Feeding gripper and feeding robot

Abstract

This application relates to the field of material handling technology, and in particular to a loading gripper and a loading robot. A loading gripper includes: a connector for connecting to a robot; a gripping part including a first driving member and a gripping finger assembly, the first driving member being connected to the connector and the gripping finger assembly being connected to the first driving member, the first driving member driving the gripping finger assembly to open and close to grip a blank; and a magnetic suction part including a second driving member and a magnetic member, the second driving member being disposed on both sides of the first driving member and the magnetic member being connected to the second driving member, the second driving member driving the magnetic member to attract a partition. Through the above-mentioned connector, gripping part, and magnetic suction part, the loading gripper can be connected to a robot, the gripping part can grip the blank, and the magnetic suction part can magnetically attract a partition, making the loading gripper compatible with gripping both blanks and partitions, ultimately improving loading efficiency and reducing labor intensity.

Description

Technical Field

[0001] This application relates to the field of material handling technology, and in particular to a material handling gripper and a material handling robot. Background Technology

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

[0003] In related technologies, specialized grippers are typically used to grasp and move various specific workpieces. For example, two types of grippers are needed to move and grasp blanks and partitions in automotive parts.

[0004] However, using specialized grippers to grasp and move various specific workpieces can lead to frequent gripper changes, affecting processing efficiency. Summary of the Invention

[0005] Therefore, it is necessary to provide a loading gripper and loading robot to address the problem that using specialized grippers to grasp and transport various specific workpieces affects processing efficiency.

[0006] A feeding gripper, the gripper comprising:

[0007] A connector for connecting to a robot;

[0008] The gripping part includes a first driving member and a gripping finger assembly. The first driving member is connected to the connecting member, and the gripping finger assembly is connected to the first driving member. 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 disposed on both sides of the first driving member, and the magnetic member is connected to the second driving member. The second driving member is used to drive the magnetic member to attract the partition.

[0010] In one embodiment, the connector includes a first connecting plate and a connecting rod, the first connecting plate being connected to an end of the connecting rod, the connecting rod being used for connection with a robot.

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

[0012] In one embodiment, the center of the clamping portion and the center of the connector are spaced apart along the length of the connector.

[0013] In one embodiment, the clamping part further includes limiting members, and multiple limiting members are provided, with the multiple limiting members distributed on the first connecting plate.

[0014] In one embodiment, the finger clamping assembly includes a first finger clamping and a second finger clamping, the first finger clamping and the second finger clamping have two clamping surfaces that are arranged relatively parallel to each other and can move closer and further apart, and the clamping surfaces are provided with toothed structures.

[0015] In one embodiment, the first finger is provided with a first slider and the second finger is provided with a second slider. Both the first slider and the second slider are connected to the first driving member, and the first slider and the second slider are offset from each other in the width direction of the first driving member.

[0016] In one embodiment, the magnetic attraction part further includes a bracket for connecting to the first connecting plate and the second driving member.

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

[0018] This application also provides a loading robot that uses the loading gripper described above.

[0019] The aforementioned loading gripper and loading robot include: a connector for connecting to the robot; a gripping part including a first drive component and a gripper finger assembly; the connector connecting to the first drive component, thus linking the gripping part and the gripper finger assembly; the first drive component driving the opening and closing of the gripper finger assembly, which can be used to grasp and release blanks; and a magnetic suction part including a second drive component and a magnetic component; the second drive component being disposed on both sides of the first drive component; and the magnetic component connecting to the second drive component; the second drive component driving the magnetic component to attract partitions. Through the aforementioned connector, gripping part, and magnetic suction part, the loading gripper can be connected to the robot. The gripping part can hold blanks, while the magnetic suction part can magnetically attract partitions, making the loading gripper compatible with grasping both blanks and partitions, ultimately improving loading efficiency and reducing labor intensity. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the overall structure of the feeding gripper in one embodiment of this application.

[0021] Figure 2 This is a front view of the feeding gripper in one embodiment of this application.

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

[0023] Explanation of reference numerals in the attached figures:

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

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

[0026] 30. Magnetic suction part; 31. Second driving component; 32. Magnetic component; 33. Bracket. Detailed Implementation

[0027] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the specific embodiments of this application are described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of this application. However, this application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this application. Therefore, this application is not limited to the specific embodiments disclosed below.

[0028] In the description of this application, it should be understood that if terms such as "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" appear, these terms indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0029] Furthermore, where the terms "first" and "second" appear, these terms are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined with "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, where the term "multiple" appears, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0030] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0031] In this application, unless otherwise expressly specified and limited, the use of descriptions such as "above" or "below" the second feature indicates that the first and second features are in direct contact or indirect contact via an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. Similarly, "below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0032] It should be noted that if an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. If an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. If so, 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 possible implementation.

[0033] One embodiment of this application provides a feeding gripper, comprising:

[0034] Connector 10, used for connecting to the robot;

[0035] The gripping part 20 includes a first driving member 21 and a gripping finger assembly 22. The first driving member 21 is connected to the connector 10, and the gripping finger assembly 22 is connected to the first driving member 21. The first driving member 21 is used to drive the gripping finger assembly 22 to open and close to grip the blank.

[0036] The magnetic suction part 30 includes a second driving member 31 and a magnetic member 32. The second driving member 31 is disposed on both sides of the first driving member 21, and 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 Figure 1 , Figure 1A schematic diagram of the overall structure of a loading gripper according to an embodiment of this application is shown. An embodiment of this application provides a loading gripper, including: a connector 10 for connecting to a robot. The connector 10 is used to connect the loading gripper to the robot, thereby designing a loading robot for loading workpieces. A gripping part 20 includes a first drive member 21 and a gripping finger assembly 22. The first drive member 21 is connected to the connector 10, and the gripping finger assembly 22 is connected to the first drive member 21. The first drive member 21 is used to drive the gripping finger assembly 22 to open and close to grip the workpiece. The connector 10 is connected to the first drive member 21, thereby connecting the gripping part 20 to the first drive member 21. A gripping finger assembly 22 is also provided, connected to the first drive member 21. The first drive member 21 is used to drive the opening and closing of the gripping finger assembly 22, which can be used to grip and release the workpiece. It also includes a magnetic suction unit 30, which includes a second driving member 31 and a magnetic member 32. The second driving member 31 is disposed on both sides of the first driving member 21, and 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 pick up the partition. There are two second driving members 31, which are respectively disposed on both sides of the first driving member 21. The magnetic member 32 is connected to the second driving member 31, and the second driving member 31 can drive the magnetic member 32 to move along the height direction of the second driving member 31, thereby enabling the magnetic member 32 to remove the partition from the material cage.

[0038] With the above-mentioned connector 10, gripping part 20 and magnetic suction part 30, the loading gripper can be connected to the robot. The gripping part 20 can grip the blank, and the magnetic suction part 30 can magnetically suction the partition, so that the loading gripper can grip both the blank and the partition, which can ultimately improve the loading efficiency and reduce the labor intensity.

[0039] In one embodiment of this application, the connector 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 with the robot. The first connecting plate 11 has a plate-like structure and is provided with a plurality of bolt holes. Similarly, the end of the connecting rod 12 is also provided with a plurality of bolt holes. The connecting plate and the connecting rod 12 can be connected together by bolts.

[0040] Specifically, the clamping part 20 also includes a second connecting plate 23, which is integrally connected to the first driving member 21 and is used to connect to the first connecting plate 11. The clamping part 20 also has a second connecting plate 23, which is connected to the first driving member 21. The connection can be achieved by welding or screwing, thus providing a convenient mounting component on the first driving member 21. The first connecting plate 11 has multiple bolt holes, and the corresponding positions on the second connecting plate 23 also have multiple bolt holes, allowing the first connecting plate 11 and the second connecting plate 23 to be connected together using bolts. This configuration allows for quick connection and replacement of the clamping part 20 and the connecting member 10. When it is necessary to separate the clamping part 20 from the connecting member 10, the clamping part 20 can be removed by unscrewing multiple bolts. When it is necessary to connect the clamping part 20 to the connecting member 10, bolts can be used to connect the clamping part 20 to the connecting member 10.

[0041] Furthermore, the center of the gripping part 20 and the center of the connecting member 10 are spaced apart along the length of the connecting member 10. If the center of the gripping part 20 and the center of the connecting member 10 were aligned vertically, interference would occur between the edge of the gripper and the workpiece. Therefore, by spaced apart along the length of the connecting member 10, the gripping part 20 is offset, preventing the edge of the gripper from colliding with the workpiece when gripping it.

[0042] Moreover, see Figure 3 , Figure 3 A bottom view of the loading gripper according to one embodiment of this application is shown. The gripping part 20 also includes limiting members 24, and multiple limiting members 24 are provided, distributed on the first connecting plate 11. In one embodiment of this application, the gripping part 20 also includes limiting members 24, and multiple limiting members 24 are provided, distributed on the first connecting plate 11. Specifically, there are four limiting members 24, and the limiting members 24 are rod-shaped structures, with the four limiting members 24 respectively located at the four corners of the first connecting plate 11. During the operation of the gripping part 20, since the loading gripper grasps the workpiece by clamping, if the surface of the workpiece is uneven or has bumps, the gripper finger assembly 22 is prone to point contact with the workpiece surface instead of surface contact. If point contact is formed between the gripper finger assembly 22 and the workpiece surface, the workpiece is prone to rotate around the direction of the clamping force, that is, rotate along the length or width direction of the workpiece. By adding multiple limiting members 24, the top of the limiting member 24 is connected to the first connecting plate 11, and the bottom of the limiting member 24 abuts against the surface of the workpiece, thereby preventing the workpiece from colliding with the feeding roller after large-angle rotation.

[0043] Furthermore, the gripper assembly 22 includes a first gripper 221 and a second gripper 222. The first gripper 221 and the second gripper 222 have two relatively parallel gripping surfaces that can move closer together and further apart. The gripping surfaces are provided with toothed structures. The gripper assembly 22 includes a first gripper 221 and a second gripper 222, which are respectively disposed on the left and right sides. The first gripper 221 and the second gripper 222 have two relatively parallel gripping surfaces that can move closer together and further apart. The mutual approach and distance of the two gripping surfaces enables the gripping of the workpiece. Furthermore, the toothed structures on both gripping surfaces increase the frictional force of the gripping surfaces, improving the stability of the gripper when gripping the workpiece.

[0044] Furthermore, the first gripper 221 is provided with a first sliding member, and the second gripper 222 is provided with a second sliding member. Both the first and second sliding members are connected to the first driving member 21, and the first and second sliding members are staggered in the width direction of the first driving member 21. By staggering the first and second sliding members in the width direction of the first driving member 21, it can be ensured that the clamping surfaces of the first gripper 221 and the second gripper 222 are centered and coaxial, and that the clamping surfaces can fit together, thereby ensuring that the torque applied when the workpiece is clamped is equal, thus avoiding abnormal wear of the first driving member 21.

[0045] See Figure 1 , Figure 1 A front view of the loading gripper according to an embodiment of this application is shown. The magnetic suction part 30 also includes a bracket for connecting to the first connecting plate 11 and the second driving member 31. The magnetic suction part 30 also includes a bracket with 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 to the second driving member 31. Thus, the first connecting plate 11 and the second driving member 31 are connected together by 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 component 21 is an electric cylinder, and the second driving component 31 is a pneumatic cylinder. The electric cylinder is connected to the gripper assembly 22, and drives the gripper assembly 22 to move closer to or away from the workpiece, thereby enabling the gripper assembly 22 to grip the workpiece. The pneumatic cylinder is connected to the magnetic component 32, and drives the magnetic component 32 to move closer to the workpiece, thereby enabling the magnetic component 32 to magnetically attract the workpiece.

[0047] This disclosure also provides a loading robot that uses the loading gripper described above. The loading robot can use a loading gripper to grasp or pick up specific workpieces.

[0048] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above 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 embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A feeding gripper, characterized in that, The claw includes: A connector (10) is used to connect with a robot. The connector (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 with the robot. The gripping part (20) includes a first driving member (21) and a gripping finger assembly (22). The first driving member (21) is connected to the connecting member (10), and the gripping finger assembly (22) is connected to the first driving member (21). The first driving member (21) is used to drive the gripping finger assembly (22) to open and close to grip the blank. The center of the gripping part (20) and the center of the connecting member (10) are spaced apart in the length direction of the connecting member (10). The gripping part (20) also includes a limiting member (24). Multiple limiting members (24) are provided, and multiple limiting members (24) are distributed on the first connecting plate (11). The magnetic suction part (30) includes a second driving member (31) and a magnetic member (32). The second driving member (31) is disposed 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.

2. The feeding gripper according to claim 1, characterized in that, The clamping part (20) further includes a second connecting plate (23), which is integrally connected to the first driving member (21) and is used to connect to the first connecting plate (11).

3. The feeding gripper according to claim 1, characterized in that, The finger clamping assembly (22) includes a first finger clamping (221) and a second finger clamping (222). The first finger clamping (221) and the second finger clamping (222) have two clamping surfaces that are arranged relatively parallel to each other and can move closer and further apart. The clamping surfaces are provided with toothed structures.

4. The feeding gripper according to claim 3, characterized in that, The first finger (221) is provided with a first slider, and the second finger (222) is provided with a second slider. Both the first slider and the second slider are connected to the first drive member (21), and the first slider and the second slider are staggered in the width direction of the first drive member (21).

5. The feeding gripper according to claim 1, characterized in that, The magnetic suction part (30) also includes a bracket (33) for connecting to the first connecting plate (11) and the second driving member (31).

6. The feeding gripper according to claim 1, characterized in that, The first driving component (21) is an electric cylinder, and the second driving component (31) is a pneumatic cylinder.

7. A loading robot, characterized in that, Use the feeding gripper according to any one of claims 1 to 6.

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