away from the second connecting flange 13, and the third connecting flange 14 is connected to the reinforcing plate 113.

[0082] The reinforcing plate 113 is connected to both the first connecting plate 111 and the second connecting plate 112, so that the connecting bracket 11 as a whole can form a relatively stable triangular structure, which does not take up too much space, saves materials and reduces the overall weight of the connecting bracket 11, and can also form a relatively stable and high-strength connecting bracket 11; and, the first connecting plate 111 is provided with a suction station, which is convenient for detachable connection and matching with the first connecting flange 12; the second connecting plate 112 is provided with a clamping station, which is convenient for detachable connection and matching with the second connecting flange 13; the third connecting flange 14 is connected to both the second connecting plate 112 and the reinforcing plate 113, and can have a better fixed connection effect. Furthermore, the first connecting flange 12 is connected to the first connecting plate 111, the second connecting flange 13 is connected to the second connecting plate 112, and the third connecting flange 14 is connected to both the reinforcing plate 113 and the second connecting plate 112. The positions of the first connecting flange 12, the second connecting flange 13 and the third connecting flange 14 are separated from each other, so that the operations of the suction structure 2 connected to the first connecting flange 12, the clamping structure 3 connected to the second connecting flange 13 and the robot 100 connected to the third connecting flange 14 are separated to avoid mutual interference.

[0083] In one embodiment, the fixture 200 further includes a first proximity switch 4 and a first distance sensor 5; the first proximity switch 4 is disposed on the suction station and located on the side of the suction structure 2; the first distance sensor 5 is disposed on the suction station and located on the side of the suction structure 2;

[0084] The first distance measuring sensor 5 can detect the number of stacked layers of the component 600 to be transported, and the distance of each layer can be set in advance. The robot 100 can control the movement of the clamp 200 according to the information fed back by the first distance measuring sensor 5. When the clamp 200 moves to directly above the component 600, it starts to slowly descend, searching for a position layer by layer. According to the distance of the corresponding number of layers, the clamp 200 is controlled to descend a corresponding distance until it approaches the component 600. The first proximity switch 4 generates a signal of the component 600, and then controls the clamp 200 to absorb and clamp the component 600.

[0085] In a specific embodiment, the first distance measuring sensor 5 is a laser distance measuring sensor. Alternatively, the first distance measuring sensor 5 may also be an ultrasonic distance measuring sensor or an infrared distance measuring sensor.

[0086] In one embodiment, the clamp further includes a second proximity switch 6 and a second ranging sensor 7; the second proximity switch 6 is arranged on the clamping station and located on the side of the clamping structure 3; the second ranging sensor 7 is arranged on the clamping station and located on the side of the clamping structure 3.

[0087] The second ranging sensor 7 can detect the number of stacked layers of the component 600 to be transported, and the distance of each layer can be set in advance. The robot 100 can control the movement of the clamp 200 according to the information fed back by the second ranging sensor 7. When the clamp 200 moves to directly above the component 600, it begins to slowly descend, searching for a position layer by layer. According to the distance of the corresponding number of layers, the clamp 200 is controlled to descend a corresponding distance until it approaches the component 600. The second proximity switch 6 generates a signal of the component 600, and then controls the clamp 200 to grab the component 600.

[0088] In a specific embodiment, the second distance measuring sensor 7 is a laser distance measuring sensor. Alternatively, the first distance measuring sensor 5 may also be an ultrasonic distance measuring sensor or an infrared distance measuring sensor.

[0089] In one embodiment, the suction structure 2 comprises an electromagnet suction cup.

[0090] When the electromagnet suction cup is powered on, it can generate magnetism and magnetically clamp the component 600. The electromagnet suction cup is not affected by the eccentricity problem caused by the shape and size deviation of the component 600, and can better adsorb and clamp the component 600 in a rough state with a relatively clean surface, thereby reducing the difficulty of debugging, greatly improving the efficiency of material removal, and having a good adsorption effect and high clamping stability.

[0091] As a convertible embodiment, the suction structure 2 may also include a negative pressure suction cup to suck the component 600 by negative pressure.

[0092] In one embodiment, the clamping structure 3 includes a first driving mechanism 32 and three clamping jaws 31; one end of the first driving mechanism 32 is connected to the clamping station, and the other end is provided with three clamping installation positions 321, and the three clamping jaws 31 are respectively connected to the three clamping installation positions 321.

[0093] The first driving mechanism 32 can control the three clamping jaws 31 to move away from and towards each other through the clamping station to clamp the component 600 .

[0094] In a specific embodiment, the first driving mechanism 32 can be a three-axis cylinder. The three clamps 31 are detachably connected to the clamping station, so that different clamps 31 can be replaced to grab different parts 600. The three clamps 31 are evenly distributed, and the clamps between two adjacent clamps 31 are 120°.

[0095] According to an embodiment of the present invention, on the other hand, a handling system is provided, comprising a robot 100 and the above-mentioned fixture 200. The fixture 200 is connected to the robot 100 via a connecting base 1.

[0096] In one embodiment, the transport system also includes a positioning device 300, which includes a support seat 301, a positioning plate 302 and two first positioning bars 303; the positioning plate 302 is obliquely connected to the top of the support seat 301; the two first positioning bars 303 are connected to the top surface of the positioning plate 302 and are spaced apart in the horizontal direction, and the distance between the two first positioning bars 303 is smaller than the diameter of the component 600 to be transported.

[0097] When the positioning device 300 switches from the suction structure 2 clamping the component 600 to the clamping structure 3 clamping the component 600, the component 600 can be re-positioned to facilitate the positioning and clamping of the clamping structure 3. The positioning plate 302 is tilted, and after the suction structure 2 stops suction and clamping and places the component 600 on the positioning plate 302, the component 600 slides downward along the tilt angle of the positioning plate 302 under the action of gravity until it is blocked by the two first positioning blocking rods 303, thereby achieving the secondary positioning of the component 600.

[0098] In a specific embodiment, the inclination angle between the positioning plate 302 and the horizontal plane can be 45°, which can ensure that the component 600 can slide downward smoothly, but will not cause the component 600 to fall during the downward sliding process due to excessive inclination angle.

[0099] In one embodiment, the positioning device 300 also includes a second positioning baffle 304 connected to the top surface of the positioning plate 302, the second positioning baffle 304 has one group or at least two groups spaced apart in the vertical direction, each group of the second positioning baffle 304 includes two spaced apart in the horizontal direction, the second positioning baffle 304 is arranged above the first positioning baffle 303, the distance between the two second positioning baffles 304 in each group is greater than the distance between the two first positioning baffles 303, and the distance between the second positioning baffles 304 in the upper group is greater than the distance between the second positioning baffles 304 in the lower group.

[0100] The second positioning stopper 304 can guide and limit the downward sliding of the component 600 above the first positioning stopper 303, further enhancing the positioning effect of the component 600, and can also enhance the stability of the component 600 during and after positioning to prevent the positioning piece from falling.

[0101] In one embodiment, the positioning device 300 also includes a ball 305, which is rotatably connected to the top surface of the positioning plate 302, and at least part of the ball 305 is protruding from the top surface of the positioning plate 302; there are at least three balls 305, and at least one ball 305 is arranged between two of the first positioning bars 303.

[0102] As component 600 slides downward, it rolls with ball 305, which can reduce the friction between component 600 and positioning plate 302 and reduce sliding noise, and can also separate component 600 from the top surface of positioning plate 302, making it easier for the clamping claw 31 of clamping structure 3 to extend between positioning plate 302 and component 600 for clamping.

[0103] In a further embodiment, the positioning device 300 further includes a protruding column, which is connected to the top surface of the positioning plate 302 , and the ball 305 is rotatably connected to the top of the protruding column, and the number of the protruding columns matches the number of the ball 305 .

[0104] The setting of the protruding column can simplify the structure of the positioning plate 302, facilitate the connection of the ball 305, and can also create a larger gap between the component 600 and the top surface of the positioning plate 302, so that the clamping claws 31 of different sizes can be extended between the positioning plate 302 and the component 600 for clamping.

[0105] In a specific embodiment, the balls 305 may have at least three rows spaced apart in at least a vertical direction, and each row has at least three balls 305 spaced apart in a horizontal direction.

[0106] In a further embodiment, the positioning device 300 is further provided with a blowing structure 700, and the blowing structure 700 includes a blowing port, and the blowing port can blow air to the parts 600 on the positioning plate 302 to clean the parts 600. The blowing structure 700 includes an air pump, an air blowing pipe, and a solenoid valve 800 arranged between the air blowing pipe and the air pump, one end of the air blowing pipe is connected to the air outlet of the air pump, and the other end is provided with a blowing port. The solenoid valve 800 can control the on-off between the air blowing pipe and the air outlet of the air pump. The positioning device 300 is also provided with an in-place detection structure 408, which is fixedly connected to the support plate 402 and arranged at the opening 403.

[0107] In one embodiment, the transport system also includes a flipping device 400, and the flipping device 400 includes a flipping bracket 401 and a support plate 402; the support plate 402 is connected to the top of the flipping bracket 401, and a support area is provided on the top surface of the support plate 402, and the support area is used to support the component 600 to be flipped, and an avoidance hole is provided in the support area, and the support plate 402 is also provided with an opening 403 extending from the avoidance hole to the side wall of the support plate 402, and the clamp 200 clamps the component 600 from the bottom of the support plate 402 through the avoidance hole, and drives the component 600 to rise through the avoidance hole and the opening 403.

[0108] The setting of the flipping device 400 can realize the flipping and clamping of the component 600 after processing one side of the component 600 is completed through the cooperation of the flipping device 400 and the clamp 200, so as to facilitate processing of the other side of the component 600. The flipping bracket 401 can support the support plate 402 at a corresponding height, so that the clamp 200 can clamp the component 600 from the bottom of the support plate 402; the avoidance through hole can provide an operating space for the clamp 200 to clamp the component 600, and the opening 403 can facilitate the clamp 200 to rise upward after clamping the component 600 to disengage from the flipping device 400 to complete the flipping.

[0109] In one embodiment, the flipping device 400 also includes a second driving mechanism 404 and two third positioning bars 405; the second driving mechanism 404 is fixedly connected to the support plate 402, arranged opposite to the opening 403, and respectively arranged at the two ends of the avoidance hole with the opening 403; the two third positioning bars 405 are respectively arranged on both sides of the opening 403.

[0110] The second driving mechanism 404 can drive the component 600 to move toward the opening 403 , and the two third positioning bars 405 cooperate with the second driving mechanism 404 to achieve positioning of the component 600 , so that the fixture 200 can clamp the component 600 .

[0111] In one embodiment, the avoidance through hole includes a first avoidance hole 406 and a second avoidance hole 407, the first avoidance hole 406 is a rectangular hole, the opening 403 is arranged at one end of the first avoidance hole 406 in the length direction, and the width of the first avoidance hole 406 is smaller than the diameter of the component 600; the clamping structure 3 includes three clamps 31 evenly distributed along the circumferential direction, the second avoidance hole 407 is connected to the first avoidance hole 406, and the second avoidance hole 407 has two, and the clamp between the two second avoidance holes 407 is consistent with the clamp between the two adjacent clamps 31.

[0112] The three clamping jaws 31 can respectively clamp and fix the component 600 from the bottom of the support plate 402 through the first avoidance hole 406 and the two second avoidance holes 407, and clamp the component 600 from the first avoidance hole 406, the second avoidance hole 407 and the opening 403 to the top of the support plate 402 to achieve flip-over clamping of the component 600.

[0113] In one embodiment, a conveyor line 500 is further included, and the robot 100 is movably connected to the conveyor line 500 to drive the component 600 clamped by the fixture 200 to move between the blank table, the positioning device 300, the flipping device 400 and each processing station.

[0114] Although the embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the present invention, and such modifications and variations are all within the scope defined by the present application.

Claims

1. A clamp, characterized in that: include: A connecting seat (1) is used for connecting to a robot (100); a suction station and a clamping station are arranged on the connecting seat (1) at intervals; A suction structure (2), connected to the suction station; A clamping structure (3) is connected to the clamping station, and the clamping structure (3) comprises at least three clamping jaws (31). The at least three clamping jaws (31) are distributed at intervals in the circumferential direction around the clamping station.

2. The clamp according to claim 1, characterized in that: The connecting seat (1) comprises: A connecting bracket (11) is provided with the suction station and the clamping station; A first connecting flange (12), connected to the suction station and detachably connected to the suction structure (2); A second connecting flange (13), connected to the clamping station and detachably connected to the clamping structure (3); A third connecting flange (14) is connected to the connecting bracket (11) and is detachably connected to the robot (100).

3. The clamp according to claim 2, characterized in that: The connecting bracket (11) comprises: A first connecting plate (111), one side of which is connected to the first connecting flange (12); A second connecting plate (112), one end of which is connected to the other side of the first connecting plate (111) in a clamp-like manner, and the second connecting flange (13) is connected to the second connecting plate (112); the other end of the second connecting plate (112) is connected to the third connecting flange (14); The reinforcing plate (113) is connected to a side of the first connecting plate (111) facing away from the second connecting flange (13) and a side of the second connecting plate (112) facing away from the third connecting flange (14); the third connecting flange (14) is connected to the reinforcing plate (113).

4. The clamp according to claim 1, characterized in that: The clamp (200) further comprises a first proximity switch (4) and a first distance measuring sensor (5); the first proximity switch (4) is arranged on the suction station and is located on the side of the suction structure (2); the first distance measuring sensor (5) is arranged on the suction station and is located on the side of the suction structure (2); And / or, the clamp (200) further comprises a second proximity switch (6) and a second distance measuring sensor (7); the second proximity switch (6) is arranged on the clamping station and is located on the side of the clamping structure (3); the second distance measuring sensor (7) is arranged on the clamping station and is located on the side of the clamping structure (3); And / or, the suction structure (2) comprises an electromagnet suction cup; And / or, the clamping structure (3) comprises a first driving mechanism (32) and three clamping jaws (31); one end of the first driving mechanism (32) is connected to the clamping station, and the other end is provided with three clamping installation positions (321), and the three clamping jaws (31) are respectively connected to the three clamping installation positions (321).

5. A transport system, characterized in that: The invention comprises a robot (100) and a clamp (200) according to any one of claims 1 to 4.

6. The handling system according to claim 5, characterized in that: The handling system further comprises a positioning device (300), wherein the positioning device (300) comprises: Support seat (301); A positioning plate (302) is obliquely connected to the top of the support seat (301); Two first positioning bars (303) are connected to the top surface of the positioning plate (302) and are arranged at intervals in the horizontal direction. The distance between the two first positioning bars (303) is smaller than the diameter of the component (600) to be transported.

7. The handling system according to claim 6, characterized in that: The positioning device (300) further comprises a second positioning blocking rod (304) connected to the top surface of the positioning plate (302); the second positioning blocking rod (304) comprises one group or at least two groups spaced apart in the vertical direction; each group of the second positioning blocking rods (304) comprises two spaced apart in the horizontal direction; the second positioning blocking rod (304) is arranged above the first positioning blocking rod (303); the distance between the two second positioning blocking rods (304) in each group is greater than the distance between the two first positioning blocking rods (303); the distance between the second positioning blocking rods (304) in the upper group is greater than the distance between the second positioning blocking rods (304) in the lower group; And / or, the positioning device (300) further comprises a ball (305), the ball (305) being rotatably connected to the top surface of the positioning plate (302), and at least a portion of the ball (305) being arranged to protrude from the top surface of the positioning plate (302); there are at least three balls (305), and at least one of the balls (305) is arranged between two of the first positioning bars (303).

8. The transport system according to claim 5, characterized in that: The handling system further comprises a turning device (400), wherein the turning device (400) comprises: Turning bracket (401); A support plate (402) is connected to the top of the flip bracket (401); a support area is provided on the top surface of the support plate (402); the support area is used to support the component (600) to be flipped; an avoidance through hole is provided in the support area; the support plate (402) is also provided with an opening (403) extending from the avoidance through hole to the side wall of the support plate (402); the clamp (200) clamps the component (600) from the bottom of the support plate (402) through the avoidance through hole, and drives the component (600) to rise through the avoidance through hole and the opening (403).

9. The handling system according to claim 8, characterized in that: The turning device (400) further comprises: A second driving mechanism (404) is fixedly connected to the support plate (402), arranged opposite to the opening (403), and is respectively arranged at two ends of the avoidance through hole with the opening (403); Two third positioning bars (405) are respectively arranged on both sides of the opening (403).

10. The transport system according to claim 8 or 9, characterized in that: The avoidance through hole comprises a first avoidance hole (406) and a second avoidance hole (407), the first avoidance hole (406) is a rectangular hole, the opening (403) is arranged at one end of the first avoidance hole (406) in the length direction, and the width of the first avoidance hole (406) is smaller than the diameter of the component (600); the clamping structure (3) comprises three clamping claws (31) evenly distributed along the circumferential direction, the second avoidance hole (407) is connected to the first avoidance hole (406), there are two second avoidance holes (407), and the clamp between the two second avoidance holes (407) is consistent with the clamp between the two adjacent clamping claws (31).

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