Feeding gripper and feeding robot

Abstract

The invention relates to the technical field of carrying, in particular to a feeding gripper and a feeding robot. The invention discloses a feeding gripper which comprises a connecting piece used for being connected with a robot. The clamping part comprises a first driving piece and a clamping finger assembly, the first driving piece is connected to the connecting piece, the clamping finger assembly is connected with the first driving piece, and the first driving piece is used for driving the clamping finger assembly to be opened and closed so as to grab the blank; and the magnetic attraction part comprises second driving pieces and magnetic pieces, the second driving pieces are arranged on the two sides of the first driving piece, the magnetic pieces are connected with the second driving pieces, and the second driving pieces are used for driving the magnetic pieces to attract the partition plate. Through the arrangement of the connecting piece, the clamping part and the magnetic attraction part, the feeding gripper can be connected to the robot, the clamping part can clamp a blank, the magnetic attraction part can magnetically attract a partition plate, the feeding gripper is compatible with grabbing of the blank and the partition plate, finally, the feeding efficiency can be improved, and the operation intensity can be reduced.

Description

Technical Field

[0001] The present application relates to the field of handling technology, and in particular to a loading gripper and a loading robot. Background Art

[0002] With the development of handling, automated grasping and handling technology has emerged. Automated grasping and handling usually uses grippers, which are widely used in the manufacturing industry.

[0003] In the related art, specialized grippers are usually used to grab and carry various specific workpieces. For example, two types of grippers are needed to carry and grab the blanks and partitions of automobile parts.

[0004] However, the use of specialized grippers to grasp and carry various specific workpieces will result in frequent replacement of grippers, affecting processing efficiency. Summary of the invention

[0005] Based on this, it is necessary to provide a loading gripper and a loading robot to address the problem of using specialized grippers to grasp and carry various specific workpieces, which affects processing efficiency.

[0006] A feeding gripper, the gripper comprising:

[0007] A connecting piece, the connecting piece is used to connect with the robot;

[0008] A gripping part, the gripping part comprising a first driving member and a gripping finger assembly, the first driving member is connected to the connecting member, the gripping finger assembly is connected to the first driving member, and the first driving member is used to drive the gripping finger assembly to open and close to grip the blank;

[0009] The magnetic attraction part includes a second driving member and a magnetic member, the second driving member is arranged on both sides of the first driving member, the magnetic member is connected to the second driving member, and the second driving member is used to drive the magnetic member to attract the partition.

[0010] In one embodiment, the connecting member includes a first connecting plate and a connecting rod, the first connecting plate is connected to an end of the connecting rod, and the connecting rod is used to connect to the robot.

[0011] In one embodiment, the clamping portion further includes a second connecting plate, the second connecting plate is integrally connected to the first driving member, and the second connecting plate is used to be connected to the first connecting plate.

[0012] In one of the embodiments, the center of the clamping portion and the center of the connecting member are spaced apart in the length direction of the connecting member.

[0013] In one embodiment, the clamping portion further includes a limiting member, and a plurality of the limiting members are provided, and the plurality of the limiting members are distributed on the first connecting plate.

[0014] In one embodiment, the clamping finger assembly includes a first clamping finger and a second clamping finger, the first clamping finger and the second clamping finger have two clamping surfaces which are relatively parallel and can approach and move away from each other, and the clamping surfaces are provided with toothed structures.

[0015] In one embodiment, a first sliding member is provided on the first clamping finger, a second sliding member is provided on the second clamping finger, the first sliding member and the second sliding member are both connected to the first driving member, and the first sliding member and the second sliding member are staggered in the width direction of the first driving member.

[0016] In one embodiment, the magnetic attraction portion further includes a bracket, and the bracket is used to connect with the first connecting plate and the second driving member.

[0017] In one embodiment, the first driving member is an electric cylinder, and the second driving member is a pneumatic cylinder.

[0018] The present application also provides a loading robot using the above-mentioned loading gripper.

[0019] The above-mentioned feeding gripper and feeding robot, the feeding gripper includes: a connecting piece, the connecting piece is used to connect with the robot. A clamping part, the clamping part includes a first driving part and a clamping finger assembly, the connecting piece is connected to the first driving part, so as to connect the clamping part and the first driving part together, the clamping finger assembly is connected to the first driving part, the first driving part is used to drive the opening and closing of the clamping finger assembly, and the opening and closing of the clamping finger assembly can be used to grab and put down the blank. It also includes a magnetic suction part, the magnetic suction part includes a second driving part and a magnetic part, the second driving part is arranged on both sides of the first driving part, the magnetic part is connected to the second driving part, and the second driving part is used to drive the magnetic part to absorb the partition. Through the arrangement of the above-mentioned connecting piece, the clamping part and the magnetic suction part, the feeding gripper can be connected to the robot, the clamping part can clamp the blank, and the magnetic suction part can magnetically attract the partition, so that the feeding gripper is compatible with the grasping of the blank and the partition, which can ultimately improve the efficiency of feeding and reduce the intensity of work. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 This is a schematic diagram of the overall structure of the loading clamp in one embodiment of the present application.

[0021] Figure 2 This is a front view of a loading clamp in one embodiment of the present application.

[0022] Figure 3 This is a bottom view of the loading clamp in one embodiment of the present application.

[0023] Description of reference numerals:

[0024] 10. Connecting piece; 11. First connecting plate; 12. Connecting rod;

[0025] 20. Clamping part; 21. First driving member; 22. Clamping finger assembly; 221. First clamping finger; 222. Second clamping finger; 23. Second connecting plate; 24. Limiting member;

[0026] 30. Magnetic attraction portion; 31. Second driving member; 32. Magnetic member; 33. Bracket. DETAILED DESCRIPTION

[0027] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present application. However, the present application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present application, so the present application is not limited by the specific embodiments disclosed below.

[0028] In the description of the present application, it should be understood that if the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. appear, the orientation or position relationship indicated by these terms is based on the orientation or position relationship shown in the accompanying drawings, which is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application.

[0029] In addition, if the terms "first" or "second" appear, these terms are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of this application, if the term "plurality" appears, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0030] In this application, unless otherwise clearly specified and limited, if the terms "installed", "connected", "connected", "fixed" and the like appear, these terms should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integrated connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to the specific circumstances.

[0031] In the present application, unless otherwise clearly specified and limited, if there is a description that a first feature is "above" or "below" a second feature, etc., or similar descriptions appear, it may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature being "above", "above" and "above" the second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. The first feature being "below", "below" and "below" the second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0032] It should be noted that if an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be a central element. If an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. If any, the terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used in this application are for illustrative purposes only and do not represent the only implementation method.

[0033] An embodiment of the present application provides a feeding gripper, comprising:

[0034] A connecting member 10, the connecting member 10 is used to connect with the robot;

[0035] The clamping part 20 includes a first driving member 21 and a clamping finger assembly 22. The first driving member 21 is connected to the connecting member 10. The clamping finger assembly 22 is connected to the first driving member 21. The first driving member 21 is used to drive the clamping finger assembly 22 to open and close to grab the blank;

[0036] The magnetic attraction part 30 includes a second driving member 31 and a magnetic member 32. The second driving member 31 is arranged on both sides of the first driving member 21. The magnetic member 32 is connected to the second driving member 31. The second driving member 31 is used to drive the magnetic member 32 to attract the partition.

[0037] See also Figure 1 , Figure 1The overall structural schematic diagram of the feeding gripper in one embodiment of the present application is shown. A feeding gripper provided in one embodiment of the present application comprises: a connecting member 10, and the connecting member 10 is used to connect with a robot. The feeding gripper is connected to the robot using the connecting member 10, thereby designing a feeding robot for feeding work on a workpiece. A clamping part 20, the clamping part 20 comprises a first driving member 21 and a clamping finger assembly 22, the first driving member 21 is connected to the connecting member 10, the clamping finger assembly 22 is connected to the first driving member 21, and the first driving member 21 is used to drive the clamping finger assembly 22 to open and close to grab the blank. The connecting member 10 is connected to the first driving member 21, thereby connecting the clamping part 20 to the first driving member 21. A clamping finger assembly 22 is also provided, and the clamping finger assembly 22 is connected to the first driving member 21, and the first driving member 21 is used to drive the opening and closing of the clamping finger assembly 22, and the opening and closing of the clamping finger assembly 22 can be used to grab and put down the blank. The magnetic attraction part 30 is also included. The magnetic attraction part 30 includes a second driving member 31 and a magnetic member 32. The second driving member 31 is arranged on both sides of the first driving member 21. The magnetic member 32 is connected to the second driving member 31. The second driving member 31 is used to drive the magnetic member 32 to absorb the partition. Two second driving members 31 are provided, which are respectively arranged on both sides of the first driving member 21. The magnetic member 32 is connected to the second driving member 31. The second driving member 31 can drive the magnetic member 32 to move along the height direction of the second driving member 31, so as to drive the magnetic member 32 to take the partition out of the cage.

[0038] By setting the above-mentioned connecting piece 10, the clamping part 20 and the magnetic part 30, the loading gripper can be connected to the robot, the clamping part 20 can clamp the blank, and the magnetic part 30 can magnetically attract the partition, so that the loading gripper is compatible with the grasping of the blank and the partition, which can ultimately improve the efficiency of loading and reduce the intensity of work.

[0039] In one embodiment of the present application, the connecting member 10 includes a first connecting plate 11 and a connecting rod 12. The first connecting plate 11 is connected to the end of the connecting rod 12, and the connecting rod 12 is used to connect to the robot. The first connecting plate 11 is a plate-like structure, and a plurality of bolt holes are provided on the first connecting plate 11. Similarly, a plurality of bolt holes are also provided at the end of the connecting rod 12, and the connecting plate and the connecting rod 12 can be connected together by bolts.

[0040] Specifically, the clamping part 20 further includes a second connecting plate 23, which is integrally connected to the first driving member 21, and the second connecting plate 23 is used to connect to the first connecting plate 11. The clamping part 20 is also provided with a second connecting plate 23, which is connected to the first driving member 21, and the specific connection method can be welding or screw connection, so that a mounting member convenient for connection is set on the first driving member 21. A plurality of bolt holes are provided on the first connecting plate 11, and a plurality of bolt holes are also provided at the corresponding positions on the second connecting plate 23, and the first connecting plate 11 and the second connecting plate 23 are connected together by bolts. In this way, the clamping part 20 and the connecting member 10 can be quickly connected and replaced. When the clamping part 20 needs to be separated from the connecting member 10, the clamping part 20 can be removed by removing a plurality of bolts. When the clamping part 20 needs to be connected to the connecting member 10, the clamping part 20 can be connected together by bolts.

[0041] In addition, the center of the clamping portion 20 and the center of the connecting member 10 are spaced apart in the length direction of the connecting member 10. If the center of the clamping portion 20 and the center of the connecting member 10 are set in a straight line in the vertical direction, the problem of interference between the edge of the gripper and the workpiece will occur. Therefore, the center of the clamping portion 20 and the center of the connecting member 10 are spaced apart in the length direction of the connecting member 10, that is, the clamping portion 20 is eccentrically set, so as to prevent the edge of the gripper from colliding with the workpiece when the clamping portion 20 clamps the workpiece.

[0042] Also, see Figure 3 , Figure 3 The top view of the feeding clamp in one embodiment of the present application is shown. The clamping part 20 also includes a limit member 24, and a plurality of limit members 24 are provided, and the plurality of limit members 24 are distributed on the first connecting plate 11. In one embodiment of the present application, the clamping part 20 also includes a limit member 24, and a plurality of limit members 24 are provided, and the plurality of limit members 24 are distributed on the first connecting plate 11. Specifically, there are four limit members 24, and the limit members 24 are rod-shaped structures, and the four limit members 24 are respectively arranged at the four corners of the first connecting plate 11. During the operation of the clamping part 20, since the feeding gripper grasps the workpiece by clamping, if the surface of the workpiece is uneven or has concave-convex particles, it is easy for the clamping finger assembly 22 to be in point contact with the workpiece surface instead of surface contact. If the clamping finger assembly 22 is in point contact with the workpiece surface, the workpiece is easy to rotate around the direction of the clamping force, that is, rotate along the length or width direction of the workpiece. By adding a plurality of limit members 24, the top of the limit member 24 is connected to the first connecting plate 11, and the bottom of the limit member 24 abuts against the surface of the workpiece, thereby preventing the workpiece from colliding with the feeding raceway after a large angle rotation.

[0043] Further, the clamping finger assembly 22 includes a first clamping finger 221 and a second clamping finger 222, the first clamping finger 221 and the second clamping finger 222 have two clamping surfaces that are relatively parallel and can be close to and away from each other, and a toothed structure is provided on the clamping surface. The clamping finger assembly 22 includes a first clamping finger 221 and a second clamping finger 222, the first clamping finger 221 and the second clamping finger 222 are respectively arranged on the left and right sides, the first clamping finger 221 and the second clamping finger 222 have two clamping surfaces that are relatively parallel and can be close to and away from each other, and the two clamping surfaces can clamp the workpiece by approaching and moving away from each other. In addition, a toothed structure is provided on the clamping surface, and the toothed structure is provided on both clamping surfaces, and the toothed structure can increase the friction force of the clamping surface and improve the stability of the gripper when clamping the workpiece.

[0044] Furthermore, a first sliding member is provided on the first clamping finger 221, and a second sliding member is provided on the second clamping finger 222. Both the first sliding member and the second sliding member are connected to the first driving member 21, and the first sliding member and the second sliding member are staggered in the width direction of the first driving member 21. By staggering the first sliding member and the second sliding member in the width direction of the first driving member 21, it can be ensured that the clamping surfaces of the first clamping finger 221 and the second clamping finger 222 are centered and coaxial, and the clamping surfaces can fit together, thereby ensuring that the torques applied to the workpieces when clamped are equal, so as to avoid abnormal wear of the first driving member 21.

[0045] See also Figure 1 , Figure 1 The front view of the feeding clamp in one embodiment of the present application is shown. The magnetic attraction portion 30 also includes a bracket, which is used to connect with the first connecting plate 11 and the second driving member 31. The magnetic attraction portion 30 also includes a bracket, which is an L-shaped structure, one end of the bracket is connected to the first connecting plate 11, and the other end of the bracket is used to connect the second driving member 31, so that the first connecting plate 11 and the second driving member 31 are connected together through the setting of the bracket, so that the second driving member 31 is connected to both sides of the first connecting plate 11.

[0046] Specifically, the first driving member 21 is an electric cylinder, and the second driving member 31 is an air cylinder. The electric cylinder is connected to the clamping finger assembly 22, and the electric cylinder drives the clamping finger assembly 22 to approach or move away, so that the clamping finger assembly 22 can clamp the workpiece. The air cylinder is connected to the magnetic member 32, and the air cylinder drives the magnetic member 32 to approach the workpiece, so that the magnetic member 32 can magnetically attract the workpiece.

[0047] The present disclosure also provides a feeding robot using the above-mentioned feeding gripper. The feeding robot can use a feeding gripper to grab or suck a specific workpiece.

[0048] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0049] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be construed as limiting the scope of the patent application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent application shall be subject to the attached claims.

Claims

1. A feeding gripper, characterized in that: The gripper comprises: A connecting piece (10), the connecting piece (10) being used for connecting to a robot; A gripping portion (20), the gripping portion (20) comprising a first driving member (21) and a gripping finger assembly (22), the first driving member (21) being connected to the connecting member (10), the gripping finger assembly (22) being connected to the first driving member (21), the first driving member (21) being used to drive the gripping finger assembly (22) to open and close so as to grip the blank; A magnetic attraction portion (30), the magnetic attraction portion (30) comprising a second driving member (31) and a magnetic member (32), the second driving member (31) being arranged on both sides of the first driving member (21), the magnetic member (32) being connected to the second driving member (31), and the second driving member (31) being used to drive the magnetic member (32) to attract the partition.

2. The loading gripper according to claim 1, characterized in that: The connecting member (10) comprises a first connecting plate (11) and a connecting rod (12); the first connecting plate (11) is connected to an end of the connecting rod (12); and the connecting rod (12) is used to be connected to a robot.

3. The loading gripper according to claim 2, characterized in that: The clamping portion (20) further comprises a second connecting plate (23), the second connecting plate (23) being integrally connected to the first driving member (21), and the second connecting plate (23) being used to be connected to the first connecting plate (11).

4. The loading gripper according to claim 1, characterized in that: The center of the clamping portion (20) and the center of the connecting piece (10) are arranged at an interval in the length direction of the connecting piece (10).

5. The loading gripper according to claim 2, characterized in that: The clamping portion (20) further comprises a limiting member (24), wherein a plurality of the limiting members (24) are provided, and the plurality of limiting members (24) are distributed on the first connecting plate (11).

6. The loading gripper according to claim 1, characterized in that: The clamping finger assembly (22) comprises a first clamping finger (221) and a second clamping finger (222), wherein the first clamping finger (221) and the second clamping finger (222) have two clamping surfaces which are arranged relatively parallel and can approach and move away from each other, and the clamping surfaces are provided with toothed structures.

7. The loading gripper according to claim 6, characterized in that: A first sliding member is provided on the first clamping finger (221), and a second sliding member is provided on the second clamping finger (222); the first sliding member and the second sliding member are both connected to the first driving member (21), and the first sliding member and the second sliding member are staggered in a width direction of the first driving member (21).

8. The loading gripper according to claim 2, characterized in that: The magnetic attraction portion (30) further comprises a bracket (33), wherein the bracket (33) is used to be connected to the first connecting plate (11) and the second driving member (31).

9. The loading gripper according to claim 1, characterized in that: The first driving member (21) is an electric cylinder, and the second driving member (31) is a pneumatic cylinder.

10. A feeding robot, characterized in that: Use the loading gripper according to any one of claims 1 to 9.

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