Tray gripper hand

Abstract

The application provides a tray clamping jaw hand, which comprises a fixed side plate, an electric clamping jaw, a left clamping part, a right clamping part, a left front limiting claw, a left rear limiting claw, a right front limiting claw, a right rear limiting claw, a left front camshaft, a left rear camshaft, a right front camshaft, a right rear camshaft, a first left transmission part, a first right transmission part, a second left transmission part and a second right transmission part. The electric clamping jaw is driven by a single power source, and the electric clamping jaw only provides direct clamping positioning driving in the X direction. Through four camshafts and four transmission parts, linkage clamping movement in the Y direction is simultaneously realized, positioning and clamping of the tray in the X and Y directions are realized, a clamping groove is designed on the jaw hand, the tray can be prevented from falling in the Z direction, and therefore the clamping stability and reliability of the tray in the three-degree-of-freedom space are realized. The mechanical structure is simple, the material cost is low, and the assembly of parts is convenient.

Description

Technical Field

[0001] This invention belongs to the field of automated chip processing technology, and relates to a material tray gripper, and more particularly to a gripper for gripping chip packaging material trays. Background Technology

[0002] In the intelligent packaging line inspection equipment and BurnIn equipment for chip processing, it is necessary to design grippers to grasp the packaging trays, and the size and shape of the grippers need to be modified according to the different sizes of the trays.

[0003] Chinese patent document CN210336007U discloses a tray gripper, including a fixed base, a left gripper and a right gripper hinged to the fixed base, a linkage mechanism for driving the opening and closing of the left and right grippers, and a linear drive module fixedly connected to the fixed base. The linkage mechanism consists of a drive block, a first link and a second link hinged to the left and right ends of the drive block. The first link is hinged to the end of the left gripper, and the second link is hinged to the end of the right gripper. The power output end of the linear drive module is fixedly connected to the drive block. The fixed base is provided with a sliding groove, and a slider matching the sliding groove is fixedly connected to the drive block. The slider and the sliding groove are in sliding engagement. The fixed base of this tray gripper is provided with a sliding groove that is in sliding engagement with the drive block, which can improve the motion stability of the drive block, thereby further improving the opening and closing stability of the gripper. The structure of the tray gripper in this patent document mainly requires only one power source. By using a slider-linkage mechanism, the power is divided into two parts, which are distributed to the left and right fingers. The left and right fingers are respectively made into tray limiting structures, thereby achieving stable gripping of the tray. However, the material tray gripper in this patent document uses a lot of parts, and the assembly and coordination between them is complicated, resulting in higher costs and longer installation time.

[0004] Chinese patent document CN223073410U discloses a rapid sorting device for a logistics robot gripper, belonging to the field of sorting device technology. It includes a base, a clamping assembly on the lower surface of the base, and a support assembly inside the base. In this patent document, by incorporating the clamping assembly, when sorting express parcels, the robot gripper is moved to the ground and makes contact. At this time, the drive motor on the base is activated, causing the worm gear to rotate. The spring sleeve, compressed by the object's surface, compresses the telescopic spring on the fixed rod. Through contact with the object's surface and the uncompressed spring sleeve, the object is clamped. This effectively allows the gripper to handle express parcels with different surface shapes during sorting, avoiding situations where express parcels with irregular outer surface shapes cannot be properly gripped and sorted, thus improving the gripper's sorting flexibility and efficiency. The gripper-based rapid sorting device in this patent document utilizes a drive motor to rotate a worm gear. A spring sleeve, compressed by the surface of an object, presses against a telescopic spring on a fixed rod. The object is gripped through contact with the surface and the uncompressed spring sleeve, effectively enabling the gripper to handle express packages with varying surface shapes, thus improving sorting flexibility and efficiency. However, the gripping mechanism in this patent document is relatively complex, the worm gear and other transmission mechanisms are costly, the stability of the spring-assisted compression is not good, and for heavy objects, there is a possibility of material slippage. Furthermore, the spring-grip positioning accuracy is low, and the object's position is prone to shifting.

[0005] Therefore, it is necessary to design a material tray gripper with a simple mechanical structure and transmission mechanism, low mechanical parts processing cost, and easy assembly, so as to achieve stable and accurate clamping of the material tray and prevent the material tray from loosening during the transfer process. Summary of the Invention

[0006] To address the shortcomings of existing technologies, the present invention aims to provide a material tray gripper.

[0007] To achieve the above objectives, the solution adopted by the present invention is as follows: This invention provides a tray gripper, comprising: The fixed side plate is arranged parallel to the plane of the material-grabbing tray to be clamped; The electric gripper is fixed on the side of the fixed side plate facing the material to be gripped, and includes two gripper fingers that can move simultaneously in opposite directions or in the same direction in the X direction under the action of a drive. The left and right clamping parts are symmetrically arranged on the left and right sides of the electric gripper, respectively. As the fingers of the two grippers move, they can make simultaneous or opposite linear movements in the X direction on the side of the fixed side plate facing the material to be clamped, so as to clamp or release the material to be clamped in the X direction. The left limiting claw assembly and the right limiting claw assembly are symmetrically arranged on the left and right sides of the electric gripper, and are located inside the left clamping member and the right clamping member, respectively. As the left clamping member and the right clamping member move in opposite directions in the X direction, the left limiting claw assembly and the right limiting claw assembly can move in opposite directions in the Y direction on the side of the fixed side plate facing the material to be clamped, so as to achieve clamping or releasing of the material to be clamped in the Y direction. The first left transmission component is used for transmission between the electric gripper and the left clamping component; The first right transmission component is used for transmission between the electric gripper and the right clamping component; The second left transmission component is used for transmission between the left clamping component and the left limiting claw assembly; and The second right transmission component is used for transmission between the right clamping component and the right limiting claw assembly.

[0008] Preferably, the electric gripper further includes a gripper body, a drive control device located inside the gripper body, and a cable extending from one side of the gripper body. A groove extending in the X direction is provided on the top of the gripper body. The two gripper fingers can perform simultaneous, opposite, or linear movements in the groove by the drive action of the drive control device. The cable is connected to the drive control device to provide power to the electric gripper. The drive control device is connected to the gripper fingers to drive the gripper fingers to perform simultaneous, opposite, or linear movements in the groove.

[0009] Preferably, the left clamping member includes a left fixing plate parallel to the fixed side plate and a left clamping plate perpendicular to the left fixing plate and extending toward the material tray to be clamped, the left clamping plate being located at the left end of the left fixing plate; optionally, the right clamping member includes a right fixing plate parallel to the fixed side plate and a right clamping plate perpendicular to the right fixing plate and extending toward the material tray to be clamped, the right clamping plate being located at the right end of the right fixing plate; optionally, during the simultaneous opposite or reciprocating linear movements of the left clamping member and the right clamping member in the X direction, the left fixing plate of the left clamping member and the right fixing plate of the right clamping member perform linear movements parallel to the fixed side plate in the X direction, and the left clamping plate of the left clamping member and the right clamping plate of the right clamping member perform clamping or releasing actions on the material tray to be clamped in the X direction.

[0010] Preferably, the left clamping member further includes a first left fixing part for connecting with the first left transmission member and a second left fixing part for connecting with the second left transmission member. Both the first and second left fixing parts are located on the ends of the left fixing plate of the left clamping member extending towards the electric gripper. Optionally, the left clamping member further includes a left slider fixed to the back of the left fixing plate. A left linear groove extending in the X direction is provided on the fixing side plate. The left slider of the left clamping member can slide within this left linear groove, allowing the left clamping member to perform simultaneous, opposite, or reciprocating linear movements in the X direction on the side of the fixing side plate facing the material to be clamped. Optionally, a left fixing groove is provided on the back of the left fixing plate of the left clamping member, and the left slider is fixed within this left fixing groove. Optionally, a left protrusion extending along the entire X direction is provided on the back of the left slider for engaging with the left linear groove on the fixing side plate. Optionally, the right clamping member further includes a right first fixing part for connecting with the first right transmission member and a right second fixing part for connecting with the second left transmission member. The left first fixing part and the left second fixing part are both located on the end of the left fixing plate of the left clamping member extending towards the electric gripper. Optionally, the right clamping member further includes a right slider fixed to the back of the right fixing plate. A left linear groove extending in the X direction is provided on the fixing side plate. The left slider of the left clamping member can slide in the left linear groove so that the left clamping member can make simultaneous or opposite linear movements in the X direction on the side of the fixing side plate facing the material to be clamped. Optionally, a left fixing groove is provided on the back of the left fixing plate of the left clamping member, and the left slider is fixed in the left fixing groove. Optionally, a right protrusion extending along the entire length in the X direction is provided on the back of the right slider for cooperating with the right linear groove on the fixing side plate.

[0011] Preferably, a left slot extending in the Y direction is provided on the extended end of the left clamping plate of the left clamping member, and a right slot extending in the Y direction is provided on the extended end of the right clamping plate of the right clamping member. When the left clamping member and the right clamping member perform a clamping action, the material to be clamped is locked in the left slot of the left clamping member and the right slot of the right clamping member to prevent the material to be clamped from falling in the Z direction. Optionally, a left through-beam optical fiber and a right through-beam optical fiber are respectively provided on the extended end of the left clamping plate of the left clamping member and the extended end of the right clamping plate of the right clamping member to sense whether the gripper has descended to the height of the material to be clamped.

[0012] Preferably, one end of the first left transmission member is connected to one gripper finger of the electric gripper, and the other end is connected to the left clamping member. It includes a left connecting rod and a left connecting block. The left connecting rod extends along the X direction, one end of which is connected to one gripper finger of the electric gripper. The left connecting block is perpendicular to the left connecting rod, one end of which is fixed to the other end of the left connecting rod, and the other end of which is connected to the left first fixing part of the left clamping member. Optionally, one end of the first right transmission member is connected to another gripper finger of the electric gripper, and the other end is connected to the right clamping member. It includes a right connecting rod and a right connecting block. The right connecting rod extends along the X direction, one end of which is connected to another gripper finger of the electric gripper. The right connecting block is perpendicular to the right connecting rod, one end of which is fixed to the other end of the right connecting rod, and the other end of which is connected to the right first fixing part of the right clamping member.

[0013] Preferably, the left limiting claw assembly includes a left front limiting claw and a left rear limiting claw arranged end-to-end along the Y direction, and the right limiting claw assembly includes a right front limiting claw and a right rear limiting claw arranged end-to-end along the Y direction. As the left clamping member and the right clamping member move in the same or opposite linear motion in the X direction, the left front limiting claw and the left rear limiting claw move simultaneously towards each other or in opposite directions in the Y direction, and the right front limiting claw and the right rear limiting claw move simultaneously towards each other or in opposite directions in the Y direction. Optionally, the left front limiting claw, the left rear limiting claw, the right front limiting claw, and the right rear limiting claw each include a sliding member extending in the Y direction and a clamping claw portion arranged perpendicular to the sliding member. The clamping claw portion extends from the foremost or rearmost end of the sliding member towards the material to be clamped / picked tray. Optionally, when the left front limiting pawl and the left rear limiting pawl move simultaneously in opposite directions in the Y direction, the sliding parts of the left front limiting pawl and the left rear limiting pawl make a linear movement in the Y direction parallel to the fixed side plate, and the clamping parts of the left front limiting pawl and the left rear limiting pawl perform a clamping or releasing action in the Y direction towards the material to be clamped; Optionally, when the right front limiting pawl and the right rear limiting pawl move simultaneously in opposite directions in the Y direction, the sliding parts of the right front limiting pawl and the right rear limiting pawl make a linear movement in the Y direction parallel to the fixed side plate, and the clamping parts of the right front limiting pawl and the right rear limiting pawl perform a clamping or releasing action in the Y direction towards the material to be clamped.

[0014] Preferably, it further includes a left front camshaft and a left rear camshaft respectively fixed on the left front limiting pawl and the left rear limiting pawl, and a right front camshaft and a right rear camshaft respectively fixed on the right front limiting pawl and the right rear limiting pawl. Optionally, the left front camshaft, left rear camshaft, right front camshaft, and right rear camshaft are respectively located on the extended ends of the sliding members of the left front limiting pawl, left rear limiting pawl, right front limiting pawl, and right rear limiting pawl. Optionally, the left second transmission member is fixed on the left second fixing part of the left clamping member and extends toward the left limiting pawl assembly, and its extended end is connected to the left front camshaft and the left rear camshaft, including a component for fixing the left second camshaft of the left clamping member. The left fixing member on the second fixing part and two left oblique grooves symmetrically arranged in the Y direction at its extension end, gradually converging inward, are respectively movably engaged in the two left oblique grooves; optionally, the right second transmission member is fixed on the left second fixing part of the left clamping member and extends toward the left limiting claw assembly, and its extension end is connected to the right front camshaft and the right rear camshaft, including a right fixing member for fixing on the right second fixing part of the right clamping member and two right oblique grooves symmetrically arranged in the Y direction at its extension end, gradually converging inward, and the right front camshaft and the right rear camshaft are respectively movably engaged in the two right oblique grooves.

[0015] Preferably, it further includes a left groove pressing block and a right groove pressing block for limiting the left front limiting claw, the left rear limiting claw, the right front limiting claw, and the right rear limiting claw; the left groove pressing block and the right groove pressing block both extend along the Y direction and are fixed on the fixed side plate, both including a U-shaped groove and a notch, the U-shaped groove facing the fixed side plate and opening along its entire length in the Y direction, the sliding members of the left front limiting claw, the left rear limiting claw, the right front limiting claw, and the right rear limiting claw are located in the U-shaped groove and can slide in the U-shaped groove in the Y direction, the notch is located in the middle part of the left groove pressing block or the right groove pressing block and is opening towards the material to be clamped and picked up, the left front camshaft and the left rear camshaft extend out from the notch of the left groove pressing block, and the right front camshaft and the right rear camshaft extend out from the notch of the right groove pressing block.

[0016] Preferably, the device further includes a left laser rangefinder, a right laser rangefinder, and two laser rangefinder mounting bases. The two laser rangefinder mounting bases are used to fix the left laser rangefinder and the right laser rangefinder respectively on the fixed side plate. Optionally, the left laser rangefinder is fixed at the position of the left fixed plate of the left clamping member and vertically fixed on the opposite side of the fixed side plate. The right laser rangefinder is fixed at the position of the right fixed plate of the right clamping member and vertically fixed on the opposite side of the fixed side plate. The laser irradiation direction of the left laser rangefinder and the right laser rangefinder is directed towards the material tray to be clamped, for accurately measuring the position of the material tray.

[0017] Beneficial effects This invention provides a tray gripper that is driven by a single power source, an electric gripper. The electric gripper provides direct gripping and positioning drive only in the X direction, while the Y direction is simultaneously achieved through four camshafts and four transmission components. This enables positioning and clamping of the tray in both the X and Y directions. A slot is designed on the gripper to prevent the tray from falling in the Z direction, thus achieving stable and reliable tray gripping in three degrees of freedom. The tray's position is precisely sensed using a through-beam fiber optic and laser rangefinder. The mechanical structure is simple, the material cost is low, and the components are easy to assemble. Attached Figure Description

[0018] Figure 1 This is a three-dimensional structural diagram of the material tray gripper of the present invention.

[0019] Figure 2 This is a three-dimensional structural diagram of the electric gripper of the tray gripper hand involved in this invention.

[0020] Figure 3 This is a three-dimensional structural diagram of the left (right) clamping member of the material tray gripper of the present invention.

[0021] Figure 4 This is a three-dimensional structural diagram of the left (right) clamping member of the tray gripper of the present invention from another angle.

[0022] Figure 5 This is a three-dimensional structural diagram of the material tray gripper of the present invention, showing the left front limiting claw, left rear limiting claw, right front limiting claw, right rear limiting claw, left front camshaft, left rear camshaft, right front camshaft, right rear camshaft, left groove pressure block and right groove pressure block assembled on a fixed side plate.

[0023] Figure 6This is a schematic diagram of the three-dimensional assembly structure of the left (right) front limiting claw, left (right) rear limiting claw, left (right) front (rear) camshaft and left (right) groove pressure block of the material tray gripper of the present invention.

[0024] Figure 7 In order to be in Figure 6 A three-dimensional structural diagram of the left (right) slot pressure block removed from the original structure.

[0025] Figure 8 This is a three-dimensional structural diagram of the left (right) groove pressure block of the material tray clamping claw hand involved in the present invention.

[0026] Figure 9 This is a three-dimensional structural diagram of the left (right) groove pressure block of the material tray gripper of the present invention from another angle.

[0027] Figure 10 This is a three-dimensional structural diagram of the second left (right) transmission component of the material tray gripper of the present invention. Detailed Implementation

[0028] 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, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0029] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0030] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0031] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product of this invention is in use. They are only for the convenience of describing this invention 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 invention. In addition, the terms "first," "second," "third," etc., are only used to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0032] Furthermore, terms such as "horizontal" and "vertical" do not imply that components must be absolutely horizontal or suspended, but rather that they can be slightly tilted. For example, "horizontal" simply means that its direction is more horizontal than "vertical," and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0033] In the description of this invention, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; 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; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0034] Therefore, the following solutions are proposed: See Figure 1 The present invention provides a tray gripper, and more particularly a gripper for gripping chip packaging trays, comprising a fixed side plate 100, an electric gripper 200, a left clamping member 310, a right clamping member 320, a left front limiting claw 410, a left rear limiting claw 420, a right front limiting claw 430, a right rear limiting claw 440, a left front camshaft 510, a left rear camshaft 520, a right front camshaft 530, a right rear camshaft 540, a first left transmission member 610, a first right transmission member 620, a second left transmission member 630, and a second right transmission member 640.

[0035] The tray gripper of the present invention is applied to, for example, the inspection section of an intelligent packaging line for chip processing. Several chip packaging trays are typically stacked flat, and the tray gripper of the present invention is positioned above the tray to be gripped. In one specific embodiment, in the tray gripper provided by the present invention, the fixed side plate 100 is arranged parallel to the plane of the tray to be gripped. In the present invention, its length extension direction is set to the X direction (left-right direction), its width extension direction is set to the Y direction (front-back direction), and the direction perpendicular to the fixed side plate 100 is set to the Z direction (up-down direction).

[0036] In one specific embodiment, in the material tray gripper provided by the present invention, the electric gripper 200 is fixed to the side of the fixed side plate 100 facing the material tray to be gripped, combined with... Figure 2 As shown, it includes two gripper fingers 230 that can move simultaneously toward or in opposite directions in a straight line along the X direction under the action of a drive.

[0037] In some embodiments, the electric gripper 200 further includes a gripper body 210, a drive control device (not shown in the figure) located inside the gripper body 210, and a cable 240 extending from one side of the gripper body 210. A groove 220 extending in the X direction is provided on the top of the gripper body 210. The two gripper fingers 230 can perform simultaneous, opposite, or linear movements in the groove 220 under the drive of the drive control device. The cable 240 is connected to the drive control device to provide power to the electric gripper 200. The drive control device is connected to the gripper fingers 230 to drive and control the gripper fingers 230 to perform simultaneous, opposite, or linear movements in the groove 220. In some specific embodiments, the structure of the electric gripper 200 can be configured with reference to the structure of the electric gripper described in Chinese Patent Document CN208867194U, for example, using a PGE series industrial thin parallel electric gripper.

[0038] In one specific embodiment, in the material tray gripper provided by the present invention, the left clamping member 310 and the right clamping member 320 are respectively symmetrically arranged on the left and right sides of the electric gripper 200. As the two gripper fingers 230 move, they can simultaneously move in opposite directions or in opposite directions on the side of the fixed side plate 100 facing the material tray to be gripped, so as to achieve clamping or releasing of the material tray in the X direction.

[0039] In one specific embodiment, in the material tray gripper provided by the present invention, one end of the first left transmission member 610 is connected to one gripper finger 230 of the electric gripper 200, and the other end is connected to the left clamping member 310, for transmission between the electric gripper 200 and the left clamping member 310. One end of the first right transmission member 620 is connected to the other gripper finger 230 of the electric gripper 200, and the other end is connected to the right clamping member 320, for transmission between the electric gripper 200 and the right clamping member 320. In this way, the left clamping member 310 and the right clamping member 320 can perform simultaneous opposite or simultaneous opposite linear movements in the X direction under the drive of the electric gripper 200, thereby realizing the gripping and releasing of the material tray to be gripped in the X direction.

[0040] Furthermore, to better achieve the clamping and releasing of the material tray in the X direction by the left clamping member 310 and the right clamping member 320 during the simultaneous or opposite linear movements in the X direction driven by the electric gripper 100, the left clamping member 310 includes a left fixing plate 311 arranged parallel to the fixed side plate 100 and a left clamping plate 312 arranged perpendicular to the left fixing plate 311 and extending toward the material tray to be clamped. The left clamping plate 312 is located at the left end of the left fixing plate 311. In some embodiments, the right clamping member 320 includes a right fixing plate 321 arranged parallel to the fixed side plate 100 and a right clamping plate 322 arranged perpendicular to the right fixing plate 321 and extending toward the material tray to be clamped. The right clamping plate 322 is located at the right end of the right fixing plate 321.

[0041] Thus, during the simultaneous or opposite linear movements of the left clamping member 310 and the right clamping member 320 in the X direction, the left fixing plate 311 of the left clamping member 310 and the right fixing plate 321 of the right clamping member 320 make the same or opposite linear movements in the X direction, which are parallel to the fixed side plate 100. The left clamping plate 312 of the left clamping member 310 and the right clamping plate 322 of the right clamping member 320 clamp or release the material pick-up tray to be clamped.

[0042] According to the present invention, the electric gripper 200 drives two gripper fingers 230 to make simultaneous or opposite linear movements in the slide groove 220 by electric power. The first left transmission member 610 and the first right transmission member 620 respectively transmit the transmission action of the left clamping member 310 and the right clamping member 320, so as to realize that the left clamping member 310 and the right clamping member 320 make simultaneous or opposite linear movements in the X direction, thereby realizing the clamping and releasing of the material tray to be clamped in the X direction.

[0043] In one specific embodiment, in the material tray gripper provided by the present invention, the left front limiting claw 410 and the left rear limiting claw 420 are arranged as a left limiting claw assembly along the Y direction, one end to the other. The right front limiting claw 430 and the right rear limiting claw 440 are arranged as a right limiting claw assembly along the Y direction, one end to the other. The left and right limiting claw assemblies are symmetrically arranged on the left and right sides of the electric gripper 200, respectively, and are located inside the left clamping member 310 and the right clamping member 320. According to the present invention, as the left clamping member 310 and the right clamping member 320 make opposite or opposite linear movements in the X direction, the left and right limiting claw assemblies can make simultaneous opposite or opposite linear movements in the Y direction on the side of the fixed side plate 100 facing the material tray to be gripped, so as to achieve clamping or releasing of the material tray in the Y direction.

[0044] As one specific implementation, the material tray gripper provided by the present invention is combined with... Figure 5 As shown, the left front camshaft 510 and the left rear camshaft 520 are symmetrically fixed on the left front limiting pawl 410 and the left rear limiting pawl 420, respectively, and extend along the Z direction toward the material-grabbing disc. The right front camshaft 530 and the right rear camshaft 540 are symmetrically fixed on the right front limiting pawl 430 and the right rear limiting pawl 440, respectively, and extend along the Z direction toward the material-grabbing disc.

[0045] In one specific embodiment, in the material tray gripper provided by the present invention, one end of the second left transmission member 630 is connected to the left clamping member 310, and the other end is connected to the left front camshaft 510 and the left rear camshaft 520, for transmission between the left clamping member 310 and the left front limiting claw 410 and the left rear limiting claw 420; one end of the second right transmission member 640 is connected to the right clamping member 320, and the other end is connected to the right front camshaft 530 and the right rear camshaft 540, for transmission between the right clamping member 320 and the right front limiting claw 430 and the right rear limiting claw 440.

[0046] According to the present invention, the electric gripper 200 is electrically driven, and the first left transmission member 610 and the first right transmission member 620 respectively drive the left clamping member 310 and the right clamping member 320, so that the left clamping member 310 and the right clamping member 320 can perform simultaneous linear movements in opposite directions in the X direction, thereby realizing the clamping and releasing of the material tray to be clamped in the X direction. Simultaneously, during the simultaneous or opposite linear movements of the left clamping member 310 and the right clamping member 320 in the X direction, the transmission between the left clamping member 310 and the left front limiting claw 410 and the left rear limiting claw 420 is achieved through the transmission between the second left transmission member 630 and the right clamping member 320 and the right front limiting claw 430 and the right rear limiting claw 440, and the transmission between the second right transmission member 640 and the right clamping member 320 and the right front limiting claw 430 and the right rear limiting claw 440. This enables the left front limiting claw 410 and the left rear limiting claw 420 to perform simultaneous or opposite linear movements in the Y direction in sync with the left clamping member 310 and the right clamping member 320, and the right front limiting claw 430 and the right rear limiting claw 440 to perform simultaneous or opposite linear movements in the Y direction in sync with the left clamping member 310 and the right clamping member 320, thereby achieving the clamping and releasing of the material tray to be clamped in the Y direction.

[0047] Furthermore, in some embodiments, combined with Figure 6 and Figure 7 As shown, in the material tray gripper provided by the present invention, the left front limiting claw 410, the left rear limiting claw 420, the right front limiting claw 430, and the right rear limiting claw 440 all include sliding members 411, 421, 431, and 441 extending in the Y direction, and claw portions 412, 422, 432, and 442 arranged perpendicularly to the sliding members 411, 421, 431, and 441. The claw portions 412, 422, 432, and 442 extend from the foremost or rearmost end of the sliding members 411, 421, 431, and 441 toward the material tray to be gripped.

[0048] According to the present invention, during the simultaneous or opposite linear movements of the left front limiting claw 410 and the left rear limiting claw 420 in the Y direction, and the simultaneous or opposite linear movements of the right front limiting claw 430 and the right rear limiting claw 440 in the Y direction, the sliding members 411 of the left front limiting claw 410, the sliding members 421 of the left rear limiting claw 420, the sliding members 431 of the right front limiting claw 430, and the sliding members 441 of the right rear limiting claw 440 perform opposite or opposite linear sliding in the Y direction parallel to the fixed side plate 100. At the same time, the claw portions 412 of the left front limiting claw 410, the claw portions 422 of the left rear limiting claw 420, the claw portions 432 of the right front limiting claw 430, and the claw portions 442 of the right rear limiting claw 440, as clamping parts of the clamping box, perform clamping or releasing actions in the Y direction on the material tray to be clamped.

[0049] Furthermore, in order to better achieve the above process, combined with Figure 8 and Figure 9 As shown, the material tray gripper provided by the present invention also includes a left groove pressing block 710 and a right groove pressing block 720 for limiting the left front limiting claw 410, the left rear limiting claw 420, the right front limiting claw 430, and the right rear limiting claw 440. Both the left groove pressing block 710 and the right groove pressing block 720 extend along the Y direction and are fixed to the fixed side plate 100. Each includes U-shaped grooves 711 and 721 and notches 712 and 722. The U-shaped grooves 711 and 721 face the fixed side plate 100 and are opened along their entire Y length. Sliding members 411, 421, and 43 of the left front limiting claw 410, the left rear limiting claw 420, the right front limiting claw 430, and the right rear limiting claw 440 are also included. 1. 441 is located within the U-shaped slide grooves 711 and 721 and can slide along the Y direction within the U-shaped slide grooves 711 and 721. It plays a role in limiting and guiding the linear sliding of the left front limiting claw 410, left rear limiting claw 420, right front limiting claw 430 and right rear limiting claw 440 in the opposite or opposite linear sliding direction in the Y direction. The notches 712 and 722 are located in the middle part of the left groove pressing block 710 or the right groove pressing block 720 and are opened towards the material to be clamped and picked up. The left front camshaft 510 and the left rear camshaft 520 extend from the notch 712 of the left groove pressing block 710, and the right front camshaft 530 and the right rear camshaft 540 extend from the notch 722 of the right groove pressing block 720.

[0050] According to the present invention, during the simultaneous opposite or simultaneous reverse linear movements of the left front limiting pawl 410 and the left rear limiting pawl 420 in the Y direction, and the simultaneous opposite or simultaneous reverse linear movements of the right front limiting pawl 430 and the right rear limiting pawl 440 in the Y direction, the left front camshaft 510 and the left rear camshaft 520 fixed on the left front limiting pawl 410 and the left rear limiting pawl 420 move back and forth (in the Y direction) in the notch 712, and the right front camshaft 530 and the right rear camshaft 540 fixed on the right front limiting pawl 430 and the right rear limiting pawl 440 move back and forth (in the Y direction) in the notch 722. Therefore, the length of the notches 712 and 722 in the Y direction should be sufficient to allow the left front camshaft 510 and the left rear camshaft 520 to move back and forth (in the Y direction), and to allow the right front camshaft 530 and the right rear camshaft 540 to move back and forth (in the Y direction).

[0051] As one specific implementation, in the material tray gripper provided by the present invention, in order to realize the transmission of the first left transmission member 610 to the left clamping member 310, combined with Figure 3 and Figure 4As shown, the left clamping member 310 further includes a left first fixing part 313 for connection with the first left transmission member 610 and a left second fixing part 314 for connection with the second left transmission member 630. Both the left first fixing part 313 and the left second fixing part 314 are located on the end of the left fixing plate 311 of the left clamping member 310 extending towards the electric gripper 200. In some preferred embodiments, the left first fixing part 313 is located at the top of the extended end of the left fixing plate 311 of the left clamping member 310, and the left second fixing part 314 is located on the side of the extended end of the left fixing plate 311 of the left clamping member 310. Further, in some embodiments, the left clamping member 310 also includes a left slider 316 fixed to the back of the left fixing plate 311, and a left linear groove 101 extending in the X direction (e.g., ...) is provided on the fixing side plate 100. Figure 5 As shown, the left slider 316 of the left clamping member 310 can slide within the linear groove 101, so that the left clamping member 310 can make simultaneous or opposite linear movements in the X direction on the side of the fixed side plate 100 facing the material to be clamped. In some embodiments, a left fixing groove 315 is provided on the back of the left fixing plate 311 of the left clamping member 310, and the left slider 316 is fixed in the left fixing groove 315. Further, a left protrusion 316a extending along the X direction along its entire length is provided on the back of the left slider 316 for cooperating with the left linear groove 101 on the fixed side plate 100.

[0052] According to the present invention, since the left first fixing part 313 of the left clamping member 310 is connected to the end of the first left transmission member 610, the driving action of the left gripper finger 230 of the electric gripper 200 can be transmitted to the left clamping member 310 through the first left transmission member 610, so that the left clamping member 310 can simultaneously perform linear motion in the X direction with the driving action of the left gripper finger 230 of the electric gripper 200. Furthermore, since the left clamping member 310 is located on the back of the left fixing plate 311... The left slider 316 and the left linear groove 101 on the fixed side plate 100 are configured to guide the left clamping member 310 to make linear motion in the X direction within the left linear groove 101 on the fixed side plate 100. The cooperation between the left protrusion 316a on the left slider 316 on the back of the left fixed plate 311 and the left linear groove 101 on the fixed side plate 100 allows the left clamping member 310 to make a more stable linear motion in the X direction on the fixed side plate 100.

[0053] As one specific embodiment, in the material tray gripper provided by the present invention, in order to realize the transmission of the first left transmission member 610 to the left clamping member 310, such as... Figure 1As shown, the first left transmission member 610 includes a left connecting rod 611 and a left connecting block 612. The left connecting rod 611 extends along the X direction. One end of the left connecting rod 611 is connected to a gripper finger 230 of the electric gripper 200. The left connecting block 612 is perpendicular to the left connecting rod 611. One end of the block is fixed to the other end of the left connecting rod 611, and the other end is connected to the left first fixing part 313 of the left clamping member 310, thereby realizing the connection between a gripper finger 230 of the electric gripper 200 and the left clamping member 310.

[0054] As one specific implementation, in the material tray gripper provided by the present invention, in order to realize the transmission of the first right transmission member 620 to the right clamping member 320, combined with Figure 3 and Figure 4 As shown, the right clamping member 320 further includes a right first fixing part 323 for connection with the first right transmission member 620 and a right second fixing part 324 for connection with the second right transmission member 640. Both the right first fixing part 323 and the right second fixing part 324 are located on the end of the right fixing plate 321 of the right clamping member 320 extending towards the electric gripper 200. In some preferred embodiments, the right first fixing part 323 is located at the top of the extended end of the right fixing plate 321 of the right clamping member 320, and the right second fixing part 324 is located on the side of the extended end of the right fixing plate 321 of the right clamping member 320. Further, in some embodiments, the right clamping member 320 also includes a right slider 326 fixed to the back of the right fixing plate 321, and a right linear groove 102 extending in the X direction (e.g., ...) is provided on the fixed side plate 100. Figure 5 As shown, the right slider 326 of the right clamping member 320 can slide within the right linear groove 102, so that the right clamping member 320 can make simultaneous, opposite or reciprocating linear movements along the X direction on the side of the fixed side plate 100 facing the material to be clamped. In some embodiments, a right fixing groove 325 is provided on the back side of the right fixing plate 321 of the right clamping member 320, and the right slider 326 is fixed in the right fixing groove 325. Further, a right protrusion 326a extending along the X direction along its entire length is provided on the back side of the right slider 326 for cooperating with the right linear groove 102 on the fixed side plate 100.

[0055] According to the present invention, since the right first fixing part 323 of the right clamping member 320 is connected to the end of the first right transmission member 620, the driving action of the right gripper finger 230 of the electric gripper 200 can be transmitted to the right clamping member 320 through the first right transmission member 620, so that the right clamping member 320 can simultaneously perform linear motion in the X direction with the driving action of the right gripper finger 230 of the electric gripper 200. Furthermore, since the right clamping member 320 is located on the back of the right fixing plate 321... The right slider 326 and the right linear groove 102 on the fixed side plate 100 are configured to guide the right clamping member 320 to make linear motion in the X direction within the right linear groove 102 on the fixed side plate 100. The cooperation between the right protrusion 326a on the right slider 326 on the back of the right fixed plate 321 and the right linear groove 102 on the fixed side plate 100 allows the right clamping member 320 to make a more stable linear motion in the X direction on the fixed side plate 100.

[0056] As one specific embodiment, in the material tray gripper provided by the present invention, in order to realize the transmission of the first right transmission member 620 to the right clamping member 320, such as... Figure 1 As shown, the first right transmission member 620 includes a right connecting rod 621 and a right connecting block 622. The right connecting rod 621 extends along the X direction. One end of the right connecting rod 621 is connected to another gripper finger 230 of the electric gripper 200. The right connecting block 622 is perpendicular to the right connecting rod 621. One end of the block is fixed to the other end of the right connecting rod 621, and the other end is connected to the right second fixing part 324 of the right clamping member 320, thereby realizing the connection between the other gripper finger 230 of the electric gripper 200 and the right clamping member 320.

[0057] In one specific embodiment, in the material tray gripper provided by the present invention, to realize the transmission between the second left transmission member 630 and the left clamping member 310, the left front limiting claw 410, and the left rear limiting claw 420, the left second transmission member 630 is fixed on the left second fixing part 314 of the left clamping member 310 and extends towards the left limiting claw assembly, and its extended end is connected to the left front camshaft 510 fixed on the left front limiting claw 410 and the left rear camshaft 520 fixed on the left rear limiting claw 420, as shown below. Figure 10 As shown, the second left transmission member 630 includes a left fixing member 631 for fixing on the left second fixing part 314 of the left clamping member 310 and two left inclined grooves 632 symmetrically arranged in the Y direction located at its extension end and gradually converging inward. The left front camshaft 510 and the left rear camshaft 520 are respectively movably engaged in the two left inclined grooves 632.

[0058] According to the present invention, through the electric drive of the electric gripper 200 and the transmission between one gripper finger 230 of the electric gripper 200 and the left clamping member 310 via the first left transmission member 610, the left clamping member 310 is caused to perform simultaneous or simultaneous opposite linear movements in the X direction. Simultaneously, since the left second fixing part 314 of the left clamping member 310 is connected to the end of the second left transmission member 630, the second left transmission member 630 moves in the X direction along with the left clamping member 310. Making linear motion, the left front camshaft 510 and left rear camshaft 520, which are fixed to the left front limit pawl 410 and left rear limit pawl 420, are movably engaged in the two left inclined grooves 632 of the second left transmission member 630, driving the left front limit pawl 410 and left rear limit pawl 420 to make linear motion in the Y direction in the U-shaped slide groove 711 of the left groove pressure block 710, thereby realizing the clamping and releasing of the material tray to be clamped in the Y direction by the left front limit pawl 410 and left rear limit pawl 420.

[0059] In one specific embodiment, in the material tray gripper provided by the present invention, to realize the transmission between the second right transmission member 640 and the right clamping member 320, the right front limiting claw 430, and the right rear limiting claw 440, the right second transmission member 640 is fixed on the right second fixing part 324 of the right clamping member 320 and extends towards the right limiting claw assembly. Its extended end is connected to the right front camshaft 530 fixed on the right front limiting claw 430 and the right rear camshaft 540 fixed on the right rear limiting claw 440. Figure 10 As shown, the second right transmission member 640 includes a right fixing member 641 for fixing on the right second fixing part 324 of the right clamping member 320 and two right inclined grooves 642 symmetrically arranged in the Y direction located at its extension end and gradually converging inward. The right front camshaft 530 and the right rear camshaft 540 are respectively movably engaged in the two right inclined grooves 642.

[0060] According to the present invention, through the electric drive of the electric gripper 200 and the transmission between the other gripper finger 230 of the electric gripper 200 and the right clamping member 320 via the first right transmission member 620, the right clamping member 320 is caused to perform simultaneous or simultaneous opposite linear movements in the X direction. Simultaneously, since the right second fixing part 324 of the right clamping member 320 is connected to the end of the second right transmission member 640, the right second transmission member 640 moves along with the right clamping member 320 in the X direction. The upper part makes linear motion. The right front camshaft 530 and right rear camshaft 540, which are fixed to the right front limit pawl 430 and right rear limit pawl 440, are movably engaged in the two right inclined grooves 642 of the second right transmission member 640. This drives the right front limit pawl 430 and right rear limit pawl 440 to make linear motion in the Y direction in the U-shaped slide groove 721 of the right groove pressure block 720, thereby realizing the clamping and releasing of the material picker plate to be clamped in the Y direction by the right front limit pawl 430 and right rear limit pawl 440.

[0061] As one specific embodiment, in the material tray gripper provided by the present invention, such as Figure 3 As shown, a left slot 317 extending in the Y direction is provided on the extended end of the left clamping plate 312 of the left clamping member 310, and a right slot 327 extending in the Y direction is provided on the extended end of the right clamping plate 322 of the right clamping member 320. When the left clamping member 310 and the right clamping member 320 perform clamping actions, the material to be clamped is stuck in the left slot 317 of the left clamping member 310 and the right slot 327 of the right clamping member 320 to prevent the material to be clamped from falling in the Z direction.

[0062] In one specific embodiment, in the tray gripper provided by the present invention, a left through-beam optical fiber 318 and a right through-beam optical fiber 328 are respectively provided on the extended end of the left clamping plate 312 of the left clamping member 310 and the extended end of the right clamping plate 322 of the right clamping member 320. These are used to sense whether the tray gripper of the present invention has descended to the height of the tray to be gripped. When the tray gripper of the present invention descends to the height of the tray to be gripped, the optical fibers emitted from the left through-beam optical fiber 318 and the right through-beam optical fiber 328 are blocked, indicating to the detection section equipment of, for example, an intelligent packaging line for chip processing, that the tray gripper of the present invention can start the gripping action.

[0063] As one specific embodiment, in the material tray gripper provided by the present invention, such as Figure 1 As shown, the material tray gripper also includes a left laser rangefinder 810, a right laser rangefinder 820, and two laser rangefinder mounting bases 830. The two laser rangefinder mounting bases 830 are used to fix the left laser rangefinder 810 and the right laser rangefinder 820 to the fixed side plate 100 respectively. The left laser rangefinder 810 is fixed at the position of the left fixed plate 311 of the left clamping member 310 and is vertically fixed on the opposite side of the fixed side plate 100. The right laser rangefinder 820 is fixed at the position of the right fixed plate 321 of the right clamping member 320 and is vertically fixed on the opposite side of the fixed side plate 100. The left laser rangefinder 810 and the right laser rangefinder 820 can be known laser rangefinders. The laser beams of both are directed toward the material tray to be gripped, which is used to accurately measure the position of the material tray. In particular, it can be used to measure the position of the material tray when gripping it, and transmit the measured position data of the material tray to the detection section equipment of an intelligent packaging line for chip processing in real time for automated control, thereby achieving more accurate gripping of the material tray.

[0064] This invention provides a tray gripper that is driven by a single power source, an electric gripper. The electric gripper provides direct gripping and positioning drive only in the X direction, while the Y direction is simultaneously achieved through four camshafts and four transmission components. This enables positioning and clamping of the tray in both the X and Y directions. A slot is designed on the gripper to prevent the tray from falling in the Z direction, thus achieving stable and reliable tray gripping in three degrees of freedom. The tray's position is precisely sensed using a through-beam fiber optic and laser rangefinder. The mechanical structure is simple, the material cost is low, and the components are easy to assemble.

[0065] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A material tray gripper, characterized in that, include: A fixed side plate is arranged parallel to the plane of the material-to-grip tray. An electric gripper is fixed to the side of the fixed side plate facing the material-to-grip tray and includes two gripper fingers that can move simultaneously in opposite directions along the X-direction under a driving force. A left and right clamping member are symmetrically arranged on the left and right sides of the electric gripper, respectively. With the movement of the two gripper fingers, they can move simultaneously in opposite directions along the X-direction on the side of the fixed side plate facing the material-to-grip tray, thereby clamping or releasing the material-to-grip tray in the X-direction. A left and right limiting claw assembly are symmetrically arranged on the left and right sides of the electric gripper. The left and right clamping jaw assemblies are located on the sides of the fixed side plate, respectively, inside the left and right clamping jaws. As the left and right clamping jaws move in opposite directions in the X direction, the left and right limiting jaw assemblies can simultaneously move in opposite directions in the Y direction on the side of the fixed side plate facing the material to be clamped, thereby clamping or releasing the material to be clamped in the Y direction. A first left transmission member is used for transmission between the electric jaw and the left clamping jaw; a first right transmission member is used for transmission between the electric jaw and the right clamping jaw; and a second left transmission member is used for transmission between the left clamping jaw and the left limiting jaw assembly. And a second right transmission component, used for transmission between the right clamping component and the right limiting claw assembly; The left limiting claw assembly includes a left front limiting claw and a left rear limiting claw arranged end-to-end along the Y direction. The right limiting claw assembly includes a right front limiting claw and a right rear limiting claw arranged end-to-end along the Y direction. As the left clamping member and the right clamping member move in the same or opposite linear motion in the X direction, the left front limiting claw and the left rear limiting claw move simultaneously in opposite directions in the Y direction, and the right front limiting claw and the right rear limiting claw move simultaneously in opposite directions in the Y direction. Each of the left front limiting claw, left rear limiting claw, right front limiting claw, and right rear limiting claw includes a sliding member extending in the Y direction and a clamping claw portion perpendicular to the sliding member. The clamping claw portion extends from the foremost end of the sliding member. Or the final end extends towards the material-grabbing tray; when the left front limiting pawl and the left rear limiting pawl make simultaneous, opposite, or reciprocating linear movements in the Y direction, the sliding parts of the left front limiting pawl and the left rear limiting pawl make linear movements in the Y direction parallel to the fixed side plate, and the gripping parts of the left front limiting pawl and the left rear limiting pawl perform clamping or releasing actions in the Y direction towards the material-grabbing tray; when the right front limiting pawl and the right rear limiting pawl make simultaneous, opposite, or reciprocating linear movements in the Y direction, the sliding parts of the right front limiting pawl and the right rear limiting pawl make linear movements in the Y direction parallel to the fixed side plate, and the gripping parts of the right front limiting pawl and the right rear limiting pawl perform clamping or releasing actions in the Y direction towards the material-grabbing tray; The chuck portion clamps or releases the material tray to be clamped in the Y direction; it also includes a left front camshaft and a left rear camshaft respectively fixed to the left front limiting pawl and the left rear limiting pawl, and a right front camshaft and a right rear camshaft respectively fixed to the right front limiting pawl and the right rear limiting pawl, the left front camshaft, the left rear camshaft, the right front camshaft, and the right rear camshaft being located on the extended ends of the sliding members of the left front limiting pawl, the left rear limiting pawl, the right front limiting pawl, and the right rear limiting pawl; the second left transmission member is fixed to the left second fixing part of the left clamping member and extends toward the left limiting pawl assembly, and its extended end is connected to the left front camshaft and the left rear camshaft, including a means for fixing on The left clamping member has a left fixing member on the left second fixing part and two left oblique grooves symmetrically arranged in the Y direction at its extended end, which gradually converge inward. The left front camshaft and the left rear camshaft are respectively movably engaged in the two left oblique grooves. The second right transmission member is fixed on the right second fixing part of the right clamping member and extends toward the right limiting claw assembly. Its extended end is connected to the right front camshaft and the right rear camshaft. It includes a right fixing member for fixing on the right second fixing part of the right clamping member and two right oblique grooves symmetrically arranged in the Y direction at its extended end, which gradually converge inward. The right front camshaft and the right rear camshaft are respectively movably engaged in the two right oblique grooves.

2. The material tray gripper according to claim 1, characterized in that, The electric gripper also includes a gripper body, a drive control device located inside the gripper body, and a cable extending from one side of the gripper body. A groove extending in the X direction is provided on the top of the gripper body. The two gripper fingers can make simultaneous or opposite linear movements in the groove by the drive action of the drive control device. The cable is connected to the drive control device and is used to provide power to the electric gripper. The drive control device is connected to the gripper fingers and is used to drive the gripper fingers to make simultaneous or opposite linear movements in the groove.

3. The material tray gripper according to claim 1, characterized in that, The left clamping member includes a left fixing plate parallel to the fixed side plate and a left clamping plate perpendicular to the left fixing plate and extending toward the material tray to be clamped, the left clamping plate being located at the left end of the left fixing plate; the right clamping member includes a right fixing plate parallel to the fixed side plate and a right clamping plate perpendicular to the right fixing plate and extending toward the material tray to be clamped, the right clamping plate being located at the right end of the right fixing plate; during the simultaneous opposite or reciprocating linear movements of the left clamping member and the right clamping member in the X direction, the left fixing plate of the left clamping member and the right fixing plate of the right clamping member perform linear movements parallel to the fixed side plate in the X direction, and the left clamping plate of the left clamping member and the right clamping plate of the right clamping member perform clamping or releasing actions in the X direction.

4. The material tray gripper according to claim 3, characterized in that, The left clamping member further includes a first left fixing part for connection with the first left transmission member and a second left fixing part for connection with the second left transmission member. Both the first and second left fixing parts are located on the ends of the left fixing plate of the left clamping member extending towards the electric gripper. The left clamping member also includes a left slider fixed to the back of the left fixing plate. A left linear groove extending in the X direction is provided on the fixing side plate, allowing the left slider to slide within this groove, enabling the left clamping member to perform simultaneous, opposite, or reciprocating linear movements in the X direction on the side of the fixing side plate facing the material to be clamped. A left fixing groove is provided on the back of the left fixing plate of the left clamping member, and the left slider is fixed within this groove. A full-length left protrusion extending in the X direction is provided on the back of the left slider for engaging with the left linear groove on the fixing side plate. The right clamping member further includes a first right fixing part for connecting with the first right transmission member and a second right fixing part for connecting with the second right transmission member. Both the first and second right fixing parts are located on the ends of the right fixing plate of the right clamping member extending towards the electric gripper. The right clamping member also includes a right slider fixed to the back of the right fixing plate. A right linear groove extending in the X direction is provided on the fixing side plate. The right slider of the right clamping member can slide within this right linear groove, allowing the right clamping member to perform simultaneous, opposite, or reciprocating linear movements in the X direction on the side of the fixing side plate facing the material to be clamped. A right fixing groove is provided on the back of the right fixing plate of the right clamping member, and the right slider is fixed within this right fixing groove. A right protrusion extending along its entire length in the X direction is provided on the back of the right slider for engaging with the right linear groove on the fixing side plate.

5. The material tray gripper according to claim 3 or 4, characterized in that, A left slot extending in the Y direction is provided on the extended end of the left clamping plate of the left clamping member, and a right slot extending in the Y direction is provided on the extended end of the right clamping plate of the right clamping member. When the left clamping member and the right clamping member perform a clamping action, the material to be clamped is locked in the left slot of the left clamping member and the right slot of the right clamping member to prevent the material to be clamped from falling in the Z direction. A left through-beam optical fiber and a right through-beam optical fiber are also provided on the extended end of the left clamping plate of the left clamping member and the extended end of the right clamping plate of the right clamping member, respectively, for sensing whether the gripper has descended to the height of the material to be clamped.

6. The material tray gripper according to claim 4, characterized in that, One end of the first left transmission member is connected to one gripper finger of the electric gripper, and the other end is connected to the left clamping member. It includes a left connecting rod and a left connecting block. The left connecting rod extends along the X direction. One end of the left connecting rod is connected to one gripper finger of the electric gripper. The left connecting block is perpendicular to the left connecting rod. One end of the block is fixed to the other end of the left connecting rod, and the other end is connected to the left first fixing part of the left clamping member. One end of the first right transmission member is connected to another gripper finger of the electric gripper, and the other end is connected to the right clamping member. It includes a right connecting rod and a right connecting block. The right connecting rod extends along the X direction. One end of the right connecting rod is connected to another gripper finger of the electric gripper. The right connecting block is perpendicular to the right connecting rod. One end of the block is fixed to the other end of the right connecting rod, and the other end is connected to the right first fixing part of the right clamping member.

7. The material tray gripper according to claim 6, characterized in that, It also includes a left groove pressing block and a right groove pressing block for limiting the left front limiting claw, the left rear limiting claw, the right front limiting claw, and the right rear limiting claw; the left groove pressing block and the right groove pressing block both extend along the Y direction and are fixed on the fixed side plate. The left groove pressing block and the right groove pressing block both include a U-shaped groove and a notch. The U-shaped groove faces the fixed side plate and is opened along its entire length in the Y direction. The sliding parts of the left front limiting claw, the left rear limiting claw, the right front limiting claw, and the right rear limiting claw are located in the corresponding U-shaped groove and can slide in the corresponding U-shaped groove along the Y direction. The notch is located in the middle part of the left groove pressing block or the right groove pressing block and is opened in the direction of the material to be clamped and picked up. The left front camshaft and the left rear camshaft extend out from the notch of the left groove pressing block, and the right front camshaft and the right rear camshaft extend out from the notch of the right groove pressing block.

8. The material tray gripper according to claim 1, characterized in that, It also includes a left laser rangefinder, a right laser rangefinder, and two laser rangefinder mounting bases. The two laser rangefinder mounting bases are used to fix the left laser rangefinder and the right laser rangefinder to the fixed side plate respectively. The left laser rangefinder is fixed at the position of the left fixed plate of the left clamping member and is vertically fixed on the opposite side of the fixed side plate. The right laser rangefinder is fixed at the position of the right fixed plate of the right clamping member and is vertically fixed on the opposite side of the fixed side plate. The laser irradiation direction of the left laser rangefinder and the right laser rangefinder is directed towards the material to be clamped and picked up, for accurately measuring the position of the material to be clamped and picked up.

Images