Gripper and handling system

Abstract

This invention relates to the field of material handling systems, and discloses a fixture and a material handling system. The fixture includes a connecting base, a suction structure, and a clamping structure. The connecting base is used to connect to a robot. The connecting base has suction stations and clamping stations spaced apart. The suction structure is connected to the suction station. The clamping structure is connected to the clamping station and includes at least three grippers distributed circumferentially around the clamping station. The fixture provided by this invention can clamp and fix parts with eccentricity problems through the suction structure, and can also clamp and fix parts with residual iron filings or other debris on the machined surface through the clamping structure. It has a wide range of applications, reduces the gripping difficulty of the fixture, and increases the gripping accuracy of the fixture.

Description

Technical Field

[0001] This invention relates to the field of material handling systems, and more specifically to clamps and material handling systems. Background Technology

[0002] With the development of smart manufacturing enterprises and the diversification of product types, manual loading and unloading can no longer meet the production efficiency requirements of enterprises. Some enterprises are upgrading their current production lines through automation, using robots to replace manual labor for loading and unloading operations, reducing costs and safety risks at the same time.

[0003] However, for some disc-shaped parts, the incoming material may be out of circle and have an eccentricity problem, or there may be iron filings left after the incoming material is processed. These problems will increase the difficulty of the robot's grasping and reduce the grasping accuracy. Summary of the Invention

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

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

[0006] A connector for attaching to a robot; the connector is provided with a suction station and a clamping station spaced apart.

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

[0008] A clamping structure is connected to the clamping station, the clamping structure including at least three jaws, the at least three jaws being circumferentially spaced around the clamping station.

[0009] Beneficial effects: The connecting seat is equipped with a suction structure, primarily for gripping and holding parts in their raw state. It can grip and fix parts of various sizes and relatively heavy parts without requiring precise positioning, and is not affected by dimensional deviations caused by errors in the shape of parts in their raw state. The connecting seat is also equipped with a clamping structure, which includes at least three circumferentially spaced jaws around the clamping station. This structure can effectively grip and fix the outer periphery of disc-shaped parts, and provides good gripping and fixing effects for parts with iron filings or other debris adhering to their machined surfaces. The fixture provided in this embodiment can grip and fix parts with eccentricity issues through the suction structure, and it can also grip and fix parts with iron filings or other debris remaining on their machined surfaces through the clamping structure. It has a wide range of applications, reduces the gripping difficulty of the fixture, and increases the gripping accuracy.

[0010] In one optional embodiment, the connector includes:

[0011] The connecting bracket is equipped with the suction station and the clamping station;

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

[0013] The second connecting flange is connected to the clamping station and is 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: The first connecting flange facilitates the disassembly and connection of the suction structure to the suction station on the connecting seat, while also ensuring a stable connection. Similarly, the second connecting flange facilitates the disassembly and connection of the clamping structure to the clamping station on the connecting seat, again achieving a stable connection. Furthermore, the third connecting flange facilitates the disassembly and connection of the fixture to the robot's edge (joint), again ensuring a stable connection. Moreover, the spacing between the first, second, and third connecting flanges prevents interference between them.

[0016] In one alternative embodiment, the connecting bracket includes:

[0017] The first connecting plate is connected to the first connecting flange on one side;

[0018] The second connecting plate has one end clamped to the other side of the first connecting plate, and the second connecting flange is connected to the second connecting plate; the other end of the second connecting plate is connected to the third connecting flange.

[0019] The reinforcing plate is connected to both the side of the first connecting plate opposite to the first connecting flange and the side of the second connecting plate opposite to 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 and second connecting plates, allowing the connecting bracket to form a relatively stable triangular structure. This saves space, reduces material consumption and overall weight, and creates a stable and strong connecting bracket. Furthermore, the first connecting plate has a suction station for detachable connection and mating with the first connecting flange; the second connecting plate has a clamping station for detachable connection and mating with the second connecting flange; and the third connecting flange is connected to both the second and reinforcing plates, providing a good fixed connection. 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, second, and third connecting flanges are separated, isolating the suction structure connected to the first connecting flange, the clamping structure connected to the second connecting flange, and the robot operation connected to the third connecting flange, thus avoiding mutual interference.

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

[0022] Beneficial effects: The first distance sensor can detect the number of stacked layers of the parts to be transported and can pre-set the distance of each layer. The robot can control the movement of the gripper based on the information fed back by the first distance sensor. When the gripper moves directly above the part, it begins to descend slowly, searching for the position layer by layer. The gripper is controlled to descend the corresponding distance according to the distance of the corresponding layer. When it approaches the part, the first proximity switch generates a signal that there is a part, and then controls the gripper to pick up and hold the part.

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

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

[0025] In one alternative embodiment, the suction structure includes an electromagnet chuck.

[0026] Beneficial effects: When energized, the electromagnet chuck generates magnetism, magnetically holding parts. Unaffected by eccentricity issues caused by deviations in the shape and size of parts, the electromagnet chuck can effectively attract and hold parts in their raw, relatively clean state, reducing adjustment difficulty, greatly improving material handling efficiency, and offering excellent attraction and high clamping stability.

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

[0028] Secondly, the present invention also provides a handling system, including a robot and the aforementioned gripper.

[0029] In one optional embodiment, the conveying system further includes a positioning device, the positioning device comprising:

[0030] Support base;

[0031] A positioning plate is inclinedly connected to the top of the support base;

[0032] Two first positioning stops are connected to the top surface of the positioning plate and are spaced apart in the horizontal direction. The distance between the two first positioning stops is less than the diameter of the part to be transported.

[0033] Beneficial effects: When switching from the suction structure to the clamping structure, the positioning device can perform secondary positioning of the parts, facilitating the clamping structure's positioning and clamping. With the positioning disk tilted, after the suction structure stops suction and clamps the parts and places them on the positioning disk, the parts slide downwards along the tilt angle of the positioning disk under gravity until they are stopped by the two first positioning stops, thus achieving secondary positioning of the parts.

[0034] In one optional embodiment, the positioning device further includes a second positioning stop connected to the top surface of the positioning disk. The second positioning stop has one set or at least two sets spaced apart in the vertical direction. Each set of the second positioning stop includes two sets spaced apart in the horizontal direction. The second positioning stop is positioned above the first positioning stop. The distance between the two second positioning stops in each set is greater than the distance between the two first positioning stops. The distance between the upper set of second positioning stops is greater than the distance between the lower set of second positioning stops.

[0035] Beneficial effects: The second positioning stop can guide and limit the downward sliding of the parts above the first positioning stop, further enhancing the positioning effect of the parts. It can also enhance the stability of the parts during and after positioning, preventing the positioning parts from falling off.

[0036] In one alternative embodiment, the positioning device further includes ball bearings rotatably connected to the top surface of the positioning disk, with at least a portion of the ball bearings protruding from the top surface of the positioning disk; the ball bearings are at least three in number, with at least one ball bearing disposed between the two first positioning stops.

[0037] Beneficial effects: During the downward sliding process of the parts, the rolling action of the ball bearings can reduce the friction between the parts and the positioning plate, reduce sliding noise, and also separate the top surfaces of the parts and the positioning plate, making it easier for the grippers of the clamping structure to reach between the positioning plate and the parts for clamping.

[0038] In one optional embodiment, the conveying system further includes a flipping device, the flipping device comprising:

[0039] Flipping stand;

[0040] A support plate is connected to the top of the flipping bracket. 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. An avoidance through hole is provided in the support area. An opening extending from the avoidance through hole to the side wall of the support plate is also provided on the support plate. The clamp holds 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 flipping device allows for the flipping and clamping of a component after one side has been machined, facilitating the machining of the other side. The flipping bracket supports the support plate at a suitable height, allowing the clamp to hold the component from the bottom of the support plate; the clearance through-hole provides operating space for the clamp to hold the component, while the opening allows the clamp to rise upwards after holding the component to disengage from the flipping device, completing the flipping process.

[0042] In one optional embodiment, the flipping device further includes:

[0043] The second drive mechanism is fixedly connected to the support plate, is disposed opposite to the opening, and is disposed at both ends of the clearance through hole.

[0044] Two third positioning stops are respectively set on both sides of the opening.

[0045] Beneficial effects: The second drive mechanism can drive the parts to move in the direction of the opening. The two third positioning stops cooperate with the second drive mechanism to position the parts so that the fixture can hold the parts.

[0046] In one optional embodiment, the clearance through hole includes a first clearance hole and a second clearance hole. The first clearance hole is a rectangular hole, and the opening is located at one end of the length direction of the first clearance hole. The width of the first clearance hole is smaller than the diameter of the component. The clamping structure includes three jaws evenly distributed circumferentially. The second clearance hole communicates with the first clearance hole. There are two second clearance holes. The clamp between two second clearance holes is consistent with the clamp between two adjacent jaws.

[0047] Beneficial effects: The three grippers can clamp and fix the parts from the bottom of the support plate through the first clearance hole and the two second clearance holes respectively, and the clamped parts can be raised from the first clearance hole, the second clearance hole and the opening to the top of the support plate to achieve the flipping clamping of the parts. Attached Figure Description

[0048] To more clearly illustrate the technical solutions in the specific embodiments or related technologies of the present invention, the drawings used in the description of the specific embodiments or related technologies will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0049] Figure 1 This is a schematic diagram of a clamp according to an embodiment of the present invention;

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

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

[0052] Figure 4 This is a schematic diagram of the structure of a positioning device for a handling system according to an embodiment of the present invention;

[0053] Figure 5 This is a schematic diagram of the structure of a flipping device in a conveying system according to an embodiment of the present invention;

[0054] Figure 6 This is a first schematic diagram of a handling system according to an embodiment of the present invention;

[0055] Figure 7 for Figure 6 A magnified view of part A in the diagram;

[0056] Figure 8 This is a second schematic diagram of a handling system according to an embodiment of the present invention;

[0057] Figure 9 for Figure 8 A magnified view of part B in the diagram;

[0058] Figure 10 This is a third schematic diagram of a handling system according to an embodiment of the present invention;

[0059] Figure 11 This is a fourth schematic diagram of a handling system according to an embodiment of the present invention;

[0060] Figure 12 This is a fifth schematic diagram of a handling system according to an embodiment of the present invention;

[0061] Figure 13 for Figure 12 A magnified view of part C in the diagram.

[0062] Explanation of reference numerals in the attached figures:

[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. Gripper; 32. First drive mechanism; 321. Clamping mounting position;

[0066] 4. First proximity switch; 5. First ranging sensor;

[0067] 6. Second proximity switch; 7. Second ranging sensor;

[0068] 100. Robot;

[0069] 200. Fixtures;

[0070] 300. Positioning device; 301. Support base; 302. Positioning disc; 303. First positioning stop; 304. Second positioning stop; 305. Ball bearing;

[0071] 400. Flipping device; 401. Flipping bracket; 402. Support plate; 403. Opening; 404. Second drive mechanism; 405. Third positioning stop; 406. First clearance hole; 407. Second clearance hole; 408. Position detection structure;

[0072] 500, conveyor line; 600, components; 700, air blowing structure; 800, solenoid valve. Detailed Implementation

[0073] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0074] The following is combined Figures 1 to 13 The following describes embodiments of the present invention.

[0075] According to an embodiment of the present invention, 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 connect to a robot 100; the connecting seat 1 is provided with suction stations and clamping stations at intervals; 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 grippers 31, which are circumferentially spaced 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 pick up and fix parts 600 of different sizes and relatively heavy parts 600 without precise positioning, and is not affected by the dimensional deviation of parts 600 in a blank state due to errors. The connecting seat 1 is also connected to a clamping structure 3, which includes at least three circumferentially spaced jaws 31 around the clamping station. It can effectively clamp and fix the outer periphery of disc-shaped parts 600, and has a good 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 clamp and fix the part 600 with eccentricity through the suction structure 2, and can also clamp and fix the part 600 with iron filings and other debris residue on the surface after processing through the clamping structure 3. It has a wide range of applications, reduces the gripping difficulty of the clamp 200 and increases the gripping accuracy of the clamp 200.

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

[0078] In one embodiment, the connecting seat 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] The first connecting flange 12 facilitates the disassembly and connection of the suction structure 2 to the suction station on the connecting seat 1, while also ensuring a stable connection. Similarly, the second connecting flange 13 facilitates the disassembly and connection of the clamping structure 3 to the clamping station on the connecting seat 1, again achieving a stable connection. Furthermore, the third connecting flange 14 facilitates the disassembly and connection of the fixture 200 to the edge (joint) of the robot 100, again providing a stable connection. The spacing between the first connecting flange 12, the second connecting flange 13, and the third connecting flange 14 prevents interference between them.

[0080] In a specific embodiment, the first connecting flange 12 is detachably connected to the suction station via a first fastener; the second connecting flange 13 is detachably connected to the clamping station via a second fastener; and the third connecting flange 14 is detachably connected to the robot 100 via a third fastener. The first, second, and third fasteners 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 clamped to the other side of the first connecting plate 111, 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 both 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, which allows the connecting bracket 11 to form a relatively stable triangular structure. This not only avoids occupying too much space and saves materials, but also reduces the overall weight of the connecting bracket 11, resulting in a relatively stable and high-strength connecting bracket 11. Furthermore, the first connecting plate 111 is provided with a suction station, which facilitates detachable connection and engagement with the first connecting flange 12. The second connecting plate 112 is provided with a clamping station, which facilitates detachable connection and engagement 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, which provides a good 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, thus separating the operation 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, and avoiding mutual interference.

[0083] In one embodiment, the clamp 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 ranging sensor 5 can detect the number of stacked layers of the parts 600 to be transported, and the distance of each layer can be set in advance. The robot 100 can control the movement of the gripper 200 according to the information fed back by the first ranging sensor 5. When the gripper 200 moves directly above the parts 600, it begins to descend slowly, searching for the position layer by layer. According to the distance of the corresponding layer, the gripper 200 is controlled to descend the corresponding distance until it approaches the parts 600. The first proximity switch 4 generates a signal that the parts 600 are there, and then controls the gripper 200 to pick up and hold the parts 600.

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

[0086] In one embodiment, the clamp further includes a second proximity switch 6 and a second distance sensor 7; the second proximity switch 6 is disposed on the clamping station and located on the side of the clamping structure 3; the second distance sensor 7 is disposed 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 parts 600 to be transported, and the distance of each layer can be set in advance. The robot 100 can control the movement of the gripper 200 according to the information fed back by the second ranging sensor 7. When the gripper 200 moves directly above the parts 600, it begins to descend slowly, searching for the position layer by layer. According to the distance of the corresponding layer, the gripper 200 is controlled to descend the corresponding distance until it approaches the parts 600. The second proximity switch 6 generates a signal that the parts 600 are there, and then controls the gripper 200 to grasp the parts 600.

[0088] In a specific implementation, the second ranging sensor 7 is a laser ranging sensor. Alternatively, the first ranging sensor 5 can also be an ultrasonic ranging sensor or an infrared ranging sensor.

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

[0090] When the electromagnet is energized, it generates magnetism to magnetically hold the component 600. The electromagnet is not affected by the eccentricity caused by the shape and size deviation of the component 600, and can effectively attract and hold the component 600 in a blank state with a relatively clean surface. This reduces the difficulty of debugging, greatly improves the efficiency of material handling, and has a good adsorption effect and high clamping stability.

[0091] As an alternative implementation, the suction structure 2 may also include a negative pressure suction cup to suction the component 600 by negative pressure.

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

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

[0094] In a specific embodiment, the first drive mechanism 32 can be a three-axis cylinder. The three grippers 31 are detachably connected to the clamping station to facilitate the replacement of different grippers 31 to grip different parts 600. The three grippers 31 are evenly distributed, and the clamping angle between any two adjacent grippers 31 is 120°.

[0095] According to an embodiment of the present invention, in another aspect, a handling system is also provided, including a robot 100 and the aforementioned gripper 200. The gripper 200 is connected to the robot 100 via a connecting seat 1.

[0096] In one embodiment, the handling system further includes a positioning device 300, which includes a support base 301, a positioning disk 302, and two first positioning stops 303. The positioning disk 302 is inclinedly connected to the top of the support base 301. The two first positioning stops 303 are connected to the top surface of the positioning disk 302 and are spaced apart in the horizontal direction. The distance between the two first positioning stops 303 is less than the diameter of the component 600 to be handled.

[0097] When the positioning device 300 switches from holding the component 600 in the suction structure 2 to holding the component 600 in the clamping structure 3, it can perform secondary positioning of the component 600 to facilitate positioning and clamping by the clamping structure 3. The positioning disk 302 is tilted. After the suction structure 2 stops suction and clamps and places the component 600 on the positioning disk 302, the component 600 slides downward along the tilt angle of the positioning disk 302 under the action of gravity until it is blocked by the two first positioning stops 303, thus achieving secondary positioning of the component 600.

[0098] In a specific implementation, the tilt angle between the positioning disk 302 and the horizontal plane can be 45°, which can ensure that the component 600 can slide down smoothly without the component 600 falling off during the downward sliding process due to excessive tilt angle.

[0099] In one embodiment, the positioning device 300 further includes a second positioning stop 304 connected to the top surface of the positioning disk 302. The second positioning stop 304 has one set or at least two sets spaced apart in the vertical direction. Each set of the second positioning stop 304 includes two sets spaced apart in the horizontal direction. The second positioning stop 304 is disposed above the first positioning stop 303. The distance between the two second positioning stop 304 in each set is greater than the distance between the two first positioning stop 303. The distance between the upper set of second positioning stop 304 is greater than the distance between the lower set of second positioning stop 304.

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

[0101] In one embodiment, the positioning device 300 further includes a ball bearing 305 rotatably connected to the top surface of the positioning disk 302, and at least a portion of the ball bearing 305 protrudes from the top surface of the positioning disk 302; there are at least three balls bearing 305, and at least one ball bearing 305 is disposed between two first positioning stops 303.

[0102] As the component 600 slides downward, it rolls in conjunction with the ball 305, which reduces the friction between the component 600 and the positioning disk 302, reduces sliding noise, and also separates the top surfaces of the component 600 and the positioning disk 302, making it easier for the gripper 31 of the clamping structure 3 to extend between the positioning disk 302 and the component 600 for clamping.

[0103] In a further embodiment, the positioning device 300 further includes protruding posts connected to the top surface of the positioning disk 302, and ball bearings 305 rotatably connected to the top of the protruding posts, the number of protruding posts matching the number of ball bearings 305.

[0104] The protruding post simplifies the structure of the positioning plate 302, facilitates the connection of the ball bearings 305, and also creates a larger gap between the component 600 and the top surface of the positioning plate 302, so as to accommodate grippers 31 of different sizes that can extend 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 the vertical direction, and each row has at least three balls 305 spaced apart in the horizontal direction.

[0106] In a further embodiment, the positioning device 300 is also provided with an air blowing structure 700, which includes an air blowing port that can blow air onto the component 600 on the positioning plate 302 to clean the component 600. The air blowing structure 700 includes an air pump, an air blowing pipe, and a solenoid valve 800 disposed 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 an air blowing port. The solenoid valve 800 can control the on / off connection between the air blowing pipe and the air outlet of the air pump. The positioning device 300 is also provided with a positioning detection structure 408, which is fixedly connected to the support plate 402 and disposed at the opening 403.

[0107] In one embodiment, the handling system further includes a flipping device 400, which includes a flipping bracket 401 and a support plate 402. The support plate 402 is connected to the top of the flipping bracket 401. The top surface of the support plate 402 is provided with a support area for supporting the component 600 to be flipped. The support area is provided with a clearance through hole. The support plate 402 is also provided with an opening 403 extending from the clearance 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 clearance through hole and drives the component 600 to rise through the clearance through hole and the opening 403.

[0108] The flipping device 400 is designed to flip and clamp the component 600 after one side of the component 600 has been machined, facilitating the machining of the other side. The flipping bracket 401 supports the support plate 402 at a suitable height, allowing the clamp 200 to clamp the component 600 from the bottom of the support plate 402. The clearance through hole provides operating space for the clamp 200 to clamp the component 600, and the opening 403 allows the clamp 200 to rise after clamping the component 600 to disengage from the flipping device 400, completing the flipping process.

[0109] In one embodiment, the flipping device 400 further includes a second drive mechanism 404 and two third positioning stops 405; the second drive mechanism 404 is fixedly connected to the support plate 402, is disposed opposite to the opening 403, and is disposed at both ends of the clearance through hole; the two third positioning stops 405 are disposed on both sides of the opening 403.

[0110] The second drive mechanism 404 can drive the component 600 to move towards the opening 403. The two third positioning stops 405 cooperate with the second drive mechanism 404 to position the component 600 so that the clamp 200 can clamp the component 600.

[0111] In one embodiment, the clearance through hole includes a first clearance hole 406 and a second clearance hole 407. The first clearance hole 406 is a rectangular hole, and the opening 403 is located at one end of the length direction of the first clearance hole 406. The width of the first clearance hole 406 is smaller than the diameter of the component 600. The clamping structure 3 includes three jaws 31 evenly distributed circumferentially. The second clearance hole 407 communicates with the first clearance hole 406. There are two second clearance holes 407. The clamp between the two second clearance holes 407 is consistent with the clamp between two adjacent jaws 31.

[0112] The three grippers 31 can clamp and fix the component 600 from the bottom of the support plate 402 through the first clearance hole 406 and the two second clearance holes 407 respectively, and clamp the component 600 from the first clearance hole 406, the second clearance hole 407 and the opening 403 to the top of the support plate 402, so as to realize the flipping clamping of the component 600.

[0113] In one embodiment, a conveyor line 500 is also included, on which the robot 100 is movably connected to move the parts 600 held on the fixture 200 between the blank table, the positioning device 300, the flipping device 400, and the various processing stations.

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

Claims

1. A handling system, characterized in that, include: The fixture includes a connecting seat (1) for connecting to a robot (100); the connecting seat (1) is provided with a suction station and a clamping station at intervals; a suction structure (2) is connected to the suction station; a clamping structure (3) is connected to the clamping station, the clamping structure (3) includes at least three grippers (31), the at least three grippers (31) being circumferentially spaced around the clamping station; A flipping device (400) includes: a flipping bracket (401). A support plate (402) is connected to the top of the flipping bracket (401). The top surface of the support plate (402) is provided with a support area for supporting the component (600) to be flipped. The support area is provided with a clearance through hole. The support plate (402) is also provided with an opening (403) extending from the clearance 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 clearance through hole and drives the component (600) to rise through the clearance through hole and the opening (403). The clearance through hole includes a first clearance hole (406) and a second clearance hole (407). The first clearance hole (406) is a rectangular hole. The opening (403) is located at one end of the length direction of the first clearance hole (406). The width of 06) is less than the diameter of the component (600); the clamping structure (3) includes three jaws (31) evenly distributed in the circumferential direction, the second clearance hole (407) is connected to the first clearance hole (406), there are two second clearance holes (407), the included angle between the two second clearance holes (407) is the same as the included angle between the two adjacent jaws (31); the second drive mechanism (404) is fixedly connected to the support plate (402), is arranged opposite to the opening (403), and is respectively arranged at both ends of the clearance through hole with the opening (403); two third positioning stops (405) are respectively arranged on both sides of the opening (403); the second drive mechanism (404) drives the component (600) to move towards the opening (403), and the two third positioning stops (405) cooperate with the second drive mechanism (404).

2. The handling system according to claim 1, characterized in that, The connector (1) includes: 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).

3. The handling system according to claim 2, characterized in that, The connecting bracket (11) includes: The first connecting plate (112) is connected to the first connecting flange (12) on one side. The second connecting plate (111) has one end clamped to the other side of the first connecting plate (112), and the second connecting flange (13) is connected to the second connecting plate (111); the other end of the second connecting plate (111) is connected to the third connecting flange (14). The reinforcing plate (113) is connected to both the side of the first connecting plate (112) facing away from the second connecting flange (13) and the side of the second connecting plate (111) facing away from the third connecting flange (14), and the third connecting flange (14) is connected to the reinforcing plate (113).

4. The handling system according to claim 1, characterized in that, 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); And / or, the clamp (200) further includes a second proximity switch (6) and a second distance sensor (7); the second proximity switch (6) is disposed on the clamping station and located on the side of the clamping structure (3); the second distance sensor (7) is disposed on the clamping station and located on the side of the clamping structure (3); And / or, the suction structure (2) includes an electromagnet chuck; And / or, the clamping structure (3) includes a first drive mechanism (32) and three grippers (31); one end of the first drive mechanism (32) is connected to the clamping station, and the other end is provided with three clamping mounting positions (321), and the three grippers (31) are respectively connected to the three clamping mounting positions (321).

5. The handling system according to any one of claims 1 to 4, characterized in that, The transport system further includes a positioning device (300), the positioning device (300) comprising: Support base (301); The positioning plate (302) is obliquely connected to the top of the support base (301); Two first positioning stops (303) are connected to the top surface of the positioning plate (302) and are spaced apart in the horizontal direction. The distance between the two first positioning stops (303) is less than the diameter of the part (600) to be transported.

6. The handling system according to claim 5, characterized in that, The positioning device (300) further includes a second positioning stop (304) connected to the top surface of the positioning disk (302). The second positioning stop (304) has one set or at least two sets distributed at intervals in the vertical direction. Each set of the second positioning stop (304) includes two sets distributed at intervals in the horizontal direction. The second positioning stop (304) is disposed above the first positioning stop (303). The distance between the two second positioning stops (304) in each set is greater than the distance between the two first positioning stops (303). The distance between the upper set of second positioning stops (304) is greater than the distance between the lower set of second positioning stops (304). And / or, the positioning device (300) further includes a ball (305) rotatably connected to the top surface of the positioning disk (302), and at least a portion of the ball (305) protrudes from the top surface of the positioning disk (302); there are at least three balls (305), and at least one ball (305) is disposed between the two first positioning stops (303).

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