Composite gripper and robot

Abstract

The utility model belongs to the technical field of robot equipment for production operation, and provides a composite gripper which comprises a main body, a suction mechanism and a magnetic suction mechanism, the main body is used for being installed at the output end of a robot, the suction mechanism comprises a vacuum suction cup and a clamping assembly, and the vacuum suction cup is arranged on the main body and used for sucking a workpiece in a vacuum mode; the clamping assembly comprises a first driver, a movable frame and a bottom support, and the movable frame is connected with the bottom support and extends outwards from one side of the main body; the first driver is used for driving the movable frame and linking the bottom support, so that the movable frame is close to a workpiece sucked by vacuum, and meanwhile, the bottom support is used for supporting the workpiece; the magnetic suction mechanism is arranged on the main body and comprises a telescopic frame and a magnetic suction head arranged on the telescopic frame, and the telescopic frame is used for driving the magnetic suction head to move relative to the vacuum suction cup. The utility model further provides a robot with the composite gripper. The technical problem that in the prior art, a gripper on a robot is single in function is solved.

Description

Technical Field

[0001] The present application belongs to the technical field of robot equipment for production operations, and in particular, relates to a composite gripper and a robot. Background Art

[0002] In the production and delivery process, a common processing scenario is to stack cartons loaded with products on pallets for batch transportation. With the gradual development of IoT technology, the current operation process will be further refined. For example, sorting is performed for outbound products, confirming the products to be shipped by scanning codes, and then stacking and shipping. This operation process requires the combination of robots for joint operation.

[0003] In the above operation link, the traditional method is to manually place an initial pallet in advance, then move the cartons loaded with products from the conveyor line one by one to the initial pallet, and transfer them to the palletizing position for positioning; then, place another pallet in advance as the stacking pallet for outbound products. Use the robot to scan the cartons loaded with products to confirm the products that need to be shipped out; then, the robot transfers the cartons that need to be shipped out to the above pallet for loading outbound products for stacking and shipment.

[0004] In order to improve the problem of high manual participation, consider letting the robot automatically complete the entire operation process. According to the above process segmentation, the entire process mainly requires two operations. One is to move the pallet to the designated location; the other is to scan the cartons loaded with products and transfer them to the pallet. However, the grippers on the robot can only operate on one operation object such as a pallet or a carton. When the object changes, due to the different ways of picking up the pallet or carton, different grippers need to be replaced for operation; or, multiple robots are set up for each operation object to operate simultaneously.

[0005] It can be seen that the gripper on the existing robot has a single function and is not compatible with different operation objects. It can only use multiple robots to work simultaneously. The cost of each robot is high, which leads to increased production costs. Summary of the invention

[0006] The purpose of the embodiments of the present application is to provide a composite gripper and a robot to solve the technical problem of the single function of the gripper on the robot in the prior art.

[0007] In order to achieve the above-mentioned purpose, the technical solution adopted in this application is: to provide a composite gripper, comprising:

[0008] A main body, used for mounting on the output end of the robot;

[0009] The suction mechanism comprises a vacuum suction cup and a clamping assembly, wherein the vacuum suction cup is arranged on the main body and is used to vacuum-suction the workpiece; the clamping assembly comprises a first driver, a movable frame and a bottom bracket, wherein the movable frame is connected to the bottom bracket and extends outward from one side of the main body; the first driver is used to drive the movable frame and link the bottom bracket, so that the movable frame is close to the workpiece sucked by vacuum, and at the same time, the bottom bracket supports the workpiece;

[0010] A magnetic suction mechanism is arranged on the main body, and the magnetic suction mechanism includes a telescopic frame and a magnetic suction head arranged on the telescopic frame, and the telescopic frame is used to drive the magnetic suction head and the vacuum suction cup to move relative to each other.

[0011] In this way, the clamping assembly on the composite gripper, driven by the first driver, can move the movable frame closer to the workpiece being sucked by the vacuum, and make the bottom support support the workpiece, effectively preventing the workpiece from falling off easily during the process of vacuum suction transfer, thereby improving the vacuum suction stability of the workpiece. The telescopic frame in the magnetic suction mechanism can drive the magnetic suction head to move, thereby changing the relative position of the magnetic suction head and the vacuum suction cup to form a spatial dislocation, effectively solving the problem of mutual interference between two operating mechanisms set for different operating objects integrated on the same gripper, and improving the coordination effect of the suction mechanism and the magnetic suction mechanism on the composite gripper.

[0012] The structure of the suction mechanism is improved, and a linkage assembly for driving the bottom bracket to be linked is provided on the movable frame, and the linkage assembly includes a pull rod, a fixed seat and an angle adjustment member, and the angle adjustment member is installed on the bottom bracket and used to adjust the swing amplitude of the bottom bracket; the fixed seat is set on the main body, one end of the pull rod is connected to the rotating shaft of the fixed seat, and the other end of the pull rod is connected to the angle adjustment member through a joint bearing. In this way, when the movable frame is driven by the first driver to move closer to the workpiece, the pull rod and the angle adjustment member are linked on the movable frame, and the bottom bracket is driven to turn to the bottom of the workpiece sucked by the vacuum, so that the bottom bracket is supported on the bottom of the workpiece.

[0013] In one embodiment, a connecting rod is provided at the connection portion between the bottom bracket and the movable frame, and both ends of the connecting rod are connected to the rotating shaft of the movable frame; the angle adjustment member is provided with a sleeve capable of adjusting the tightness, and the sleeve is sleeved on the connecting rod. In this way, the angle adjustment member is used to adjust the angle between it and the bottom bracket, thereby correcting the rotation amplitude of the bottom bracket toward the bottom of the workpiece to be vacuumed, which is conducive to adapting to workpieces with different heights.

[0014] In one embodiment, the suction mechanism further includes a rotating shaft seat disposed on the main body, one end of the movable frame is disposed on the rotating shaft seat through a rotating shaft and is connected to the output end of the first driver, and the other end of the movable frame is rotatably connected to the bottom bracket; the first driver drives the movable frame to rotate with the rotating shaft on the rotating shaft seat as the axis and to approach the workpiece. In this way, when vacuum suctioning the workpiece, the movable frame and the bottom bracket are switched from the initial state of extending outward from one side of the vacuum suction cup to the state of approaching the workpiece, and at the same time, the bottom bracket supports the workpiece, effectively preventing the workpiece from falling easily during the process of being vacuum suctioned and transferred.

[0015] In one embodiment, a mounting frame for setting the first driver is provided on the main body, a fixing hole is provided on the main body, and a long hole matching the position of the fixing hole is provided on the mounting frame, and fasteners are installed on the long hole and the fixing hole to set the installation position of the first driver, thereby adjusting the rotation range of the movable frame driven by the first driver, effectively ensuring that the movable frame is close to the side of the workpiece being vacuumed, and at the same time the bottom support is moved to the bottom of the workpiece to support the workpiece.

[0016] The structure of the suction mechanism is further improved. The suction mechanism also includes an in-place sensing device arranged on the main body. The in-place sensing device includes a spring pin and a sensing switch. The two ends of the spring pin are a contact end and a trigger end respectively. The spring pin passes through the vacuum suction cup. The contact end is exposed from the suction surface of the vacuum suction cup. The trigger end is used to trigger the sensing switch. In this way, the in-place sensing device is used to detect whether the vacuum suction cup is vacuuming the workpiece, thereby improving the accuracy of the vacuum suction operation of the workpiece.

[0017] In one embodiment, the spring pin includes a fixing sleeve, an elastic member and a push rod, wherein the fixing sleeve is arranged on the vacuum suction cup; the push rod is sleeved in the fixing sleeve, and a top cap is provided on the push rod, and the top cap serves as the trigger end; a contact head is provided on the extending end of the push rod, and the contact head serves as the contact end; the elastic member is accommodated in the fixing sleeve and sleeved with the push rod, so that the push rod can move elastically on the fixing sleeve, thereby effectively ensuring the triggering sensitivity of the spring pin.

[0018] The structure of the magnetic suction mechanism is improved. The telescopic frame includes a second driver, a fixed sub-frame, a lifting sub-frame and a telescopic rod. The second driver and the fixed sub-frame are arranged on the main body. The magnetic suction head and the lifting sub-frame are connected through the telescopic rod. The output end of the second driver is connected to the lifting sub-frame, and drives the lifting sub-frame to drive the magnetic suction head to move. In this way, the telescopic frame is a frame structure composed of a fixed sub-frame and a lifting sub-frame. Under the action of the second driver, the lifting sub-frame moves up and down on the fixed sub-frame, and each magnetic suction head is driven to move synchronously to form a spatial dislocation with the vacuum suction cup to avoid mutual interference.

[0019] In one embodiment, the telescopic rod includes a sleeved connecting shaft and a linear bearing, the fixed subframe is connected to the linear bearing, and the two ends of the connecting shaft are respectively connected to the lifting subframe and the magnetic suction head. In this way, the linear bearing is used as a guide to allow each telescopic rod to perform telescopic movement synchronously and linearly, effectively improving the synchronization of each magnetic suction head.

[0020] The present application also provides a robot, wherein the output end of the robot is provided with the composite gripper, and the composite gripper is also provided with a camera device, and the camera device is used to capture images of the workpiece, which is beneficial for matching the working scene and scanning and sorting the workpiece before the workpiece is transferred.

[0021] The beneficial effects of the composite gripper and robot provided by the present application are as follows: compared with the prior art, the composite gripper of the robot of the present application is integrated with a suction mechanism and a magnetic suction mechanism, and the suction mechanism includes a vacuum suction cup, which can vacuum suction the workpieces such as cartons to be vacuumed. The magnetic suction mechanism includes a magnetic suction head, which can magnetically extract metal workpieces such as metal pallets. The composite gripper can be compatible with workpieces of different materials for picking up and transferring positions, effectively improving the versatility of the gripper on the robot, thereby meeting the use requirements of the operation scene.

[0022] In order to address the instability problem of the gripper when vacuum sucking workpieces, the suction mechanism of the composite gripper of the present application also has a clamping assembly. The first driver of the clamping assembly can drive the movable frame to move closer to the workpiece being vacuum sucked, and enable the bottom support to support the workpiece, thereby preventing the workpiece from falling off easily during the process of vacuum suction and transferring position, thereby effectively improving the stability of the gripper in vacuum sucking workpieces.

[0023] In addition, the magnetic suction mechanism of the composite gripper of the present application also has a telescopic frame, which can drive the magnetic suction head to move, thereby changing the relative position of the magnetic suction head and the vacuum suction cup to form a spatial dislocation, thereby solving the problem that two operating mechanisms set for different operating objects integrated on the same gripper are prone to mutual interference, thereby improving the mutual coordination effect between the suction mechanism and the magnetic suction mechanism on the composite gripper. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0025] Figure 1 Schematic diagram of the three-dimensional structure of the composite gripper provided in the embodiment of the present application Figure 1 ;

[0026] Figure 2 Schematic diagram of the composite gripper sucking a workpiece according to an embodiment of the present application Figure 1 ;

[0027] Figure 3 A front view structural diagram of a composite gripper provided in an embodiment of the present application;

[0028] Figure 4 Schematic diagram of the composite gripper sucking the carton provided in the embodiment of the present application Figure 1 ;

[0029] Figure 5 Schematic diagram of the composite gripper sucking the carton provided in the embodiment of the present application Figure 2 ;

[0030] Figure 6 Schematic diagram of the composite gripper sucking the carton provided in the embodiment of the present application Figure 3 ;

[0031] Figure 7 Schematic diagram of the composite gripper sucking the tray provided in the embodiment of the present application Figure 1 ;

[0032] Figure 8 Schematic diagram of the composite gripper sucking the tray provided in the embodiment of the present application Figure 2 ;

[0033] Fig. 9 Schematic diagram of the three-dimensional structure of the composite gripper provided in the embodiment of the present application Figure 2 ;

[0034] Fig.10 Schematic diagram of the three-dimensional structure of the composite gripper sucking the carton provided in the embodiment of the present application Figure 1 ;

[0035] Fig.11 Schematic diagram of the three-dimensional structure of the composite gripper sucking the carton provided in the embodiment of the present application Figure 2 ;

[0036] Fig.12A top view of the structure of the composite gripper provided in an embodiment of the present application;

[0037] Fig.13 A schematic diagram of the three-dimensional structure of the angle adjustment member provided in the embodiment of the present application;

[0038] Fig.14 A side structural diagram of a composite gripper provided in an embodiment of the present application;

[0039] Fig.15 for Fig. 9 A schematic diagram of the enlarged structure of part A;

[0040] Fig.16 A schematic diagram of the internal structure of the spring pin provided in an embodiment of the present application;

[0041] Fig.17 Schematic diagram of the three-dimensional structure of the composite gripper provided in the embodiment of the present application Figure 3 .

[0042] Among them, the reference numerals in the figure are:

[0043] 100-workpiece; 100a-carton; 100b-metal pallet; 200-camera device;

[0044] 1-main body; 11-bottom plate; 12-frame; 121-flange; 122-connection hole; 13-mounting frame; 131-long hole; 14-connection plate;

[0045] 2- suction mechanism; 21- vacuum suction cup; 22- rotating shaft seat;

[0046] 3-magnetic suction mechanism; 31-magnetic suction head; 32-connecting ear;

[0047] 4-clamping assembly; 41-first driver; 42-movable frame; 43-bottom support; 431-connecting rod;

[0048] 5- telescopic frame; 51- second drive; 52- fixed sub-frame; 53- lifting sub-frame; 54- telescopic rod; 541- connecting shaft; 542- linear bearing; 543- buffer pad;

[0049] 6-linkage assembly; 61-fixed seat; 62-pull rod; 63-angle adjustment member; 631-ring; 632-crack; 633-through hole;

[0050] 7-in-place sensing device; 71-spring pin; 711-contact end; 712-trigger end; 713-fixing sleeve; 714-elastic member; 715-top rod; 716-top cap; 717-contact head; 72-induction switch. DETAILED DESCRIPTION

[0051] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0052] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element.

[0053] It should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0054] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of this application, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0055] In the operation scenario of this application, the entire operation process mainly requires two operations: first, to move the pallet to the designated location. This pallet is generally a metal pallet to ensure the structural strength of the pallet. Second, to scan and sort the cartons loaded with products and transfer them to the aforementioned metal pallet.

[0056] At present, the gripper on the robot can only operate on a specified object such as the metal pallet or carton. Specifically, metal pallets can consider magnetic suction, and cartons can consider vacuum suction and other different picking methods. In this way, when the operation object changes, the operating structure on the gripper is also different. If different types of grippers are replaced, the two processes can only be operated separately, which will cause the entire operation process to be disconnected and affect the operation efficiency. Therefore, multiple robots can only be used to work at the same time, which will also lead to an increase in the occupied on-site space, and the high cost of purchasing or renting robots will further increase the production cost.

[0057] In addition, considering that the products may be expensive circuit boards, these circuit boards are loaded in cartons for the robot to pick up and transfer to other locations for stacking. During the transfer and stacking process, tipping or falling cannot occur, otherwise it will cause economic losses. Therefore, the stability of the robot's gripper in picking up workpieces is particularly important. It is not possible to simply add auxiliary structures to the gripper that can pick up metal pallets to pick up cartons. The corresponding operating structure should be set according to the particularity of the operating object to ensure that the gripper is both versatile and stable.

[0058] Here, the embodiment of the present application provides a composite gripper and robot for the above-mentioned operation scene. The composite gripper is integrated with a picking structure for metal pallets and cartons respectively, and the two will not interfere with each other, effectively solving the technical problem that the gripper on the traditional robot has a single function and cannot be compatible with different operation objects. Only one robot is required in the operation scene to complete the entire operation process, effectively saving space and reducing production costs. It is now described in detail.

[0059] In the embodiment provided in the present application, the robot used is a robot of the mechanical arm type, and the output end of the robot is provided with the composite gripper of the present application. Figure 1 The composite gripper includes a main body 1, a suction mechanism 2 and a magnetic suction mechanism 3, wherein the main body 1 is used to be installed on the output end of the robot. The main body 1 can preferably be a base-like structure so that various components on the gripper can be installed on the main body 1 respectively.

[0060] Please also read Figure 1 , Figure 2 and Figure 3 The suction mechanism 2 includes a vacuum suction cup 21 and a clamping assembly 4, and the vacuum suction cup 21 is arranged on the main body 1. In this embodiment, the workpiece 100a of the operation object is a carton, and the vacuum suction cup 21 can be used to suck the carton by vacuum; similarly, it can also be other workpieces 100a that can be sucked by vacuum, which is not specifically limited here.

[0061] The clamping assembly 4 is used to protect the workpiece 100a sucked by vacuum, and prevent the workpiece 100a from falling easily during the process of vacuum suction and transfer. The clamping assembly 4 includes a first driver 41, a movable frame 42 and a bottom support 43, and the movable frame 42 is connected to the bottom support 43 and extends outward from one side of the main body 1. In this embodiment, the movable frame 42 and the bottom support 43 can extend outward from one side of the vacuum suction cup 21 to the side direction, so that the movable frame 42 and the bottom support 43 are away from the suction surface of the vacuum suction cup 21, effectively avoiding interference with the vacuum suction operation of the vacuum suction cup 21.

[0062] The first driver 41 is used to drive the movable frame 42 and the bottom support 43 so that the movable frame 42 is close to the workpiece 100a sucked by the vacuum, and at the same time the bottom support 43 supports the workpiece 100a. Figure 4 , Figure 5 and Figure 6 When the first driver 41 is started, the movable frame 42 and the bottom support 43 are driven to move closer to the workpiece 100a sucked by the vacuum suction cup 21, that is, the movable frame 42 and the bottom support 43 are changed from the initial state of being extended toward the side of the vacuum suction cup 21 to moving closer to the side of the workpiece 100a sucked by the vacuum, and at the same time, the bottom support 43 is supported on the bottom of the workpiece 100a. In this way, the workpiece 100a is prevented from falling easily during the process of vacuum suction and transfer, and the stability of the gripper vacuum suctioning the workpiece 100a is effectively improved.

[0063] Please also read Figure 7 and Figure 8 The magnetic suction mechanism 3 on the composite gripper is used to magnetically extract the metal workpiece 100b (such as the metal pallet mentioned above). The magnetic suction mechanism 3 is arranged on the main body 1 of the composite gripper, and the magnetic suction mechanism 3 includes a telescopic frame 5 and a magnetic suction head 31 arranged on the telescopic frame 5. In this embodiment, for the metal pallet having a plane that can be magnetically attracted, four magnetic suction heads 31 arranged in a rectangular array can be preferably arranged so as to be synchronously magnetically attracted to the plane of the pallet, which is conducive to improving the stability of the magnetically attracted workpiece.

[0064] Among them, the telescopic frame 5 on the magnetic suction mechanism 3 is used to drive the magnetic suction head 31 and the vacuum suction cup 21 to move relative to each other, so as to drive the magnetic suction head 31 and the vacuum suction cup 21 to form a spatial dislocation, which is beneficial to avoid mutual interference between the suction mechanism 2 and the magnetic suction mechanism 3 during operation.

[0065] Compared with the prior art, the composite gripper and robot provided in the embodiment of the present application are integrated with a suction mechanism 2 and a magnetic suction mechanism 3 on the composite gripper of the robot of the present application. The suction mechanism 2 includes a vacuum suction cup 21, which can vacuum the workpiece 100a sucked by vacuum, such as a carton. The magnetic suction mechanism 3 includes a magnetic suction head 31, which can magnetically extract metal workpieces 100b, such as metal pallets. The composite gripper can be compatible with workpieces 100 of different materials for picking up and transferring positions, effectively improving the versatility of the gripper on the robot, thereby meeting the use requirements of the operation scene.

[0066] On the one hand, in order to solve the problem of instability of the gripper when vacuuming the workpiece 100, the suction mechanism 2 of the composite gripper of the present application also has a clamping assembly 4, which includes a first driver 41, a movable frame 42, and a bottom support 43 linked to the movable frame 42. The movable frame 42 and the bottom support 43 are always in a state of extending outward from one side of the vacuum suction cup 21, so that the movable frame 42 and the bottom support 43 are away from the suction surface of the vacuum suction cup 21 to avoid interference. After the vacuum suction cup 21 sucks the workpiece 100a, the first driver 41 starts and drives the movable frame 42 together with the bottom support 43 to move closer to the workpiece 100a, so that the bottom support 43 is intercepted at the bottom of the workpiece 100a to support the workpiece 100a. In this way, the clamping assembly 4 can provide side assistance and bottom support when the workpiece is vacuumed by the vacuum suction cup 21, effectively preventing the workpiece 100a from falling off easily during vacuum suction and transfer, thereby improving the stability of the gripper's vacuum suction operation on the workpiece 100a.

[0067] On the other hand, since the composite gripper of the present application integrates the suction mechanism 2 and the magnetic suction mechanism 3 set for different operation objects, in order to avoid mutual interference between the two mechanisms during operation, a telescopic frame 5 capable of driving the displacement movement of the magnetic suction head 31 is provided on the main body 1. The telescopic frame 5 can drive the magnetic suction head 31 and the vacuum suction cup 21 to move relative to each other, thereby forming a spatial dislocation, which is conducive to eliminating the mutual interference between the suction mechanism 2 and the magnetic suction mechanism 3. Among them, the "spatial dislocation" here can be understood as the suction mechanism 2 and the magnetic suction mechanism 3 on the composite gripper of the present application The operating ends are easy to overlap, that is, both operate on the workpiece 100 on the same orientation surface of the main body 1, so that the suction surface of the vacuum suction cup 21 and the magnetic suction head 31 are in the same orientation, and they may be located on the same plane and overlap. Specifically, if the suction surface of the vacuum suction cup 21 and the magnetic suction end of the magnetic suction head 31 are located in the same plane, or the magnetic suction end of the magnetic suction head 31 is located in front of the suction surface of the vacuum suction cup 21, it is possible to interfere with the vacuum suction of the workpiece 100, causing the workpiece 100 to be blocked by the magnetic suction head 31 and unable to be sucked by the vacuum suction cup 21. Therefore, the telescopic frame 5 is used to drive the magnetic suction head 31 to move, thereby changing the relative position of the magnetic suction head 31 and the vacuum suction cup 21 to avoid mutual interference.

[0068] In practical applications, when the vacuum chuck 21 performs vacuum suction on the workpiece 100a, Figure 4 As shown, the magnetic end of the magnetic head 31 is moved to the rear of the suction surface of the vacuum chuck 21 to avoid interference with the vacuum suction operation of the workpiece 100a. Figure 8As shown, the telescopic frame 5 drives the magnetic suction head 31 to reset so that the magnetic suction end of the magnetic suction head 31 is located in front of the suction surface of the vacuum suction cup 21, which is convenient for magnetic suction of the workpiece 100b. In this way, the suction mechanism 2 and the magnetic suction mechanism 3 integrated on the composite gripper can cooperate with each other, eliminate mutual interference, and are conducive to compatible picking operations of different workpieces 100, effectively improving the mutual cooperation effect of the suction mechanism 2 and the magnetic suction mechanism 3 on the composite gripper.

[0069] In the examples of this application, please refer to Figure 1 The composite gripper of the present application is also provided with a camera device 200, which can preferably be a camera, and is used to capture images of the workpiece 100a. This is beneficial to the working scenario of the present application, so as to scan and sort the workpiece 100 before transferring the position.

[0070] Preferably, the camera device 200 may be a camera with a large field of view, capable of scanning all workpieces 100a in the same scene at one time, so that the upper control host can uniformly judge and confirm each workpiece 100a that needs to be shipped, thereby effectively improving the sorting efficiency.

[0071] The operation process of the robot provided in the embodiment of the present application in the working scenario of the embodiment of the present application is:

[0072] 1. The robot can be set at a specified position so that the metal pallet and the cartons loaded with products are within the robot's operable range.

[0073] 2. If Figure 7 As shown, the robot stacks the metal pallets through the magnetic suction mechanism 3 on the composite gripper, or unstackers the metal pallets one by one and places them at the designated shipping location.

[0074] 3. The camera device 200 on the composite gripper scans the code of the carton, allowing the upper control host to confirm the carton that needs to be shipped and issue control instructions to the robot.

[0075] 4. If Figure 4 and Figure 6 As shown, the robot vacuum absorbs the carton through the suction mechanism 2 on the composite gripper, and uses the movable frame 42 and the bottom support 43 to help find the carton from the side and simultaneously support the carton from the bottom during the vacuum absorption process, effectively preventing the carton from falling during the vacuum absorption and transfer process, and improving the stability of the gripper in vacuum absorption of the carton.

[0076] It can be seen that the composite gripper and its robot provided in the embodiment of the present application can coordinate the automated production process in combination with the working conditions of on-site production, and can automatically grab metal pallets, automatically absorb materials, and automatically clamp materials to prevent them from falling. It not only solves the difficulties of the production line and the pain points of customers, but also saves labor costs and effectively improves production efficiency.

[0077] For the specific structure of the suction mechanism 2, in one embodiment of the present application, please refer to Fig. 9 , Fig.10 and Fig.11 The suction mechanism 2 also includes a shaft seat 22 arranged on the main body 1, one end of the movable frame 42 is arranged on the shaft seat 22 through the shaft and is connected to the output end of the first driver 41; the other end of the movable frame 42 is rotatably connected to the base 43.

[0078] The first driver 41 can preferably be a linear cylinder, and the first driver 41 can drive the movable frame 42 to rotate like a lever with the rotating shaft on the rotating shaft seat 22 as the axis, so that the movable frame 42 and the base 43 move closer to the workpiece 100a.

[0079] In this way, when vacuuming the workpiece 100a, the movable frame 42 and the base 43 are switched from the initial state of being stretched outward from one side of the vacuum suction cup 21 to a state of being close to the workpiece 100, and at the same time, the base 43 supports the workpiece 100a, effectively preventing the workpiece 100a from falling easily during the process of being vacuumed and transferred.

[0080] In one embodiment of the present application, please refer to Fig. 9 , Fig.12 and Fig.13 The movable frame 42 is also provided with a linkage assembly 6 for driving the base support 43 to be linked. The linkage assembly 6 includes a fixed seat 61, a pull rod 62 and an angle adjustment member 63. The angle adjustment member 63 is installed on the base support 43 and is used to adjust the swing amplitude of the base support 43.

[0081] The fixing seat 61 is arranged on the main body 1 of the composite gripper, one end of the pull rod 62 is connected to the fixing seat 61 via a rotating shaft, and the other end of the pull rod 62 is connected to the angle adjusting member 63 via a joint bearing.

[0082] In this way, when the movable frame 42 is driven by the first driver 41 to move closer to the workpiece 100a, the pull rod 62 and the angle adjustment member 63 are linked on the movable frame 42, and drive the base 43 to turn toward the bottom of the workpiece 100a being sucked by vacuum, so that the base 43 is supported on the bottom of the workpiece 100a, effectively preventing the workpiece 100a from falling easily during the process of being sucked by vacuum and transferring position, thereby improving the stability of the gripper in actually sucking the workpiece 100a.

[0083] There may be differences in the size of the workpiece 100a (carton), especially the height of the workpiece 100a will affect the fit of the bottom of the workpiece 100a sucked by the vacuum on the base 43. Here, the "height of the workpiece 100a" can be understood as follows: Figure 4 As shown, when the vacuum suction cup 21 vacuums the workpiece 100a, the distance H between the side of the vacuum suction cup 21 and the bottom of the workpiece 100a is. In practical applications, in order to improve versatility, the length L of the movable frame 42 is generally preset to be able to cover the height of most workpieces 100a, that is, the length L of the movable frame 42 is greater than the height of the workpiece 100a. Here, the bottom support 43 needs to be rotated to a certain angle on the bottom of the workpiece 100a to abut against the bottom surface of the workpiece 100a, otherwise the stability of the support is affected.

[0084] Therefore, in order to solve the problem of the fit between the base 43 and the bottom of the workpiece 100a sucked by vacuum, in one embodiment of the present application, please refer to Fig. 9 and Fig.12 The connection structure between the bottom bracket 43 and the movable frame 42 is that a connecting rod 431 is provided at the connection position between the bottom bracket 43 and the movable frame 42, and both ends of the connecting rod 431 are connected to the movable frame 42 through a rotating shaft.

[0085] The angle adjustment member 63 is provided with a collar 631 capable of adjusting the tightening strength, and the collar 631 is sleeved on the connecting rod 431. Fig. 9 and Fig.12 As shown, the base 43 may be composed of side rods 432 on both sides and a plurality of connecting rods 431 connected between the side rods 432 on both sides, wherein the connecting rod 431 closest to the movable frame 42 is used to connect with the angle adjustment member 63 .

[0086] Regarding the structure of the collar 631 on the angle adjustment member 63, in one embodiment of the present application, as shown in FIG. Fig.12 and Fig.13 As shown, the ring body of the collar 631 is preferably a curled body integrally formed on the angle adjustment member 63, and a crack 632 and a through hole 633 connected to the crack 632 are provided on the curled body. Fasteners such as screws can be installed on the through hole 633 to tighten the crack 632, so that the collar 631 is tightly sleeved on the connecting rod 431, thereby adjusting the angle between the angle adjustment member 63 and the base 43, and correcting the rotation range of the base 43 toward the bottom of the vacuum-absorbed workpiece 100a, which is conducive to adapting to workpieces 100a (cartons) with different heights. The base 43 can fit the workpiece 100a during the process of vacuum absorption and transfer, and stably support the workpiece 100a, effectively improving the stability of the gripper vacuum absorption of the workpiece 100a.

[0087] For the structure of the main body 1 of the composite gripper, in one embodiment of the present application, please refer to Fig. 9 and Fig.12 The main body 1 includes a base plate 11 and a frame 12 arranged on the base plate 11 and centrally disposed. The top surface of the frame 12 has a flange 121 for connecting with the robot. The flange 121 is provided with a plurality of connecting holes 122 arranged in an annular manner so that fasteners such as screws can be installed on each connecting hole 122 to fix it to the output end of the robot.

[0088] Please also read Fig.12 and Fig.14 The main body 1 is also provided with a mounting frame 13 for setting the first driver 41, and the main body 1 is provided with a fixing hole (not shown). Specifically, the mounting frame 13 can be set on both sides of the bottom plate 11 of the main body 1, and the bottom plate 11 of the main body 1 is provided with a fixing hole.

[0089] The mounting frame 13 is provided with an elongated hole 131 that matches the position of the fixing hole, and fasteners such as screws are installed on the elongated hole 131 and the fixing hole to lock the installation position of the first driver 41.

[0090] In this way, by adjusting the installation position of the mounting frame 13 on the main body 1, the rotation range of the movable frame 42 driven by the first driver 41 is adjusted, effectively ensuring that the movable frame 42 can be close to the side of the workpiece 100a sucked by vacuum to support the workpiece 100a, and at the same time enable the base 43 to fit the bottom of the workpiece 100a to support the workpiece 100a.

[0091] The structure of the suction mechanism 2 is further improved. In one embodiment of the present application, please refer to Fig. 9 and Fig.12 The suction mechanism 2 also includes a position sensing device 7 disposed on the main body 1, and the position sensing device 7 includes a spring pin 71 and a sensing switch 72. Fig.14 and Fig.15 The two ends of the spring pin 71 are a contact end 711 and a trigger end 712, and the spring pin 71 is arranged through the vacuum chuck 21. The contact end 711 is exposed from the suction surface of the vacuum chuck 21 for the workpiece 100a to touch, and the trigger end 712 is used to cooperate with the induction switch 72 for triggering.

[0092] Thus, when the vacuum suction cup 21 vacuum-suctions the workpiece 100a, the workpiece 100a touches the contact end 711 on one end of the elastic pin 71 on the suction surface of the vacuum suction cup 21, and drives the elastic pin 71 to contract, so that the trigger end 712 on the other end of the elastic pin 71 triggers the sensing switch 72, thereby realizing the in-position detection and improving the operational accuracy of vacuum suction of the workpiece 100a.

[0093] Preferably, in actual operation, the action of the clamping assembly 4 can be combined to realize short-range or long-range transfer operation, thereby improving the stability of picking up the workpiece 100a. In this embodiment, when the vacuum suction cup 21 vacuum absorbs the workpiece 100a, the robot can drive the composite gripper to move up to lift the workpiece 100a for a short-range movement. Then, the first driver 41 drives the movable frame 42 and the base 43 to approach the workpiece 100a, and allows the base 43 to support the workpiece 100a from the bottom of the workpiece 100a, so that the top of the workpiece 100a contacts the spring pin 71, so that the spring pin 71 is further displaced and triggers the induction switch 72, thereby confirming that the workpiece 100a is fixed in place. At this time, a remote transfer position operation is performed to effectively ensure the stability of the vacuum suction and transfer position operations of the workpiece 100a.

[0094] In this embodiment, the induction switch 72 can preferably be a proximity switch, which sends a trigger signal when the trigger end 712 of the spring pin 71 approaches. In other embodiments, the induction switch 72 can also be a touch switch or an infrared switch, etc., which is not specifically limited here.

[0095] Preferably, if Fig. 9 and Fig.12 As shown, the induction switch 72 on the position sensing device 7 can be preferably arranged within the coverage of the frame 12 of the main body 1. Using the frame 12 to block foreign objects is helpful to prevent foreign objects from entering and interfering with the triggering of the induction switch 72.

[0096] For the specific structure of the elastic pin 71, please refer to Fig.14 , Fig.15 and Fig.16 The spring pin 71 includes a fixing sleeve 713 , an elastic member 714 and a push rod 715 . The fixing sleeve 713 is used to be arranged on the vacuum suction cup 21 .

[0097] The push rod 715 is sleeved in the fixing sleeve 713, and a top cap 716 is provided on one end of the push rod 715, and the top cap 716 serves as the trigger end 712 of the elastic pin 71. A contact head 717 is provided on the other end of the push rod 715, and the contact head 717 serves as the contact end 711 of the elastic pin 71.

[0098] The elastic member 714 can preferably be a spring. The elastic member 714 is accommodated in the fixing sleeve 713 and is sleeved with the ejector rod 715 so that the ejector rod 715 can elastically move on the fixing sleeve 713, thereby effectively ensuring the triggering sensitivity of the spring pin 71.

[0099] Under normal conditions, the elastic member 714 expands naturally so that the top cap 716 of the push rod 715 is placed outside the fixing sleeve 713, and the contact head 717 of the push rod 715 extends from the other end of the fixing sleeve 713 and is exposed on the suction surface of the vacuum suction cup 21 for the workpiece 100a to touch.

[0100] When the vacuum suction cup 21 vacuum absorbs the workpiece 100a, the workpiece 100a touches the contact head 717 of the ejector rod 715 in the supported state of the bottom support 43, so that the elastic member 714 contracts to drive the ejector rod 715 to move, so that the top cap 716 of the ejector rod 715 triggers the induction switch 72. The induction switch 72 generates a trigger signal, allowing the upper control host to determine that the composite gripper has vacuum absorbed the workpiece 100a, and the clamping assembly 4 has supported the workpiece 100a, confirming that the workpiece 100a is in a fixed position, and can perform remote position transfer operations, effectively improving the vacuum absorption stability of the workpiece 100a.

[0101] For the magnetic attraction mechanism 3 on the composite gripper, in one embodiment of the present application, please refer to Fig.14 and Fig.17 The telescopic frame 5 includes a second driver 51, a fixed subframe 52, a lifting subframe 53 and a telescopic rod 54. The second driver 51 and the fixed subframe 52 are both arranged on the main body 1, and the magnetic suction head 31 is connected to the lifting subframe 53 through the telescopic rod 54. The output end of the second driver 51 is connected to the lifting subframe 53, and drives the lifting subframe 53 to drive the magnetic suction head 31 to move up and down on the fixed subframe 52.

[0102] In this embodiment, if Fig.14 As shown, a vertically arranged connecting plate 14 is provided on the bottom plate 11 of the main body 1, and the second driver 51 may also preferably adopt a linear cylinder, and the second driver 51 is arranged on the connecting plate 14. The fixed subframe 52 is preferably a rectangular frame that can surround the frame 12 of the main body 1.

[0103] There are two lifting sub-racks 53, which are arranged on opposite sides of the fixed sub-rack 52. Each lifting sub-rack 53 is connected to the output end of a second driver 51. The two ends of each lifting sub-rack 53 are respectively connected to the magnetic suction head 31 through a telescopic rod 54, thereby forming a rectangular array of four magnetic suction heads 31, which is conducive to the synchronous magnetic suction of the metal tray.

[0104] It can be seen that the telescopic frame 5 is a frame structure composed of a fixed sub-frame 52 and a lifting sub-frame 53. Under the action of the second driver 51, the lifting sub-frame 53 is lifted and lowered on the fixed sub-frame 52, and each magnetic suction head 31 is driven to move synchronously, so that each magnetic suction head 31 is spatially dislocated with the vacuum suction cup 21 to avoid mutual interference.

[0105] Preferably, if Fig.17 As shown, the camera device 200 can be preferably arranged on the fixed sub-frame 52, so that the camera device 200 is arranged close to the edge of the composite gripper, which is beneficial to avoid being blocked by other components and affecting the image acquisition effect.

[0106] For the specific structure of the telescopic rod 54, in one embodiment of the present application, please refer to Fig.17 The telescopic rod 54 includes a connecting shaft 541 and a linear bearing 542 which are connected to each other, wherein the fixed sub-frame 52 is connected to the linear bearing 542, and the two ends of the connecting shaft 541 are respectively connected to the lifting sub-frame 53 and the magnetic suction head 31.

[0107] In this way, the linear bearings 542 are used as guides to allow each telescopic rod 54 to perform telescopic motion synchronously and linearly, thereby effectively improving the synchronization of each magnetic suction head 31 .

[0108] In this embodiment, if Fig.17 As shown, the magnetic head 31 can be preferably a cylindrical electromagnet, and each magnetic head 31 is provided with a connecting ear 32, so that the installation position of each magnetic head 31 can be synchronously expanded outward, thereby increasing the magnetic surface area of ​​the entire magnetic attraction mechanism 3. Each magnetic head 31 is connected to each telescopic rod 54 through the connecting ear 32.

[0109] Preferably, if Fig.17 As shown, a buffer mechanism is also provided at both ends of the telescopic rod 54, and the buffer mechanism includes buffer pads 543 arranged on the upper and lower ends of the linear bearing 542, so as to buffer the possible collision between the lifting sub-frame 53 and the fixed sub-frame 52, which is beneficial to reduce the noise generated when they touch each other, thereby playing a noise reduction role.

[0110] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present application should be included in the protection scope of the present application.

Claims

1. A composite gripper, characterized in that: include: A main body, used for mounting on the output end of the robot; The suction mechanism comprises a vacuum suction cup and a clamping assembly, wherein the vacuum suction cup is arranged on the main body and is used to vacuum-suction the workpiece; the clamping assembly comprises a first driver, a movable frame and a bottom bracket, wherein the movable frame is connected to the bottom bracket and extends outward from one side of the main body; the first driver is used to drive the movable frame and link the bottom bracket, so that the movable frame is close to the workpiece sucked by vacuum, and at the same time, the bottom bracket supports the workpiece; A magnetic suction mechanism is arranged on the main body, and the magnetic suction mechanism includes a telescopic frame and a magnetic suction head arranged on the telescopic frame, and the telescopic frame is used to drive the magnetic suction head and the vacuum suction cup to move relative to each other.

2. The composite gripper according to claim 1, characterized in that: The movable frame is provided with a linkage assembly for driving the base support to move in a linkage manner, and the linkage assembly includes a pull rod, a fixed seat and an angle adjustment member. The angle adjustment member is installed on the base support and is used to adjust the swing amplitude of the base support; the fixed seat is arranged on the main body, one end of the pull rod is connected to the fixed seat rotating shaft, and the other end of the pull rod is connected to the angle adjustment member through a joint bearing.

3. The composite gripper according to claim 2, characterized in that: A connecting rod is provided at the connection portion between the base and the movable frame, and both ends of the connecting rod are connected to the rotating shaft of the movable frame; a sleeve ring capable of adjusting tightness is provided on the angle adjustment member, and the sleeve ring is sleeved on the connecting rod.

4. The composite gripper according to claim 1, characterized in that: The suction mechanism also includes a rotating shaft seat arranged on the main body, one end of the movable frame is arranged on the rotating shaft seat through a rotating shaft and is connected to the output end of the first driver, the other end of the movable frame is rotatably connected to the base, and the first driver drives the movable frame to rotate around the rotating shaft on the rotating shaft seat as an axis.

5. The composite gripper according to claim 4, characterized in that: The main body is provided with a mounting frame for setting the first driver, the main body is provided with a fixing hole, the mounting frame is provided with a long hole matching the position of the fixing hole, and the installation position of the first driver is set by installing fasteners on the long hole and the fixing hole.

6. The composite gripper according to claim 1, characterized in that: The suction mechanism also includes an in-place sensing device arranged on the main body, and the in-place sensing device includes a spring pin and a sensing switch. The two ends of the spring pin are a contact end and a trigger end respectively. The spring pin passes through the vacuum suction cup, and the contact end is exposed from the suction surface of the vacuum suction cup. The trigger end is used to cooperate with the sensing switch for triggering.

7. The composite gripper according to claim 6, characterized in that: The spring pin includes a fixing sleeve, an elastic member and a push rod, wherein the fixing sleeve is arranged on the vacuum suction cup; the push rod is sleeved in the fixing sleeve, and a top cap is provided on the push rod, and the top cap serves as the trigger end; a contact head is provided on the extending end of the push rod, and the contact head serves as the contact end; the elastic member is accommodated in the fixing sleeve and sleeved with the push rod.

8. The composite gripper according to any one of claims 1 to 7, characterized in that: The telescopic frame includes a second driver, a fixed sub-frame, a lifting sub-frame and a telescopic rod, the second driver and the fixed sub-frame are arranged on the main body, and the magnetic suction head is connected to the lifting sub-frame through the telescopic rod; The output end of the second driver is connected to the lifting sub-frame, and drives the lifting sub-frame to drive the magnetic suction head to move.

9. The composite gripper according to claim 8, characterized in that: The telescopic rod comprises a sleeved connecting shaft and a linear bearing, the fixed sub-frame is connected to the linear bearing, and two ends of the connecting shaft are respectively connected to the lifting sub-frame and the magnetic suction head.

10. A robot, characterized in that: The output end of the robot is provided with a composite gripper as claimed in any one of claims 1 to 9, and the composite gripper is also provided with a camera device for capturing images of the workpiece.

Images