Carrying gripper

Abstract

The utility model discloses a carrying gripper. The carrying gripper comprises a rack; the adsorption positioning assembly comprises a plurality of adsorption units connected to the rack, each adsorption unit is provided with an adsorption end arranged upwards, and the adsorption ends jointly form an adsorption area; the induction positioning assembly comprises an induction head and a positioning pin which are arranged on the rack, the induction head is located below the adsorption area, and the positioning pin can move upwards to enter the adsorption area or move downwards to exit from the adsorption area; the clamping and positioning assembly comprises a plurality of clamping units connected to the machine frame, and the clamping units are respectively provided with a clamping space which is opened and closed in the adsorption area. When a workpiece is placed, the workpiece is firstly detected to be placed in place, and then the workpiece is adsorbed and clamped; the problem that the workpiece is damaged due to the fact that the workpiece is continuously positioned when the workpiece is placed at an inaccurate position can be effectively solved, the reject ratio of products is reduced, and the production quality is improved.

Description

Technical Field

[0001] The utility model relates to a transport device, in particular to a transport gripper. Background Art

[0002] In industrial production, when workpieces need to be transported and transferred, they are generally positioned by vacuum adsorption. When further processing is required during the transfer of the workpiece, in order to prevent the workpiece from shifting during processing, a positioning pin is passed through the workpiece at the same time when the workpiece is adsorbed, thereby improving the stability of the adsorption of the workpiece. However, in actual work, when the workpiece is not placed accurately, the hole on the workpiece through which the positioning pin passes is not directly aligned with the positioning pin. At this time, if the workpiece is directly adsorbed, the positioning pin will scratch the surface of the workpiece, thereby affecting the quality of the workpiece. Therefore, there is an urgent need for a handling gripper that can stably adsorb and position the workpiece and reduce damage to the workpiece. Utility Model Content

[0003] The utility model aims to provide a transport gripper to solve one or more technical problems existing in the prior art and at least provide a beneficial choice or create conditions.

[0004] The solution of the utility model to solve the technical problem is:

[0005] A carrying gripper comprises: a frame; an adsorption positioning assembly, comprising a plurality of adsorption units connected to the frame, wherein the plurality of adsorption units respectively have an adsorption end arranged upward, and the plurality of adsorption ends together form an adsorption area; an induction positioning assembly, comprising an induction head and a positioning pin arranged on the frame, wherein the induction head is located below the adsorption area, and the positioning pin can move upward to enter the adsorption area or move downward to exit the adsorption area; a clamping positioning assembly, comprising a plurality of clamping units connected to the frame, wherein the plurality of clamping units respectively have a clamping space opened and closed in the adsorption area.

[0006] This technical solution has at least the following beneficial effects: the workpiece to be transported and transferred is transferred to the adsorption area, and the workpiece is first supported and positioned by multiple adsorption ends. At this time, the hole on the workpiece is exactly opposite to the positioning pin of the sensing positioning component, and the positioning pin is in a state of downward exiting the adsorption area. When the sensing head detects that the workpiece is placed in place, the positioning pin moves upward into the adsorption area to be inserted into the hole of the workpiece, and then the multiple adsorption ends work again to adsorb and position the workpiece, and then the clamping spaces of the multiple clamping units are closed to further clamp and position the workpiece to ensure the stability of the workpiece during processing and transportation. In this way, when placing the workpiece, the workpiece is first detected and then the positioning pin is inserted into the workpiece and adsorbed and clamped after it is placed in place. This can effectively avoid the problem of continuing to position the workpiece and causing damage to the workpiece when the workpiece is not placed in the correct position, which is beneficial to reducing product defective rates and improving production quality.

[0007] As a further improvement of the above technical solution, the inductive positioning assembly includes a first bracket, a proximity switch and a lifting drive, the first bracket is connected to the frame, the proximity switch and the lifting drive are both connected to the first bracket, the proximity switch protrudes upward from the first bracket, the top of the proximity switch is provided with the inductive head, and the lifting drive is transmission-connected to the positioning pin. The proximity switch and the lifting drive are mounted and fixed on the first bracket, and the whole can be mounted and fixed on the frame by fixing the first bracket. When in use, the workpiece is placed, and the workpiece can contact the inductive head at the top of the proximity switch, so that the proximity switch detects that the workpiece is placed in place, and then the lifting drive drives the positioning pin to be pushed upward to be inserted into a preset hole on the workpiece to achieve the limit of the workpiece.

[0008] As a further improvement of the above technical solution, the first bracket is connected to a limited height seat, and a limited height groove is set on the bottom side of the limited height seat. The lifting drive transmission is connected with a stop block. When the lifting drive drives the positioning pin to enter the adsorption area upward, the stop block is connected to the limited height groove. When the positioning pin exits the adsorption area downward, the stop block is separated from the limited height groove. When the positioning pin is inserted upward into the hole of the workpiece, the stop block is also connected to the limited height groove. The limited height seat can limit the lifting drive from continuing to drive the positioning pin upward, thereby avoiding the problem of excessive insertion of the positioning pin causing damage to the workpiece, and better positioning and protecting the workpiece.

[0009] As a further improvement of the above technical solution, the adsorption positioning components are provided on at least two sides of the frame. The adsorption positioning components on at least two sides of the frame can improve the accuracy of workpiece detection and placement, thereby better protecting the workpiece.

[0010] As a further improvement of the above technical solution, the adsorption unit includes a second bracket and a vacuum suction cup, the second bracket is connected to the frame, a mounting plate is connected to the second bracket, the vacuum suction cup is connected to the mounting plate, and the vacuum suction cup forms the adsorption end. The vacuum suction cup is mounted and fixed on the second bracket, and the second bracket can be used to conveniently lift and adjust the installation position of the adsorption end, so that the vacuum adsorption end can work stably.

[0011] As a further improvement of the above technical solution, a support plate is connected to the second bracket at a position above the mounting plate, and an avoidance hole is provided on the support plate. The adsorption end passes through the avoidance hole and protrudes upward from the support plate, and the adsorption end can be elastically deformed downward and enter the avoidance hole. When the vacuum suction cup is not working, the adsorption end of the vacuum suction cup protrudes upward from the support plate to support the workpiece. When the vacuum suction cup is working, its adsorption end generates negative pressure and elastically deforms, and the adsorption end retracts downward into the avoidance hole. At this time, the support plate supports the workpiece, which is conducive to ensuring the stability of the workpiece support positioning.

[0012] As a further improvement of the above technical solution, the clamping unit includes a third bracket, a lower clamp block, a rotating device, a swing arm and an upper clamp block. The third bracket is connected to the frame, the lower clamp block and the rotating device are respectively connected to the third bracket, one end of the swing arm is rotatably connected to the third bracket, and the upper clamp block is connected to the other end of the swing arm. The rotating device can drive the swing arm to rotate and make the upper clamp block approach or move away from the lower clamp block, and the clamping space is formed between the upper clamp block and the lower clamp block. Before the workpiece is clamped and positioned, the upper clamp block is in a state away from the lower clamp block, and the clamping space is opened at this time. After the workpiece is adsorbed and positioned, the workpiece and the lower clamp block are against each other. At this time, the lower clamp block can also play a supporting role for the workpiece. The swing arm is driven by the rotating device to rotate, so that the upper clamp block approaches the lower clamp block, and the clamping space formed between the upper clamp block and the lower clamp block closes, so that the workpiece is clamped and positioned.

[0013] As a further improvement of the above technical solution, a mounting hole is provided in the middle of the rack, and a plurality of mounting holes are provided on the rack around the mounting hole. The structure of the peripheral device can be connected to the mounting hole to achieve quick matching with the rack, and then connecting parts such as screws, bolts, etc. can be driven into the rack from the plurality of mounting holes to further connect and fix the rack.

[0014] As a further improvement of the above technical solution, a camera is connected to the frame, through which the workpiece placement and positioning status can be observed, which is conducive to realizing automated visual inspection and improving the accuracy of workpiece status judgment. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the technical solutions in the embodiments of the present utility model, the following is a brief description of the drawings required for the description of the embodiments. Obviously, the drawings described are only part of the embodiments of the present utility model, not all of the embodiments, and those skilled in the art can also obtain other design solutions and drawings based on these drawings without creative work.

[0016] Figure 1 It is an overall stereogram of the utility model.

[0017] Figure 2 It is a stereogram of the inductive positioning component of the utility model.

[0018] Figure 3 It is a three-dimensional diagram of the adsorption unit of the utility model.

[0019] Figure 4 It is a three-dimensional diagram of the clamping unit of the utility model.

[0020] In the accompanying drawings: 1-frame, 11-installation hole, 2-adsorption unit, 21-second bracket, 211-installation plate, 212-support plate, 22-vacuum suction cup, 3-induction positioning assembly, 31-proximity switch, 311-sensing head, 32-positioning pin, 33-first bracket, 34-lifting drive, 35-height limit seat, 36-stop block, 4-clamping unit, 41-third bracket, 42-lower clamping block, 43-rotating device, 44-swing arm, 45-upper clamping block, 5-camera. DETAILED DESCRIPTION

[0021] The following will clearly and completely describe the concept, specific structure and technical effects of the utility model in combination with the embodiments and drawings, so as to fully understand the purpose, characteristics and effects of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of them. Based on the embodiments of the utility model, other embodiments obtained by technicians in this field without creative work are all within the scope of protection of the utility model. In addition, all the connection relationships mentioned in the text do not refer to the direct connection of components, but refer to the fact that a better connection structure can be formed by adding or reducing connecting accessories according to the specific implementation situation. The various technical features in the invention can be combined interchangeably without conflicting with each other.

[0022] Reference Figure 1 A handling gripper comprises: a frame 1; an adsorption positioning assembly, comprising a plurality of adsorption units 2 connected to the frame 1, wherein the plurality of adsorption units 2 respectively have an adsorption end arranged upward, and the plurality of adsorption ends together form an adsorption area; an induction positioning assembly 3, comprising an induction head 311 and a positioning pin 32 arranged on the frame 1, wherein the induction head 311 is located below the adsorption area, and the positioning pin 32 can move upward to enter the adsorption area or move downward to exit the adsorption area; a clamping positioning assembly, comprising a plurality of clamping units 4 connected to the frame 1, wherein the plurality of clamping units 4 respectively have a clamping space opened and closed in the adsorption area.

[0023] In this handling gripper, the workpiece to be transported and transferred is transferred to the adsorption area, and the workpiece is first supported and positioned by multiple adsorption ends. At this time, the hole on the workpiece is just opposite to the positioning pin 32 of the sensing positioning component 3, and the positioning pin 32 is in a state of downwardly exiting the adsorption area. When the sensing head 311 detects that the workpiece is placed in place, the positioning pin 32 moves upward into the adsorption area to be inserted into the hole of the workpiece, and then the multiple adsorption ends work again to adsorb and position the workpiece, and then the clamping spaces of the multiple clamping units 4 are closed to further clamp and position the workpiece to ensure the stability of the workpiece during processing and transportation. In this way, when placing the workpiece, the workpiece is first detected and then the positioning pin 32 is inserted into the workpiece and adsorbed and clamped after it is placed in place. This can effectively avoid the problem of continuing to position the workpiece and causing damage to the workpiece when the workpiece is not placed in the correct position, which is beneficial to reducing product defective rates and improving production quality.

[0024] As a specific structural embodiment of the induction positioning component 3, Figure 2 As shown, the inductive positioning assembly 3 includes a first bracket 33, a proximity switch 31 and a lifting drive 34. The first bracket 33 is connected to the frame 1. The proximity switch 31 and the lifting drive 34 are both connected to the first bracket 33. The proximity switch 31 protrudes upward from the first bracket 33. The top of the proximity switch 31 is provided with the inductive head 311. The lifting drive 34 is connected to the positioning pin 32 in a transmission manner. The lifting drive 34 is used to provide a driving force for the positioning pin 32 to move in the up and down directions. There are many structural forms, such as a hydraulic cylinder, a cylinder or an electric screw. The proximity switch 31 and the lifting drive 34 are installed and fixed on the first bracket 33, and the first bracket 33 can be fixed to the frame 1 as a whole. When in use, the workpiece is placed, and the workpiece can contact the inductive head 311 at the top of the proximity switch 31, so that the proximity switch 31 detects that the workpiece is placed in place, and then the lifting drive 34 drives the positioning pin 32 to be pushed upward to be inserted into the preset hole on the workpiece to achieve the limit of the workpiece.

[0025] In order to improve the accuracy of the movement of the positioning pin 32, in this embodiment, the first bracket 33 is connected to a limited height seat 35, and a limited height groove is set on the bottom side of the limited height seat 35. The lifting drive 34 is connected to a stopper 36. When the lifting drive 34 drives the positioning pin 32 to enter the adsorption area upward, the stopper 36 is connected to the limited height groove. When the positioning pin 32 exits the adsorption area downward, the stopper 36 is separated from the limited height groove. When the positioning pin 32 is inserted upward into the hole of the workpiece, the stopper 36 is also connected to the limited height groove. The limited height seat 35 can limit the lifting drive 34 from continuing to drive the positioning pin 32 to move upward, thereby avoiding the problem of excessive insertion of the positioning pin 32 causing damage to the workpiece, and better positioning and protecting the workpiece.

[0026] In some embodiments, the adsorption and positioning components are provided on at least two sides of the frame 1. The adsorption and positioning components on at least two sides of the frame 1 can improve the accuracy of workpiece detection and placement, thereby better protecting the workpiece.

[0027] As a further structural embodiment of the adsorption unit 2, Figure 3 As shown, the adsorption unit 2 includes a second bracket 21 and a vacuum suction cup 22. The second bracket 21 is connected to the frame 1. A mounting plate 211 is connected to the second bracket 21. The vacuum suction cup 22 is connected to the mounting plate 211. The vacuum suction cup 22 forms the adsorption end. The vacuum suction cup 22 is mounted and fixed on the second bracket 21. The second bracket 21 can be used to conveniently lift and adjust the installation position of the adsorption end so that the vacuum adsorption end can work stably.

[0028] Furthermore, a support plate 212 is connected to the second bracket 21 at a position above the mounting plate 211. The support plate 212 is provided with an avoidance hole. The adsorption end passes through the avoidance hole and protrudes upward from the support plate 212. The adsorption end can be elastically deformed downward and enter the avoidance hole. When the vacuum suction cup 22 is not working, the adsorption end of the vacuum suction cup 22 protrudes upward from the support plate 212 to support the workpiece. When the vacuum suction cup 22 is working, its adsorption end generates negative pressure and undergoes elastic deformation. The adsorption end retracts downward into the avoidance hole. At this time, the support plate 212 supports the workpiece, which is conducive to ensuring the stability of the workpiece support positioning.

[0029] As a further structural embodiment of the clamping unit 4, Figure 4 As shown, the clamping unit 4 includes a third bracket 41, a lower clamping block 42, a rotating device 43, a swing arm 44 and an upper clamping block 45. The third bracket 41 is connected to the frame 1, the lower clamping block 42 and the rotating device 43 are respectively connected to the third bracket 41, one end of the swing arm 44 is rotatably connected to the third bracket 41, and the upper clamping block 45 is connected to the other end of the swing arm 44. The rotating device 43 can drive the swing arm 44 to rotate and make the upper clamping block 45 approach or move away from the lower clamping block 42. The rotating device 43 can use a rotating cylinder, a motor or other driving parts, and the clamping space is formed between the upper clamping block 45 and the lower clamping block 42. Before the workpiece is clamped and positioned, the upper clamp block 45 is away from the lower clamp block 42. At this time, the clamping space is open. After the workpiece is adsorbed and positioned, the workpiece is against the lower clamp block 42. At this time, the lower clamp block 42 can also support the workpiece. The rotating device 43 drives the swing arm 44 to rotate, so that the upper clamp block 45 is close to the lower clamp block 42, and the clamping space formed between the upper clamp block 45 and the lower clamp block 42 is closed to clamp the workpiece in place.

[0030] In some embodiments, a mounting hole 11 is provided in the middle of the rack 1, and a plurality of mounting holes are provided on the rack 1 around the mounting hole 11. The structure of the peripheral device can be connected to the mounting hole 11 to achieve quick matching with the rack 1, and then connecting parts such as screws, bolts, etc. can be driven into the rack 1 from the plurality of mounting holes to further connect and fix the rack 1.

[0031] In some embodiments, a camera 5 is connected to the frame 1. The camera 5 can be used to observe the placement and positioning status of the workpiece, which is conducive to realizing automated visual inspection and improving the accuracy of judging the status of the workpiece.

[0032] The preferred implementation modes of the present invention are specifically described above, but the present invention is not limited to the described embodiments. Those skilled in the art may make various equivalent modifications or substitutions without violating the spirit of the present invention, and these equivalent modifications or substitutions are all included in the scope defined by the claims of this application.

Claims

1. A handling gripper, characterized in that: include: Rack(1); An adsorption positioning assembly, comprising a plurality of adsorption units (2) connected to the frame (1), the plurality of adsorption units (2) respectively having an adsorption end arranged upward, the plurality of adsorption ends jointly forming an adsorption area; An inductive positioning assembly (3), comprising an inductive head (311) and a positioning pin (32) arranged on the frame (1), wherein the inductive head (311) is located below the adsorption area, and the positioning pin (32) can move upward to enter the adsorption area or move downward to exit the adsorption area; A clamping and positioning assembly comprises a plurality of clamping units (4) connected to the frame (1), wherein the plurality of clamping units (4) respectively have a clamping space opened and closed in the adsorption area.

2. A handling gripper according to claim 1, characterized in that: The inductive positioning assembly (3) comprises a first bracket (33), a proximity switch (31) and a lifting drive (34); the first bracket (33) is connected to the frame (1); the proximity switch (31) and the lifting drive (34) are both connected to the first bracket (33); the proximity switch (31) protrudes upward from the first bracket (33); the top end of the proximity switch (31) is provided with the inductive head (311); and the lifting drive (34) is drivingly connected to the positioning pin (32).

3. A handling gripper according to claim 2, characterized in that: The first bracket (33) is connected to a limited height seat (35), a limited height groove is arranged on the bottom side of the limited height seat (35), the lifting drive (34) is transmission-connected to a stop block (36), and when the lifting drive (34) drives the positioning pin (32) upward to enter the adsorption area, the stop block (36) is matched and connected in the limited height groove.

4. A handling gripper according to claim 2, characterized in that: The adsorption positioning components are arranged on at least two sides of the frame (1).

5. A handling gripper according to claim 1, characterized in that: The adsorption unit (2) comprises a second bracket (21) and a vacuum suction cup (22); the second bracket (21) is connected to the frame (1); a mounting plate (211) is connected to the second bracket (21); the vacuum suction cup (22) is connected to the mounting plate (211); the vacuum suction cup (22) forms the adsorption end.

6. A handling gripper according to claim 5, characterized in that: A support plate (212) is connected to the second bracket (21) at a position above the mounting plate (211); an escape hole is provided on the support plate (212); the adsorption end passes through the escape hole and protrudes upward from the support plate (212); and the adsorption end can elastically deform downward and enter the escape hole.

7. A handling gripper according to claim 1, characterized in that: The clamping unit (4) comprises a third bracket (41), a lower clamping block (42), a rotating device (43), a swing arm (44) and an upper clamping block (45); the third bracket (41) is connected to the frame (1); the lower clamping block (42) and the rotating device (43) are respectively connected to the third bracket (41); one end of the swing arm (44) is rotatably connected to the third bracket (41); the upper clamping block (45) is connected to the other end of the swing arm (44); the rotating device (43) can drive the swing arm (44) to rotate and make the upper clamping block (45) approach or move away from the lower clamping block (42); and the clamping space is formed between the upper clamping block (45) and the lower clamping block (42).

8. A handling gripper according to claim 1, characterized in that: A mounting hole (11) is provided in the middle of the frame (1), and a plurality of mounting holes are provided on the frame (1) around the mounting hole (11).

9. A handling gripper according to claim 1, characterized in that: The frame (1) is connected to a camera (5).

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