A transport robot

Abstract

The application relates to a carrying robot, which comprises a claw conveying device, a claw base connected with the claw conveying device, a clamping frame arranged on the claw base, two clamping frames moving towards each other to realize clamping of workpieces, a clamping driving element connected with the clamping frame, a suction disc frame movably arranged on one side of the two clamping frames away from each other, the position of the suction disc frame on the clamping frame having an outer wall suction position and a clamping avoiding position, when the outer wall suction position, the suction disc frame is located on the side of the clamping frame away from the claw conveying device, the suction surface of the suction disc frame is perpendicular to the clamping surface of the clamping frame, when the clamping avoiding position, the space occupied by the suction disc frame along the direction perpendicular to the clamping surface of the clamping frame is minimum at the end of the clamping frame away from the claw conveying device, and a moving disc driving element connected with the suction disc frame. The application has the effect of reducing the occupation of the production space while realizing the suction and clamping of materials.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of material transportation equipment, in particular to a carrying robot. BACKGROUND

[0002] In the field of modern industrial automation, such as logistics, warehousing, manufacturing and food processing industries, the carrying, stacking and unloading of materials on the production line are common production links. Automation of these links is crucial to improve efficiency, reduce labor costs and ensure consistent operation.

[0003] In related technologies, material taking is involved in the carrying, stacking and unloading of materials on the production line, and usually two ways of suction or clamping are used, each with a suitable working scenario. However, in some complex scenarios, if a suction type carrying robot and a clamping type carrying robot are combined, this approach will occupy too much space in the production workshop. If a carrying robot is used, and the robot's gripper is integrated with a suction plate and a clamping jaw structure, this approach requires a lot of free space around the material when taking the material, so it also occupies too much space in the production workshop. SUMMARY

[0004] In order to realize the suction and clamping of materials while reducing the occupation of production space, the present application provides a carrying robot.

[0005] The carrying robot provided by the present application adopts the following technical solution:

[0006] A carrying robot comprises:

[0007] A gripper device;

[0008] A gripper base connected to the gripper device;

[0009] A clamping frame provided on the gripper base, two clamping frames moving towards each other to clamp the workpiece;

[0010] A clamping drive connected to the clamping frame;

[0011] A suction plate frame movably provided on one side of the two clamping frames away from each other, the position of the suction plate frame on the clamping frame having an outer wall suction position and a clamping avoidance position, when the outer wall suction position, the suction plate frame is located on the side of the clamping frame away from the gripper device, the suction surface of the suction plate frame is perpendicular to the clamping surface of the clamping frame, when the clamping avoidance position, the space occupied by the suction plate frame in the direction perpendicular to the clamping surface of the clamping frame is at a minimum at the end of the clamping frame away from the gripper device;

[0012] A driving member is connected with the suction disc holder.

[0013] By adopting the above technical scheme, since the gripper base frame is integrated with the clamping holder and the suction disc holder, firstly, the functions of clamping and sucking are realized by one robot, so that the number of robots can be reduced to reduce the occupation of production space, and secondly, when clamping is performed, the suction disc holder can be in a clamping avoiding position, and the end of the clamping holder away from the gripper device can be as thin as possible, so that the occupation of the space around the material can be reduced to realize clamping in a compact space.

[0014] In addition, the carrying robot can use only the clamping holder for clamping, or use only the suction disc holder for sucking, or use both the clamping holder and the suction disc holder to adapt to some special large workpieces of special shapes.

[0015] Preferably, one of the clamping holders is fixedly connected with the gripper base frame, and the other clamping holder is slidingly connected with the gripper base frame, and when the two clamping holders are at the farthest distance, the two clamping holders are respectively located at the two ends of the gripper base frame; the suction disc holder is located at the end of the clamping holder away from the gripper device, the suction disc holder is hingedly connected with the clamping holder, and the hinge axis of the suction disc holder is parallel to the clamping surface of the clamping holder.

[0016] By adopting the above technical scheme, based on the fixed clamping holder and the sliding clamping holder, firstly, the structure of the clamping driving member can be simplified, secondly, the action trajectory of the clamping holder can be simplified, and thirdly, when the two clamping holders are closed, the two clamping holders are located at one end of the gripper base frame, at this time, the clamping holder and the gripper base frame form an L shape and have the largest inside space, so that the sucking action can be performed in the state of occupying the smallest space, and the stopping action can also be performed in the state of occupying the smallest space.

[0017] Based on the hinged connection of the suction disc holder, firstly, the structure of the gripper part of the carrying robot can be simplified, secondly, the structure of the driving member of the suction disc holder can be simplified, and thirdly, when the suction disc holder is in the clamping avoiding position, the end of the clamping holder close to and away from the gripper base frame is in the state of the smallest volume, so as to further reduce the space occupied by the gripper part of the carrying robot.

[0018] Preferably, the gripper device is a six-axis mechanical arm, and when the two clamping holders are at the farthest distance, the two clamping holders are symmetrically distributed relative to the connection between the gripper device and the gripper base frame.

[0019] By adopting the above technical scheme, based on the mode that the claw device is a six-axis mechanical arm, first, the claw device can realize the six-axis movement of the claw part through more simple actions by the characteristics of the six-axis mechanical arm, second, since the claw part and the arm part of the carrying robot are arranged in a snake shape, the ground space and the near-ground space occupied by the carrying robot are very small, so that the carrying robot can work in a compact environment and can occupy the production workshop as little as possible when not working.

[0020] Preferably, the end of the clamping frame away from the claw base is provided with a supporting plate and a supporting plate driving element, the supporting plate is slidingly arranged to enter or exit the area between the two clamping frames, and the supporting plate is used to abut the bottom of the workpiece; the supporting plate driving element is connected with the supporting plate, and the supporting plate driving element and the supporting plate are located on the side of the suction plate frame close to the two clamping frames.

[0021] By adopting the above technical scheme, first, based on the arrangement of the supporting plate, when the weight of the workpiece is relatively large, the supporting plate can be moved to the lower side of the workpiece by the supporting plate driving element to abut the bottom of the workpiece, so as to realize the stable taking of the workpiece with large weight. Second, since the required moving stroke of the supporting plate does not need to be large, the supporting plate and the supporting plate driving element can be located on the side of the suction plate frame close to the two clamping frames, so that the thickness of the end of the clamping frame away from the claw base is not obviously increased, thereby the structure of the device can be kept simple.

[0022] Preferably, two suction plate frames are arranged, one suction plate frame is matched with one clamping frame; the clamping driving element is a lead screw linear module, which is used to make the clamping frame have a dynamic adjustment position state and a static adjustment position state, in the dynamic adjustment position state, the two suction plate frames exert expansion and contraction force on one workpiece or adjust the distance between two workpieces, and in the static adjustment position state, the clamping distance between the two clamping frames is changed.

[0023] By adopting the above technical scheme, first, one suction plate frame can be arranged on the outer wall suction position, or two suction plate frames can be arranged on the outer wall suction position, so as to adapt to workpieces of different sizes by different numbers of suction plates. Second, when the clamping frame is in the static adjustment position state and the two suction plate frames are in the outer wall suction position, different distances between the suction plate frames can be used to adapt to workpieces of different sizes. Third, when the clamping frame is in the dynamic adjustment position state and the two suction plate frames are in the outer wall suction position, the stretching or contraction action of a soft workpiece can be realized, and the simultaneous feeding of two workpieces can also be realized. Fourth, since there are two suction plate frames, when they are in the outer wall suction position, the clamping frame and the suction plate frame can cooperate to take a "convex" workpiece, and when they are in the clamping avoiding position, the suction plate frame can be adsorbed to the inner cavity surface to take a "concave" workpiece.

[0024] Preferably, the moving disc driving member is a stepless telescopic cylinder, a piston rod of the moving disc driving member is rotationally connected with the suction disc holder, the rotationally connected part makes a circular motion around the hinge between the suction disc holder and the clamping holder, and a shell of the moving disc driving member is hingedly connected with the clamping holder.

[0025] By adopting the above technical solutions, firstly, the moving disc driving member is a cylinder, so that the movement of the suction disc holder can be achieved by a more simple structure. Secondly, the moving disc driving member is a stepless telescopic cylinder, so that the suction disc holder can be at different angles with the clamping surface of the clamping holder, and therefore both suction disc holders can be attached to a non-horizontal surface, or one suction disc holder is attached to a horizontal surface and the other suction disc holder is attached to a non-horizontal surface. Similarly, the initial state of the workpiece can also be a non-horizontal state when the workpiece is picked up or put down. Thirdly, when two suction disc holders are used to pick up a soft workpiece, the suction disc holders can be turned towards the clamping holder to apply a stretching treatment to the workpiece, so as to enrich the working mode of the carrying robot.

[0026] Preferably, the plurality of suction discs on one suction disc holder are divided into a plurality of suction disc groups that work independently, and the plurality of suction disc groups are arranged in a distribution manner away from the clamping holder.

[0027] By adopting the above technical solutions, firstly, since the plurality of suction disc groups can work independently, different numbers of suction disc groups can be started according to the size of the workpiece. Secondly, when a non-horizontal surface is attached, the suction disc group close to the clamping holder can be started first, and then the suction disc group away from the clamping holder can be started, so that the suction disc holder can be more stably attached to the non-horizontal surface.

[0028] Preferably, between the two suction disc holders, the length of the attachment surface perpendicular to the movement direction of the clamping holder is equal, and the length of the attachment surface parallel to the movement direction of the clamping holder is equal or unequal.

[0029] By adopting the above technical solutions, in the equal case, the gripper part of the carrying robot can be adapted to some conventional compact clamping, and in the unequal case, the gripper part of the carrying robot can be adapted to some special compact clamping, so as to improve the working performance of the carrying robot.

[0030] Preferably, the supporting plate comprises a supporting part and a limiting part, the supporting part is used for abutting against the bottom of the workpiece, and the limiting part is used for abutting against the side of the workpiece facing the clamping holder.

[0031] By adopting the above technical solutions, when the clamping holder clamps a large-volume workpiece that is not hard, the limiting part of the supporting plate can abut against the side of the workpiece, so as to prevent the workpiece from being skewed and keep the workpiece stable.

[0032] Preferably, the pallet driving member is a pneumatic cylinder; the carrying robot further comprises a gas source, a vacuum generator and a suction cup electromagnetic valve, the vacuum generator and the suction cup electromagnetic valve are arranged on the clamping frame, the gas source sends out gas which is communicated with the suction cup electromagnetic valve and the vacuum generator in sequence, and the suction cup electromagnetic valve controls the on-off between the gas source and the vacuum generator, so that the vacuum generator generates negative pressure or restores normal pressure for the suction cup frame.

[0033] By adopting the above technical scheme, first, the pallet driving member and the movable disc driving member are both pneumatic cylinders, so that the structure of the carrying robot can be further simplified; second, the vacuum generator is adopted, so that the position for generating negative pressure is closer to the suction cup, thereby making the taking of the suction cup frame more stable, and the structure of the hand claw remains simple.

[0034] In summary, the present application has at least one of the following beneficial technical effects:

[0035] 1. Since the hand claw base frame is integrated with the clamping frame and the suction cup frame, first, the functions of clamping and sucking are realized by one robot, so that the number of robots can be reduced to reduce the occupation of production space, and second, when clamping, the suction cup frame can be in a clamping avoiding position, at this time, the end of the clamping frame away from the claw conveying device can be as thin as possible, so that the occupation of the space around the material can be reduced to realize clamping in a compact space.

[0036] 2. Based on the mode that the claw conveying device is a six-axis mechanical arm, first, the six-axis movement of the hand claw part of the claw conveying device can be realized by the characteristics of the six-axis mechanical arm through more simple actions, and second, since the hand claw part and the arm part of the carrying robot are arranged in a snake shape, the ground space and the near ground space occupied by the carrying robot are very small, so that the carrying robot can work in a compact environment and can reduce the occupation of the production workshop as much as possible when not working. BRIEF DESCRIPTION OF DRAWINGS

[0037] Figure 1 FIG. 1 is a structural schematic diagram of a carrying robot in an embodiment of the present application.

[0038] Figure 2 FIG. 2 is a schematic diagram made to embody the cooperation structure of the clamping frame and the suction cup frame when the suction cup frame is in a clamping avoiding position.

[0039] Figure 3 FIG. 3 is a schematic diagram of the inside empty space generated when the clamping frame is in a minimum folding state.

[0040] Figure 4 FIG. 4 is a schematic diagram made to embody how the carrying robot takes a "convex" shaped workpiece.

[0041] Figure 5 This is a schematic diagram illustrating how a handling robot picks up a U-shaped workpiece in an embodiment of this application.

[0042] Figure 6 This is a schematic diagram illustrating the distribution of the suction cup assembly on the suction cup holder in the embodiments of this application.

[0043] Figure 7 This is a schematic diagram in the embodiments of this application to illustrate how different sizes of suction surfaces can be formed by using different numbers of suction cup groups.

[0044] Figure 8 This is a schematic diagram in the embodiments of this application illustrating how two suction cup holders adapt to unconventional environments with obstacles when they have different numbers of suction cup groups.

[0045] Explanation of reference numerals in the attached drawings: 1. Gripper device; 2. Gripper base frame; 3. Clamping frame; 4. Clamping drive component; 5. Suction cup frame; 51. Suction cup assembly; 52. Suction cup common compartment; 6. Moving plate drive component; 7. Support plate; 71. Support part; 72. Limiting part; 8. Support plate drive component; 9. Vacuum generator; 10. Suction cup solenoid valve. Detailed Implementation

[0046] The following is in conjunction with the appendix Figures 1-8 This application will be described in further detail.

[0047] This application discloses a material handling robot.

[0048] Reference Figure 1 and Figure 2 The handling robot includes a gripper device 1, a gripper base 2, a clamping frame 3, a clamping drive 4, a suction cup frame 5, and a moving plate drive 6. Specifically, the gripper device 1 serves as the power source for the movement of the gripper portion of the robot, providing six degrees of freedom of motion. The gripper base 2 is connected to the gripper device 1 and serves as the mounting base for the gripper portion of the handling robot. Two clamping frames 3 are mounted on the gripper base 2 and move closer together to clamp the workpiece. The clamping drive 4 is mounted on the gripper base 2 and connected to the clamping frames 3, serving as the power element for the two clamping frames 3 to close and open.

[0049] Reference Figure 1 and Figure 2The suction cup holder 5 is movably positioned on one side of the two clamping holders 3 that are far apart from each other. Due to the movement of the suction cup holder 5, its position on the clamping holder 3 has an outer wall suction position and a clamping clearance position. In the outer wall suction position, the suction cup holder 5 is located on the side of the clamping holder 3 away from the gripper 1, and the suction surface of the suction cup holder 5 is perpendicular to the clamping surface of the clamping holder 3. In the clamping clearance position, the space occupied by the suction cup holder 5 along the direction perpendicular to the clamping surface of the clamping holder 3 is minimized at the end of the clamping holder 3 away from the gripper 1, to prevent the span of the clamping holder 3 away from the gripper 1 along the direction perpendicular to the clamping surface from being too large. The moving disk drive 6 is connected to the suction cup holder 5 and serves as the power device for switching the suction cup holder 5 between the outer wall suction position and the clamping clearance position.

[0050] In summary, the gripper portion of the handling robot, integrating the clamping frame 3 and the suction cup frame 5, offers the following advantages: First, a single robot can perform both gripping and suction functions, reducing the number of robots required and thus minimizing space occupation in the workshop. Second, during gripping, the suction cup frame 5 can be positioned in a clearance position, allowing the end of the clamping frame 3 furthest from the gripper device 1 to be thinner (meaning a shorter length perpendicular to the gripping surface). This reduces the area occupied around the workpiece, enabling the device to be implemented in a compact space. Third, the handling robot can use only the clamping frame 3 for gripping, or only the suction cup frame 5 for suction, or both can be used simultaneously to accommodate large, irregularly shaped workpieces, such as those with an inner L-shaped outer surface, like angle steel or channel steel.

[0051] Since the gripping and suction functions of this application are determined based on the type of workpiece, when gripping, the workpiece is a medium to large rectangular shape, such as a cardboard box containing components, a distribution box, or a refrigerator. When suction is used, the workpiece is a small and thin one, such as an unopened cardboard box, film products, paper products, or label products. Based on the aforementioned adaptability scenarios for gripping and suction, and combined with the three advantages of the aforementioned handling robot, the handling robot of this application can adapt to a wider range of working scenarios.

[0052] Reference Figure 1 and Figure 2As mentioned above, the handling robot of this application can be adapted to many work scenarios. Due to the richness of work scenarios, it also means that the handling robot needs to be more adaptable and compatible when performing various actions. In this way, while adapting to different work scenarios, the debugging difficulty of the handling robot in actual production can also be reduced. Based on the above requirements, optimization can be carried out from the following dimensions. Considering the structural cooperation between the gripper 3 and the gripper base 2, one gripper 3 is fixedly set on the gripper base 2, and the other gripper 3 is slidably connected to the gripper base 2 through a linear guide rail structure. When the two grippers 3 are at their farthest distance, the two grippers 3 are located at the two ends of the gripper base 2 respectively.

[0053] Based on the structural cooperation between the clamping frame 3 and the gripper base frame 2, firstly, the structure of the clamping drive component 4 is simplified, meaning it doesn't require two power sources or an additional transmission mechanism with a single power source. Secondly, the movement trajectory of the clamping frame 3 is also relatively simple. This simplicity means that when clamping a workpiece, after the stationary clamping frame 3 contacts the workpiece, the gripper device 1 doesn't need to move the gripper base frame 2; it only needs to move the other clamping frame 3 until it contacts the workpiece. Therefore, the movement trajectory of the clamping frame 3 is simple. Thirdly, when the two clamping frames 3 are closed to their minimum distance, they will be located on one end of the gripper base frame 2. At this time, the sliding clamping frame 3 and the gripper base frame 2 form an L-shape with maximum inner clearance space, such as... Figure 3 The space referred to in A is the inner spare space. This inner spare space can accommodate other miscellaneous items in the production workshop, so the suction operation can be carried out with minimal space occupation, and the shutdown operation can also be carried out with minimal space occupation.

[0054] Reference Figure 1 and Figure 2 Alternatively, we can consider the structural cooperation between the suction cup holder 5 and the clamping frame 3. From the aforementioned requirements for the suction cup holder 5, there are two ways to achieve this. One is to move the suction cup holder 5 away from the clamping frame 3 and away from the claw device 1, so that it can move from the outer wall suction position to the clamping clearance position. In this case, the suction cup holder 5 does not occupy space at the end of the clamping frame 3 away from the claw device 1, thus achieving the minimum value of 0. The other is to keep the suction cup holder 5 at the end of the clamping frame 3 away from the claw device 1, but the suction cup holder 5 can be folded on the side of the clamping frame 3 that is far away from each other, so that it can move from the outer wall suction position to the clamping clearance position. In this case, the suction cup holder 5 occupies the space at the end of the clamping frame 3 away from the claw device 1 in the thickness direction. This thickness is the smallest dimension of the length, width, and height of the suction cup holder 5, so it can also achieve the minimum value mentioned above.

[0055] Based on the two methods mentioned above, considering the simplicity of the structure, the second method is preferred. In this method, the suction cup frame 5 is located at the end of the clamping frame 3 away from the claw device 1. The suction cup frame 5 is hinged to the clamping frame 3, and the hinge axis of the suction cup frame 5 is parallel to the clamping surface of the clamping frame 3. When the suction surface of the suction cup frame 5 is perpendicular to the clamping surface of the clamping frame 3, the suction cup frame 5 is in the outer wall suction position. When the suction surface of the suction cup frame 5 is parallel to the clamping surface of the clamping frame 3, the suction cup frame 5 is in the clamping clearance position.

[0056] Based on the structural cooperation between the suction cup holder 5 and the gripper 3, firstly, the structure of the gripper in the handling robot is simpler, meaning that the suction cup holder 5 and the gripper 3 can be connected only through a hinge shaft. Secondly, the structure of the moving plate drive component 6 is simpler because the travel stroke of the suction cup holder 5 is shorter, allowing the rotation of the suction cup holder 5 to be directly achieved using a cylinder or motor. Thirdly, when the suction cup holder 5 is in the clamping clearance position, both the end of the gripper 3 near the gripper base 2 and the end away from the gripper base 2 are in a minimum volume state. This minimum volume should be understood as the sum of the lengths of the two ends of the gripper 3 near and away from the gripper base 2 being at their minimum along the direction of movement of the gripper 3. This means that the space occupied by the suction cup holder 5 will not shift from one end of the gripper 3 to the other, thus reducing the space occupied by the gripper part in the handling robot.

[0057] Reference Figure 1 and Figure 2 Furthermore, the structural cooperation between the gripper device 1 and the gripper base 2 can be considered. The gripper device 1 can be a six-axis robotic arm, and when the two grippers 3 are at their farthest distance, they are symmetrically distributed relative to the connection point between the gripper device 1 and the gripper base 2. Based on this, firstly, the characteristics of a six-axis robotic arm can be utilized to enable the gripper device 1 to achieve six-axis movement of the gripper portion through simpler actions. Secondly, because the gripper and arm portions of the handling robot are arranged in a serpentine pattern, the handling robot occupies very little ground space and near-ground space, allowing it to work in a compact environment and minimizing its impact on the production workshop when not in operation.

[0058] In summary, based on the structural cooperation between the gripper 3 and the gripper base 2, the structural cooperation between the suction cup 5 and the gripper 3, and the structural cooperation between the gripper device 1 and the gripper base 2, the three cooperations work together to make the handling robot structure simpler and more compact when statically stopped, thus occupying less space. When dynamically working, the handling robot's movements are simple and have less interference, thus occupying less space. Therefore, it can be more easily adapted to more diverse work scenarios.

[0059] Reference Figure 1 and Figure 2As mentioned above, the two clamping frames 3 can be used to clamp medium to large rectangular workpieces. If the workpiece is light, it can be picked up directly by the friction generated by the clamping frames 3. If the workpiece is heavy, an auxiliary structure is required. Specifically, a support plate 7 and a support plate drive 8 are provided at the end of the clamping frame 3 away from the gripper base 2. The support plate 7 is slidably arranged so that it enters or leaves the area between the two clamping frames 3. After entering the area between the two clamping frames 3, the support plate 7 will abut against the bottom of the workpiece to achieve stable picking up of heavy workpieces.

[0060] Reference Figure 1 and Figure 2 The pallet drive 8 is connected to the support plate 7. Since the support plate 7 only needs to be able to enter or leave the area between the clamping frames 3, that is, the required stroke of the support plate 7 is very small. Therefore, when the suction cup frame 5 is in the outer wall suction position, the pallet drive 8 and the support plate 7 are both located on the side of the suction cup frame 5 close to the two clamping frames 3. This will not significantly increase the thickness of the end of the clamping frame 3 away from the gripper base frame 2. The thickness direction is parallel to the opening and closing direction of the clamping frame 3, thereby keeping the structure of the device simple.

[0061] Reference Figure 1 and Figure 2 As mentioned above, the suction mode is suitable for small, thin workpieces. There are many types of workpieces, and due to the variety of types, there are significant differences in parameters such as shape, size, material, and thickness between different types of workpieces. Therefore, in order for the handling robot to adapt to these changes, the following settings are made: there are two suction cup frames 5, one suction cup frame 5 and one clamping frame 3. At the same time, the clamping drive 4 is a lead screw linear module, and the clamping drive 4 can enable the clamping frame 3 to have a dynamic adjustment state and a static adjustment state. The dynamic adjustment state means that the distance between the two clamping frames 3 will change when the gripper device 1 moves the gripper base frame 2. The static adjustment state means that the distance between the two clamping frames 3 will be adjusted before the gripper device 1 moves the gripper base frame 2.

[0062] Based on the aforementioned quantity relationship of the suction cup holders 5 and the selection of the clamping drive component 4, firstly, one suction cup holder 5 can be positioned on the outer wall suction position, or both suction cup holders 5 can be positioned on the outer wall suction position, so as to adapt to workpieces of different sizes by using different numbers of suction cups. Secondly, when the clamping frame 3 is in the static adjustment position and both suction cup holders 5 are in the outer wall suction position, workpieces of different sizes can be adapted by using suction cup holders 5 with different spacing.

[0063] Third, when the clamping frame 3 is in the dynamically adjustable position and both suction cup frames 5 are in the outer wall suction position, it is possible to perform stretching or shrinking actions on a soft workpiece, such as stretching film products or shrinking tempered glass products to bend the tempered glass, thus adapting to the tempered glass film application process. It can also simultaneously load two workpieces. The loading here is special: the two workpieces are adjacent before being picked up, but after being picked up and placed in the predetermined position, the two workpieces need to have a certain distance between them, and the distance is increased, making it more suitable for loading operations on linear production lines.

[0064] Furthermore, as mentioned above, when the suction cup holder 5 and the clamping holder 3 work together, they can also accommodate some special irregularly shaped workpieces. Therefore, based on the structure of the two suction cup holders 5, when both suction cup holders 5 are in the outer wall suction position, the clamping holder 3 and the suction cup holder 5 can work together to pick up "convex" shaped workpieces (such as...). Figure 1 For example, it could be a composite workpiece made of cardboard boxes of different volumes bundled together. Figure 2 In the middle, B refers to the "convex" shaped workpiece. When both suction cup holders 5 are in the clamping clearance position, the suction cup holder 5 can adsorb the inner cavity surface to pick up the "concave" shaped workpiece (such as...). Figure 4 For example, a cardboard box that has been opened but does not contain any components. Figure 4 The "C" in the middle refers to the "U"-shaped workpiece.

[0065] Reference Figure 5 and Figure 5 Considering the simplicity of the structure, the moving disk drive 6 in this application is a cylinder. The piston rod of the moving disk drive 6 is rotatably connected to the suction cup frame 5. The rotatable connection point makes a circular motion around the hinge point between the suction cup frame 5 and the clamping frame 3. The housing of the moving disk drive 6 is hinged to the clamping frame 3 so that the switching motion of the suction cup frame 5 between the outer wall suction position and the clamping avoidance position can be realized by the extension and retraction of the piston rod.

[0066] To further enrich the working scenarios in the suction mode, the preferred choice for the drive component 6 is a continuously telescopic cylinder. This allows the suction cup holder 5 to be positioned at different angles to the clamping surface of the gripper 3. Therefore, both suction cup holders 5 can adhere to non-horizontal surfaces, or one suction cup holder 5 can adhere to a horizontal surface while the other adheres to a non-horizontal surface. Similarly, when picking up or putting down a workpiece, the initial state of the workpiece can also be non-horizontal. Furthermore, when the two suction cup holders 5 are picking up a soft workpiece, as mentioned above, the suction cup holders 5 can be rotated towards the gripper 3 to stretch the workpiece, thus enriching the working modes of the handling robot.

[0067] Reference Figure 1 and Figure 2As mentioned above, the suction cup holder 5 can adsorb non-horizontal surfaces. If the workpiece is thin and soft, the suction cup needs to be able to fully contact the non-horizontal surface. Here, "fully" should be understood as the workpiece not bending or wrinkling after the suction cup contacts and holds the non-horizontal surface. Based on this, the multiple suction cups on the suction cup holder 5 will not be in a negative pressure state at the same time.

[0068] Reference Figure 1 and Figure 2 Specifically, the suction cups on a suction cup holder 5 are divided into multiple independently working suction cup groups 51. The multiple suction cup groups 51 are distributed along the direction away from the clamping frame 3. When the suction cup holder 5 rotates away from the clamping clearance position and gradually becomes parallel to the non-horizontal surface to be adsorbed, the suction cup group 51 closer to the clamping frame 3 can be activated first, and then the suction cup group 51 farther away from the clamping frame 3 can be activated. In this way, the force applied by the suction cup holder 5 to the workpiece is the expansion force, and the starting point of the force is located at the position where the workpiece is first adsorbed. Therefore, the workpiece will not wrinkle or bend during the adsorption process.

[0069] Furthermore, based on this structure of multiple independently operating suction cup groups 51, different sizes of workpieces can be adapted by activating different numbers of suction cup groups 51.

[0070] Reference Figure 2 and Figure 6 As mentioned above, there are two suction cup holders 5. The adsorption surfaces of the two suction cup holders 5 can be the same size or different sizes. The adsorption surface refers to the surface corresponding to the effective adsorption area of ​​the suction cup holder 5, that is... Figure 2 The area referred to by D is considered in terms of how to simply achieve the same or different size of the adsorption surface. When the adsorption surfaces are the same size, the two suction cup holders 5 have the same number of suction cup groups 51. When the adsorption surfaces are different sizes, the two suction cup holders 5 have different numbers of suction cup groups 51. Based on this arrangement, the length of the adsorption surface perpendicular to the direction of movement of the clamping frame 3 between the two suction cup holders 5 is equal, and the length of the adsorption surface parallel to the direction of movement of the clamping frame 3 may be equal or unequal.

[0071] When the number of suction cup groups 51 is equal, and both suction cup frames 5 are in the outer wall suction position, the handling robot can perform conventional suction work. "Conventional" here refers to a normal workshop environment where the handling robot is located. In this embodiment, each of the two suction cup frames 5 has three suction cup groups 51. However, when the number of suction cup groups 51 is unequal, and both suction cup frames 5 are in the outer wall suction position, the handling robot can perform unconventional suction work. "Unconventional" here refers to situations where the environment surrounding the workpiece is more challenging, such as... Figure 6 As shown, when there is an obstacle above the left or right side of the workpiece, Figure 7In the middle E, there is an obstacle. The suction cup holder 5 with a smaller number of suction cup groups 51 can approach the obstacle. For example, one suction cup holder 5 has two suction cup groups 51 and another suction cup holder 5 has four suction cup groups 51. The suction cup holder 5 with two suction cup groups 51 can approach the obstacle to pick up the workpiece in an unconventional environment.

[0072] Reference Figure 8 and Figure 8 As mentioned above, when clamping heavier workpieces, a support plate 7 is also required. At this time, it is also necessary to consider whether the shape of the workpiece is stable. Here, stability means that some workpieces are not entirely rigid. In this case, there should be no misalignment or skew between the upper and lower sides of the workpiece. Based on this, the structure of the support plate 7 is optimized. Specifically, each support plate 7 includes a support part 71 and a limiting part 72. The support part 71 and the limiting part 72 are integrally connected. The support part 71 abuts against the bottom of the workpiece, and the limiting part 72 abuts against the side of the workpiece. Therefore, the two support plates 7 on the two clamping frames 3 can limit the lower part of the workpiece to prevent the workpiece from skewing when clamping it, thereby improving the stability of the clamping operation.

[0073] Reference Figure 1 and Figure 2 In this embodiment, the gripper of the handling robot has three power devices: a gripping drive 4, a moving plate drive 6, and a pallet drive 8. Since the gripper base 2 is long enough along the direction of movement of the gripper frame 3, the gripping drive 4 is made of a lead screw linear module, which does not affect the simplicity of the structure. The moving plate drive 6 is made of a cylinder, which makes the gripper of the robot simpler by using a simple drive source. Similarly, in order to maintain the simplicity of the structure, the pallet drive 8 is also made of a cylinder.

[0074] Reference Figure 1 and Figure 2 Since the pallet drive 8 and the moving plate drive 6 are cylinders, and the suction cup frame 5 also works by negative pressure, the handling robot will include a pneumatic system. Specifically, the handling robot will include an air source, a vacuum generator 9, and a suction cup solenoid valve 10. The air source will not be installed on the gripper device 1 or the robot's gripper part, but will be installed in other locations in the factory. The air source will be connected to the pallet drive 8 and the moving plate drive 6 through the solenoid valve to control the extension and retraction of the piston rods of the pallet drive 8 and the moving plate drive 6.

[0075] The gas supplied by the gas source passes sequentially through the suction cup solenoid valve 10 and the vacuum generator 9. Both the vacuum generator 9 and the suction cup solenoid valve 10 are mounted on the clamping frame 3. The vacuum generator 9 is connected to the suction cup of the suction cup frame 5. When the suction cup solenoid valve 10 connects the gas source to the vacuum generator 9, the vacuum generator 9 creates a negative pressure on the suction cup of the suction cup frame 5, enabling suction. When the suction cup solenoid valve 10 does not connect the gas source to the vacuum generator 9, the vacuum generator 9 does not create a negative pressure on the suction cup of the suction cup frame 5, thus preventing the suction cup of the suction cup frame 5 from releasing from suction. Therefore, while achieving suction and release, the suction cup can be placed closer to the location where the negative pressure is generated. Furthermore, there are no large components on the clamping frame 3, thus maintaining a simple structure while improving suction stability.

[0076] Reference Figure 1 and Figure 2 Figure 2 Figure 6 As mentioned above, each suction cup holder 5 has multiple independently operating suction cup groups 51. Each suction cup group 51 is equipped with a suction cup solenoid valve 10 and a vacuum generator 9. Since each suction cup group 51 has multiple suction cups, in order to keep the pipeline simple, the suction cup holder 5 is also equipped with a suction cup common chamber 52. Each suction cup group 51 is equipped with two suction cup common chambers 52. The two suction cup common chambers 52 are connected to multiple suction cups through pipelines. At the same time, the two suction cup common chambers 52 are connected to a vacuum generator 9.

[0077] In summary, the handling robot of this application can pick up, move and perform other processing on a variety of workpieces in complex and diverse production spaces.

[0078] The implementation principle of a handling robot in this application embodiment is as follows: Since the gripper base frame 2 integrates a clamping frame 3 and a suction cup frame 5, firstly, the function of gripping and suction is realized by one robot, so the number of robots can be reduced to reduce the occupation of production space. Secondly, when gripping, the suction cup frame 5 can be placed in the clamping avoidance position. At this time, the end of the gripper frame 3 away from the gripper device 1 can be as thin as possible, which can also reduce the occupation of the space around the material, so as to realize clamping in a compact space.

[0079] The above are all preferred embodiments of this application, and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made in accordance with the structure, shape and principle of this application should be covered within the scope of protection of this application.

Claims

1. A transport robot, characterized in that: include: Claw device (1); The gripper base frame (2) is connected to the gripper device (1); A clamping frame (3) is set on the gripper base frame (2), and the two clamping frames (3) move closer to each other to clamp the workpiece; The clamping drive (4) is connected to the clamping frame (3); The suction cup holder (5) is movably disposed on one side of the two clamping frames (3) away from each other. The suction cup holder (5) has an outer wall suction position and a clamping clearance position on the clamping frame (3). In the outer wall suction position, the suction cup holder (5) is located on the side of the clamping frame (3) away from the claw device (1). The suction surface of the suction cup holder (5) is perpendicular to the clamping surface of the clamping frame (3). In the clamping clearance position, the space occupied by the suction cup holder (5) along the direction perpendicular to the clamping surface of the clamping frame (3) is at its minimum value at the end of the clamping frame (3) away from the claw device (1). The moving disk drive component (6) is connected to the suction cup frame (5); One of the clamping frames (3) is fixedly connected to the gripper base frame (2), and the other clamping frame (3) is slidably connected to the gripper base frame (2). When the two clamping frames (3) are at their farthest distance, the two clamping frames (3) are located at the two ends of the gripper base frame (2). The suction cup frame (5) is located on the end of the clamping frame (3) away from the gripper device (1). The suction cup frame (5) is hinged to the clamping frame (3), and the hinge axis of the suction cup frame (5) is parallel to the clamping surface of the clamping frame (3). The clamping frame (3) is provided with a support plate (7) and a pallet drive (8) at one end away from the gripper base frame (2). The support plate (7) is slidably disposed so that it enters or leaves the area between the two clamping frames (3). The support plate (7) is used to abut the bottom of the workpiece. The pallet drive (8) is connected to the support plate (7). The pallet drive (8) and the support plate (7) are both located on the side of the suction cup frame (5) close to the two clamping frames (3).

2. The handling robot according to claim 1, characterized in that: The gripper device (1) is a six-axis robotic arm. When the two grippers (3) are at their farthest distance, the two grippers (3) are symmetrically distributed relative to the connection between the gripper device (1) and the gripper base (2).

3. The handling robot according to claim 1, characterized in that: Two suction cup frames (5) are provided, one suction cup frame (5) cooperates with one clamping frame (3); the clamping drive (4) is a lead screw linear module, which is used to enable the clamping frame (3) to have a dynamic adjustment state and a static adjustment state. In the dynamic adjustment state, the two suction cup frames (5) apply expansion and contraction force to a workpiece or adjust the distance between two workpieces. In the static adjustment state, the clamping distance between the two clamping frames (3) is changed.

4. The handling robot according to claim 3, characterized in that: The moving disk drive (6) is a continuously telescopic cylinder. The piston rod of the moving disk drive (6) is rotatably connected to the suction cup frame (5). The rotatable connection point moves in a circular motion around the hinge point between the suction cup frame (5) and the clamping frame (3). The housing of the moving disk drive (6) is hinged to the clamping frame (3).

5. The handling robot according to claim 4, characterized in that: The suction cups on one suction cup holder (5) are divided into multiple independently working suction cup groups (51), and the multiple suction cup groups (51) are distributed in a direction away from the clamping frame (3).

6. The handling robot according to claim 3, characterized in that: Between the two suction cup holders (5), the lengths of the adsorption surfaces perpendicular to the direction of movement of the clamping frame (3) are equal, and the lengths of the adsorption surfaces parallel to the direction of movement of the clamping frame (3) are either equal or unequal.

7. The handling robot according to claim 3, characterized in that: The support plate (7) includes a support part (71) and a limiting part (72). The support part (71) is used to abut the bottom of the workpiece, and the limiting part (72) is used to abut the side of the workpiece facing the clamping frame (3).

8. The handling robot according to claim 4, characterized in that: The pallet drive component (8) is a cylinder; the handling robot also includes an air source, a vacuum generator (9) and a suction cup solenoid valve (10). The gas sent out by the air source is connected to the suction cup solenoid valve (10) and the vacuum generator (9) in sequence. The vacuum generator (9) and the suction cup solenoid valve (10) are set on the clamping frame (3). The vacuum generator (9) is connected to the suction cup of the suction cup frame (5). The suction cup solenoid valve (10) controls the on / off of the air source and the vacuum generator (9), so that the vacuum generator (9) causes the suction cup frame (5) to generate negative pressure or return to normal pressure.

Images