Sucker clamp

Abstract

The utility model discloses a suction cup clamping hand which comprises a clamping hand body and a control module, the clamping hand body comprises a partition plate grabbing mechanism, the partition plate grabbing mechanism comprises a frame body and suction cup assemblies oppositely arranged on the two sides of the lower portion of the frame body, and lifting assemblies are arranged between the suction cup assemblies and the frame body; a workpiece grabbing mechanism is arranged at the position, between the two suction cup assemblies, of the frame body, and a connecting flange connected with a robot is arranged above the frame body; the workpiece grabbing mechanism comprises a workpiece grabbing assembly and a workpiece pressing assembly. The clamping hand structure design integrating the partition plate grabbing mechanism and the workpiece grabbing mechanism is adopted, and taking and placing of workpieces and partition plates can be completed through a single clamping hand; and after one layer of workpieces can be taken and placed by connecting with a robot, the taking and the placing are converted into the taking and the placing of the clapboards, so that the workpieces and the clapboards are carried and stacked circularly, damage to the workpieces and the clapboards is avoided, the cost is reduced, the efficiency is high, the workpiece quality is improved, and standardized production is realized.

Description

Technical Field

[0001] The utility model relates to the technical field of automation equipment, in particular to a suction cup hand clamp. Background Art

[0002] After the automotive die-casting parts are processed, they need to be stacked in layers according to the set number through partitions. In the prior art, the handling and stacking of workpieces and partitions are all done manually. Since the workpieces and partitions are heavy and large in size, the labor intensity of the staff is high and the work efficiency is low. In addition, the handling process can easily cause damage to the workpieces and partitions, increase costs, affect the quality of the workpieces, and is not convenient for standardized production.

[0003] Therefore, it is urgent to design a suction cup gripper that can complete the picking and placing of workpieces and partitions respectively with a single gripper; that is, after connecting with a robot to complete the picking and placing of a layer of workpieces, it can switch to the picking and placing of partitions, thereby completing the transportation and stacking of workpieces and partitions in a cycle, avoiding damage to workpieces and partitions, reducing costs, increasing efficiency, improving workpiece quality, and realizing standardized production. Utility Model Content

[0004] In order to solve the above problems, the technical solutions adopted by the utility model are as follows:

[0005] A suction cup gripper, comprising a gripper body, characterized in that the gripper body comprises a partition grabbing mechanism, the partition grabbing mechanism comprises a frame and suction cup assemblies relatively arranged on two sides below the frame, and a lifting assembly is arranged between the suction cup assembly and the frame;

[0006] The frame is provided with a workpiece grasping mechanism between the two suction cup assemblies, and a connecting flange connected to the robot is provided on the top;

[0007] The workpiece grasping mechanism comprises a workpiece grasping assembly and a workpiece pressing assembly, wherein the workpiece pressing assembly is used to press the grasped workpiece;

[0008] Also included is a control module electrically connected to the partition grabbing mechanism and the workpiece grabbing mechanism.

[0009] Preferably, the lifting assembly includes a lifting cylinder connected to the frame, the suction cup assembly includes a connecting frame and a plurality of suction cups arranged on the connecting frame, the plurality of suction cups are connected to an external vacuum system, and the driving end of the lifting cylinder is connected to the connecting frame.

[0010] Preferably, the connecting frame is located between adjacent suction cups and a limiting column and a buffer assembly are provided, the buffer assembly includes a sliding rod slidably sleeved with the connecting frame, the buffer assembly also includes a buffer spring whose two ends are respectively connected to the connecting frame and the sliding rod, and the end of the sliding rod away from the connecting plate is located below the suction cup.

[0011] Preferably, the workpiece grasping mechanism further comprises a mounting base plate, the workpiece grasping assembly and the workpiece pressing assembly are connected to the frame body via the mounting base plate, and the mounting base plate is detachably connected to the frame body without tools.

[0012] Preferably, a quick-change joint is provided between the mounting base plate and the frame.

[0013] Preferably, the workpiece grasping assembly includes a plurality of jaws cooperating with the grasping holes of the workpiece, the jaws are connected to the mounting base plate, the jaws located in the middle of the workpiece are three-jaw jaws, and the jaws located outside the workpiece are two-jaw jaws.

[0014] Preferably, the workpiece clamping assembly comprises a clamping cylinder and a pressing plate connected to the driving end of the clamping cylinder, and the pressing plate is located between the mounting base and the fingers of the clamping jaws.

[0015] Preferably, the workpiece grasping mechanism further comprises a positioning assembly connected to the mounting base plate.

[0016] Preferably, the positioning assembly includes a plurality of positioning pins connected to the positioning holes of the workpiece.

[0017] Preferably, it also includes a camera arranged on the frame, wherein the camera is used to identify the position of the workpiece and guide the robot to control the gripper body to grasp the workpiece.

[0018] Compared with the prior art, the beneficial effects of the present invention are:

[0019] 1. The utility model adopts a gripper structure design that integrates a partition gripping mechanism and a workpiece gripping mechanism. A single gripper can be used to pick and place workpieces and partitions respectively; that is, after being connected to a robot, it can complete the picking and placing of a layer of workpieces, and then switch to picking and placing partitions, so as to complete the transportation and stacking of workpieces and partitions in a cycle, avoid damage to workpieces and partitions, reduce costs, increase efficiency, improve workpiece quality, and realize standardized production.

[0020] 2. The partition grabbing mechanism and the workpiece grabbing mechanism are detachably connected without tools, which is convenient for quick replacement or removal of the workpiece grabbing mechanism of the partition grabbing mechanism to meet the needs of grabbing and carrying workpieces of different specifications.

[0021] 3. The workpiece is pressed against the clamping claw by the clamping component to prevent the grasped workpiece from shaking and falling during movement, thereby improving the grasping stability. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a three-dimensional structural schematic diagram of the utility model;

[0023] Figure 2 It is the front view of the utility model;

[0024] Figure 3It is a structural schematic diagram of the partition plate grabbing mechanism of the utility model;

[0025] Figure 4 It is a structural schematic diagram of the workpiece grasping mechanism in the utility model;

[0026] Among them: partition grabbing mechanism 1, workpiece grabbing mechanism 2, connecting flange 3, limit column 4, buffer assembly 5, quick-change joint 6, positioning assembly 7, camera 8, frame 11, suction cup assembly 12, lifting assembly 13, workpiece grabbing assembly 21, workpiece clamping assembly 22, mounting base 23, slide rod 51, buffer spring 52, positioning pin 71, connecting frame 121, suction cup 122, lifting cylinder 131, clamping claw 211, clamping cylinder 221, pressing plate 222. DETAILED DESCRIPTION

[0027] In order to facilitate the understanding of the present invention, the present invention will be described more comprehensively with reference to the accompanying drawings. The accompanying drawings provide preferred embodiments of the present invention. However, the present invention can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the understanding of the disclosure of the present invention more thorough and comprehensive.

[0028] It should be noted that when an element is referred to as being "fixed to" another element, it may be directly on the other element or there may also be an element centered thereon. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be an element centered thereon at the same time. The terms "vertical", "horizontal", "left", "right", "up", "down", "front", "rear" and similar expressions used herein are for illustrative purposes only.

[0029] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art in the technical field of the present invention. The terms used herein in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more related listed items.

[0030] Below, in conjunction with the accompanying drawings and specific implementation methods, the utility model is further described:

[0031] like Figure 1-4 As shown, a suction cup 122 gripper comprises a gripper body, the gripper body comprises a partition gripping mechanism 1, the partition gripping mechanism 1 comprises a frame 11 and suction cup assemblies 12 disposed on both sides below the frame 11, and a lifting assembly 13 is disposed between the suction cup assembly 12 and the frame 11;

[0032] The frame 11 is provided with a workpiece grasping mechanism 2 between the two suction cup assemblies 12, and a connecting flange 3 connected to a robot (not shown in the figure) is provided on the top;

[0033] The workpiece grasping mechanism 2 includes a workpiece grasping component 21 and a workpiece pressing component 22, and the workpiece pressing component 22 is used to press the grasped workpiece;

[0034] It also includes a control module (not shown in the figure) electrically connected to the partition grasping mechanism 1 and the workpiece grasping mechanism 2.

[0035] In this embodiment, a gripper structure design integrating a partition grasping mechanism 1 and a workpiece grasping mechanism 2 is adopted, and the workpiece and the partition can be taken and placed respectively by a single gripper; the partition is adsorbed and grasped by the suction cup assemblies 12 on both sides cooperating with the vacuum system.

[0036] During operation, after being connected to the robot, the lifting component 13 first drives the suction cup component 12 to grab the partition to the set placement position. After completion, the suction cup component 12 resets, and uses the workpiece grabbing component 21 to pick up and place a layer of workpieces stacked on the partition. After completion, the workpiece grabbing component 21 resets, and at the same time, the partition grabbing mechanism 1 drives to continue to pick up and place another partition above the stacked workpieces, and then the above steps are cycled to complete the transportation and stacking of workpieces and partitions.

[0037] By setting the lifting assembly 13, when the partition is not being grasped, the suction cup assembly 12 can be placed between the workpiece grasping mechanism 2 and the frame 11 to avoid interference in grasping the workpiece.

[0038] In addition, if Figure 1 , 4 As shown, in this embodiment, the clamping assembly is used to clamp the workpiece during grasping to prevent the workpiece from shaking during the movement, thereby improving the reliability and stability of workpiece grasping.

[0039] Through the above-mentioned gripper body structure design, damage to the workpiece and the partition can be avoided, the cost can be reduced, the efficiency is high, the workpiece quality is improved, and standardized production can be achieved.

[0040] Further, such as Figure 1 , 2 As shown in Figure 3, in order to achieve the adsorption and grasping of the partition and improve the reliability of grasping the partition, the lifting assembly 13 includes a lifting cylinder 131 connected to the frame 11, and the suction cup assembly 12 includes a connecting frame 121 and a plurality of suction cups 122 arranged on the connecting frame 121, and the plurality of suction cups 122 are connected to an external vacuum system (not shown in the figure), and the driving end of the lifting cylinder 131 is connected to the connecting frame 121.

[0041] Further, such as Figure 1 ,2 As shown in Figure 3, in order to ensure that the suction cup 122 is squeezed into place when grabbing the partition and to prevent the suction cup 122 from being damaged by quickly acting on the partition, the connecting frame 121 is located between adjacent suction cups 122 to set a limiting column 4 and a buffer component 5, the buffer component 5 includes a slide rod 51 slidably connected to the connecting frame 121, and the buffer component 5 also includes a buffer spring 52 with two ends respectively connected to the connecting frame 121 and the slide rod 51, and the end of the slide rod 51 away from the connecting plate is located below the suction cup 122.

[0042] Further, such as Figure 1 , 2 As shown in Figure 4, in order to facilitate the quick and tool-free disassembly and assembly of the workpiece grasping mechanism 2 from the partition grasping mechanism 1 to meet the grasping and transportation of workpieces of different specifications, the workpiece grasping mechanism 2 also includes a mounting base plate 23, and the workpiece grasping assembly 21 and the workpiece clamping assembly 22 are connected to the frame 11 through the mounting base plate 23, and the mounting base plate 23 is detachably connected to the frame 11 without tools.

[0043] Further, such as Figure 1 , 3 As shown in , 4 , a quick-change connector 6 is provided between the mounting base plate 23 and the frame body 11 .

[0044] Further, such as Figure 2 , 4 As shown, in order to achieve the gripping of the workpiece and improve the gripping reliability of the workpiece, the workpiece gripping assembly 21 includes a plurality of jaws 211 that cooperate with the gripping holes of the workpiece, and the jaws 211 are connected to the mounting base plate 23. The jaws 211 located in the middle of the workpiece are three-jaw jaws 211, and the jaws 211 located on the outside of the workpiece are two-jaw jaws 211.

[0045] In this embodiment, the clamping jaw 211 includes a clamping jaw 211 cylinder and fingers, and its structure and working principle are the prior art in the field, which will not be described in detail here.

[0046] Further, such as Figure 2 , 4 As shown, in order to prevent the grasped workpiece from shaking and falling during movement, the workpiece is pressed against the clamp 211 by a pressure plate 222. The workpiece clamping assembly 22 includes a clamping cylinder 221 and a pressure plate 222 connected to the driving end of the clamping cylinder 221. The pressure plate 222 is located between the mounting base 23 and the fingers of the clamp 211.

[0047] Further, such as Figure 4 As shown, in order to improve the accuracy and reliability of grasping the workpiece, the workpiece grasping mechanism 2 also includes a positioning component 7 connected to the mounting base plate 23 for positioning before grasping.

[0048] Further, such as Figure 4 As shown, the positioning assembly 7 includes a plurality of positioning pins 71 connected to the positioning holes of the workpiece.

[0049] Further, such as Figure 3 As shown, in order to grasp the workpiece more accurately and quickly, a camera 8 is also included on the frame 11. The camera 8 is used to identify the position of the workpiece and guide the robot to control the gripper body to grasp the workpiece.

[0050] For those skilled in the art, various other corresponding changes and deformations can be made according to the technical solutions and concepts described above, and all of these changes and deformations should fall within the scope of protection of the claims of the utility model patent.

Claims

1. A suction cup gripper, comprising a gripper body, characterized in that: The gripper body includes a partition grabbing mechanism, which includes a frame and suction cup assemblies relatively arranged on both sides below the frame, and a lifting assembly is arranged between the suction cup assembly and the frame; The frame is provided with a workpiece grasping mechanism between the two suction cup assemblies, and a connecting flange connected to the robot is provided on the top; The workpiece grasping mechanism comprises a workpiece grasping assembly and a workpiece pressing assembly, wherein the workpiece pressing assembly is used to press the grasped workpiece; Also included is a control module electrically connected to the partition grabbing mechanism and the workpiece grabbing mechanism.

2. A suction cup gripper according to claim 1, characterized in that: The lifting assembly includes a lifting cylinder connected to the frame, the suction cup assembly includes a connecting frame and a plurality of suction cups arranged on the connecting frame, the plurality of suction cups are connected to an external vacuum system, and the driving end of the lifting cylinder is connected to the connecting frame.

3. A suction cup gripper according to claim 2, characterized in that: The connecting frame is located between adjacent suction cups and a limiting column and a buffer assembly are provided. The buffer assembly includes a sliding rod slidably sleeved with the connecting frame. The buffer assembly also includes a buffer spring with two ends respectively connected to the connecting frame and the sliding rod. The end of the sliding rod away from the connecting plate is located below the suction cup.

4. A suction cup gripper according to claim 2, characterized in that: The workpiece grabbing mechanism also includes a mounting base plate, and the workpiece grabbing assembly and the workpiece pressing assembly are connected to the frame body via the mounting base plate, and the mounting base plate and the frame body are detachably connected without tools.

5. A suction cup gripper according to claim 4, characterized in that: A quick-change joint is arranged between the mounting base plate and the frame body.

6. A suction cup gripper according to claim 4, characterized in that: The workpiece grasping assembly includes a plurality of clamping jaws matched with the grasping holes of the workpiece, the clamping jaws are connected to the mounting base plate, the clamping jaws located in the middle of the workpiece are three-jaw clamps, and the clamping jaws located outside the workpiece are two-jaw clamps.

7. A suction cup gripper according to claim 4, characterized in that: The workpiece clamping assembly includes a clamping cylinder and a clamping plate connected to the driving end of the clamping cylinder, and the clamping plate is located between the mounting base and the fingers of the clamping jaws.

8. The suction cup gripper according to claim 4, characterized in that: The workpiece grasping mechanism also includes a positioning assembly connected to the mounting base plate.

9. A suction cup gripper according to claim 8, characterized in that: The positioning assembly includes a plurality of positioning pins connected to positioning holes of the workpiece.

10. The suction cup gripper according to claim 1, characterized in that: It also includes a camera arranged on the frame, and the camera is used to identify the position of the workpiece and guide the robot to control the gripper body to grasp the workpiece.

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