Tooling and transfer equipment

Abstract

The embodiment of the utility model provides an end picking-up device and transferring equipment. The end picking-up device comprises a first bottom plate, a second bottom plate, a first transverse clamping mechanism, a second transverse clamping mechanism, a longitudinal clamping mechanism and a mounting arm, the second bottom plate is perpendicular to the first bottom plate in the horizontal direction and extends out of the first bottom plate in the horizontal direction; the mounting arm is fixedly arranged on the bottom surface of the first bottom plate and is used for being connected with external equipment; the first transverse clamping mechanism and the second transverse clamping mechanism are oppositely arranged on the top face of the first bottom plate and can move in the opposite direction or in the back-to-back direction. The longitudinal clamping mechanism is arranged in the top area, extending out of the first bottom plate, of the second bottom plate and can move in the direction away from or close to the first bottom plate. The longitudinal clamping mechanism is used for being matched with the first transverse clamping mechanism or the second transverse clamping mechanism, and in the unstacking or stacking process, the longitudinal clamping mechanism is used for clamping the exposed long edge and the exposed wide edge of the material frame correspondingly.

Description

Technical Field

[0001] The utility model relates to the technical field of logistics automation, in particular to an end picker and a transfer device. Background Art

[0002] With the gradual improvement of automation, the field of logistics automation technology has developed rapidly. The cargo loading and unloading work in warehouses, factory workshops, ports, docks and many other places is mostly completed by combining robots and end pickers. End pickers are commonly used devices installed on robots to cooperate with robots to complete the handling of moving workpieces. According to the shape, size, weight, material and operation requirements of the workpiece to be grasped, there are many structural forms, such as clamping type and adsorption type, etc., which use vacuum suction cups or clamps to contact the workpiece and move the grasped workpiece from one position to a specified position.

[0003] In the related art, the end pickers of robots used for palletizing and unpalletizing material frames can only grasp material frames of a single size, and cannot achieve compatibility with material frames of different sizes; the end picker structures that can achieve compatible grasping of different material frames often have complex action processes, slow beats, and low loads. In addition, when grasping the material frame, the end picker will occupy the internal space of the material frame, and there is no buffer mechanism, which can easily cause the material frame to be squeezed and impacted and deformed. Utility Model Content

[0004] The purpose of the embodiment of the utility model is to provide an end picker and a transfer device to achieve compatible grabbing of material frames of different sizes and simplify the action process. The specific technical solution is as follows:

[0005] An embodiment of the first aspect of the present application proposes an end picker, comprising: a first base plate, a second base plate, a first transverse clamping mechanism, a second transverse clamping mechanism, a longitudinal clamping mechanism and a mounting arm; the second base plate is perpendicular to the first base plate in the horizontal direction and extends out of the first base plate in the horizontal direction; the mounting arm is fixedly arranged on the bottom surface of the first base plate for connecting with an external device; the first transverse clamping mechanism and the second transverse clamping mechanism are relatively arranged on the top surface of the first base plate and can move toward or away from each other; the longitudinal clamping mechanism is arranged in the top area where the second base plate extends out of the first base plate and can move in a direction away from or close to the first base plate; the first transverse clamping mechanism, the second transverse clamping mechanism and the longitudinal clamping mechanism are oriented in the same direction; the longitudinal clamping mechanism is used to cooperate with the first transverse clamping mechanism or the second transverse clamping mechanism to respectively clamp an adjacent long side and a wide side exposed to the outside of the material frame during the depalletizing or stacking process.

[0006] In some embodiments of the present application, it also includes: a transverse driving mechanism and a longitudinal driving mechanism; the transverse driving mechanism is arranged on the top surface of the first bottom plate, and is connected to the first transverse clamping mechanism and the second transverse clamping mechanism; the transverse driving mechanism is used to drive the first transverse clamping mechanism and the second transverse clamping mechanism to move toward or away from each other; the longitudinal driving mechanism is arranged on the top surface of the first bottom plate, and is connected to the longitudinal clamping mechanism; the longitudinal driving mechanism is used to drive the longitudinal clamping mechanism to move in a direction away from or close to the first bottom plate.

[0007] In some embodiments of the present application, the transverse driving mechanism includes a motor and a left-right rotating equal-divide screw; the left-right rotating equal-divide screw is arranged along the transverse direction; a nut is respectively provided on the left and right sections of the left-right rotating equal-divide screw; and they are respectively fixedly connected to the first transverse clamping mechanism and the second transverse clamping mechanism; the motor is used to drive the left-right rotating equal-divide screw to rotate, so that the two nuts can drive the first transverse clamping mechanism and the second transverse clamping mechanism to move toward or away from each other along the transverse direction.

[0008] In some embodiments of the present application, the longitudinal driving mechanism includes a driving cylinder; the driving cylinder is fixedly arranged on the top surface of the first base plate, and the driving cylinder and the left and right rotating equal-sharing screw are arranged vertically; the driving cylinder includes a driving cylinder piston rod, and the movable end of the driving cylinder piston rod is fixedly connected to the longitudinal clamping mechanism, and is driven by the driving cylinder to drive the longitudinal clamping mechanism and the second base plate to perform linear motion along the longitudinal direction.

[0009] In some embodiments of the present application, a transverse guide rail is provided on the top surface of the first bottom plate; the first transverse clamping mechanism and the second transverse clamping mechanism are respectively arranged on the transverse guide rail relatively through relatively arranged first sliders; so that the first transverse clamping mechanism and the second transverse clamping mechanism can move toward or away from each other along the transverse guide rail; a longitudinal guide rail is provided on the top surface of the second bottom plate; the second bottom plate is slidably connected to the first bottom plate through the longitudinal guide rail and the second slider arranged at the bottom of the first bottom plate, so that the longitudinal clamping mechanism can move with the second bottom plate in a direction away from or close to the first bottom plate.

[0010] In some embodiments of the present application, it also includes: a first mounting base plate and a second mounting base plate; the first transverse clamping mechanism is fixedly connected to one of the oppositely disposed first sliders through the first mounting base plate; the second transverse clamping mechanism is fixedly connected to the other of the oppositely disposed first sliders through the second mounting base plate.

[0011] In some embodiments of the present application, the first transverse clamping mechanism, the second transverse clamping mechanism and the longitudinal clamping mechanism all include: a clamping guide rail, a movable clamping mechanism and a fixed clamping mechanism; wherein the clamping guide rails of the first transverse clamping mechanism and the second transverse clamping mechanism are arranged in parallel with the transverse guide rail in the horizontal direction, and are arranged on the top surfaces of the first mounting base plate and the second mounting base plate respectively; the clamping guide rails of the longitudinal clamping mechanism are arranged in parallel with the longitudinal guide rail in the horizontal direction, and are arranged on the top surface of the second base plate; the movable clamping mechanisms of the first transverse clamping mechanism and the second transverse clamping mechanism are arranged in parallel with the longitudinal guide rail in the horizontal direction, and are arranged on the top surface of the second base plate respectively. The movable clamping mechanism of the longitudinal clamping mechanism is slidably connected to the second base plate through the clamping guide rail and the third slider; the fixed clamping mechanism of the first transverse clamping mechanism and the second transverse clamping mechanism are respectively arranged on the top surfaces of the first and second mounting base plates; the longitudinal clamping mechanism is arranged on the top surface of the second base plate; the fixed clamping mechanisms of the first transverse clamping mechanism, the second transverse clamping mechanism and the longitudinal clamping mechanism are all spaced apart from the movable clamping mechanism, and the spacing distance is adjustable based on the sliding connection.

[0012] In some embodiments of the present application, the first transverse clamping mechanism and the second transverse clamping mechanism both include a transverse cylinder; the transverse cylinders of the first transverse clamping mechanism and the second transverse clamping mechanism are fixedly arranged on the top surfaces of the first mounting base plate and the second mounting base plate, respectively; the transverse cylinder is located on one side of the movable clamping mechanism; the transverse cylinder includes a transverse cylinder piston rod, and the transverse cylinder piston rod is parallel to the transverse guide rail; the movable end of the transverse cylinder piston rod is fixedly connected to the movable clamping mechanism through a first connecting member to drive the movable clamping mechanism to make a linear motion along the clamping guide rail relative to the fixed clamping mechanism; the longitudinal clamping mechanism includes a longitudinal cylinder; the longitudinal cylinder is fixedly arranged at the bottom of the second base plate; the longitudinal cylinder includes a longitudinal cylinder piston rod, and the longitudinal cylinder piston rod is parallel to the longitudinal guide rail; the movable end of the longitudinal cylinder piston rod is fixedly connected to the movable clamping mechanism through a second connecting member.

[0013] In some embodiments of the present application, the first transverse clamping mechanism, the second transverse clamping mechanism and the movable clamping mechanism of the longitudinal clamping mechanism all include: a clamping base plate, a clamping cylinder, a clamping cylinder seat and an upper clamping plate; wherein the clamping base plates of the first transverse clamping mechanism and the second transverse clamping mechanism are fixedly connected to the top surface of the third sliding block; the clamping cylinder seat is fixedly arranged on the top surface of the clamping base plate; the clamping cylinder is arranged on the side of the clamping cylinder seat away from the fixed clamping mechanism, and is fixedly connected to the clamping base plate and the clamping cylinder seat; the clamping cylinder includes a clamping cylinder piston rod, and the clamping cylinder piston rod is perpendicular to the clamping base plate, so The movable end of the clamping cylinder piston rod is fixedly connected to the upper clamping plate, and is used to drive the upper clamping plate to perform linear motion perpendicular to the clamping base plate; the clamping base plate of the longitudinal clamping mechanism is fixedly connected to the top surface of the third slider; the clamping cylinder seat is fixedly arranged on the top surface of the clamping base plate, and the clamping cylinder is arranged on the side of the clamping cylinder seat away from the fixed clamping mechanism, and is fixedly connected to the clamping cylinder seat; the clamping cylinder includes a clamping cylinder piston rod, and the clamping cylinder piston rod is perpendicular to the clamping base plate. The movable end of the clamping cylinder piston rod is fixedly connected to the upper clamping plate, and is used to drive the upper clamping plate to perform linear motion perpendicular to the clamping base plate.

[0014] In some embodiments of the present application, the fixed clamping mechanisms of the first transverse clamping mechanism, the second transverse clamping mechanism and the longitudinal clamping mechanism all include: a support seat, a buffer mechanism and a lower clamping plate; wherein the support seats of the first transverse clamping mechanism and the second transverse clamping mechanism are respectively arranged on the top surfaces of the first mounting base plate and the second mounting base plate; the buffer mechanism is arranged on the top of the support seat, and the top of the buffer mechanism is fixedly connected to the lower clamping plate, so that the lower clamping plate can perform buffering movement relative to the support seat in directions perpendicular to the first mounting base plate and the second mounting base plate, respectively. The support seat of the longitudinal clamping mechanism is arranged on the top surface of the second base plate; the buffer mechanism is arranged on the top of the support seat, and the top of the buffer mechanism is fixedly connected to the lower clamping plate, so that the lower clamping plate can perform buffering movement relative to the support seat in directions perpendicular to the second base plate.

[0015] In some embodiments of the present application, a support plate is fixedly provided on the top of the support seat of the first transverse clamping mechanism, the second transverse clamping mechanism and the longitudinal clamping mechanism, and the buffer mechanism is divided into two groups, and the two groups of the buffer mechanisms are relatively arranged at both ends of the support plate; each group of the buffer mechanism includes a spring, a guide rod and a linear bearing; through holes are provided at both ends of the support plate, and the linear bearing passes through the through holes and is fixedly connected to the support plate; the guide rod passes through the center of the linear bearing, and the top is fixedly connected to the lower clamping plate; a fixing ring is provided on the guide rod at the bottom end of the linear bearing; the spring is sleeved on the guide rod, and the top end of the spring abuts against the lower clamping plate, and the bottom end abuts against the linear bearing.

[0016] In some embodiments of the present application, oil pressure buffers are provided on the top surface of the second base plate, the top surface of the first mounting base plate, the top surface of the second mounting base plate and the fixed clamping mechanism, and the oil pressure buffers abut against the movable clamping mechanism when the movable clamping mechanism moves to the end of the stroke; on the bottom of the first base plate, two oil pressure buffers are provided on one side of the second base plate, and at the end of the second base plate, an extension piece is provided in the direction toward the side, and the oil pressure buffer abuts against the extension piece when the second base plate moves to the end of the stroke.

[0017] In some embodiments of the present application, a drive interface and an encoder interface are provided on the motor, and the first transverse clamping mechanism and the second transverse clamping mechanism are positioned by controlling the start and stop of the motor; a position sensor is provided at each end of the driving cylinder, and the position information of the longitudinal clamping mechanism is fed back by detecting the position of the driving cylinder piston rod.

[0018] In some embodiments of the present application, a position sensor is provided at both ends of the transverse cylinder of the first transverse clamping mechanism and the second transverse clamping mechanism, and the position information of the movable clamping mechanism is fed back by detecting the position of the piston rod of the transverse cylinder; a position sensor is provided at each end of the longitudinal cylinder, and the position information of the movable clamping mechanism is fed back by detecting the position of the piston rod of the longitudinal cylinder.

[0019] In some embodiments of the present application, the clamping cylinder includes a cylinder slot perpendicular to the clamping base plate, and a position sensor is respectively provided at the top and bottom ends of the cylinder slot, which detects the position of the clamping cylinder piston rod, thereby feeding back the position information of the upper clamping plate.

[0020] In some embodiments of the present application, a solenoid valve island and a plurality of cylinder sensor interfaces are also provided at the bottom of the first base plate; the solenoid valve island includes a circuit interface, a plurality of air pump interfaces and a plurality of cylinder interfaces.

[0021] In some embodiments of the present application, a plurality of sheet metal parts, wiring holes and weight-reducing holes for fixing cables are provided at the bottom of the first base plate.

[0022] In some embodiments of the present application, a protective cover is provided on the bottom surface of the first base plate for covering components on the bottom surface of the first base plate; the mounting arm passes through the protective cover.

[0023] An embodiment of the second aspect of the present application provides a transfer device, comprising: a moving component and the end tool described in any embodiment of the first aspect; the mounting arm is fixedly connected to the moving component.

[0024] Beneficial effects of the embodiments of the present application:

[0025] The embodiment of the present application provides such an end picker and transfer device, which clamps the material frame on three sides through the first transverse clamping mechanism, the second transverse clamping mechanism and the longitudinal clamping mechanism; the first transverse clamping mechanism and the second transverse clamping mechanism move toward or away from each other along the first bottom plate, and the longitudinal clamping mechanism moves in the direction away from or close to the first bottom plate, so as to achieve compatible grasping of material frames of different sizes; in the process of depalletizing or palletizing, the longitudinal clamping mechanism cooperates with the first transverse clamping mechanism or the second transverse clamping mechanism to clamp one adjacent long side and one wide side of the material frame exposed to the outside, respectively, thereby simplifying the action process. The end picker clamps the top edge of the material frame and only contacts the three sides of the material frame, avoiding encroachment on the internal space of the material frame.

[0026] Of course, any product implementing the present invention does not necessarily need to achieve all of the advantages described above at the same time. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, 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 utility model. For ordinary technicians in this field, other drawings can also be obtained based on these drawings.

[0028] Figure 1 A schematic diagram of the structure of the end tool provided in the embodiment of the present application at a first angle;

[0029] Figure 2 for Figure 1 A schematic structural diagram of a second angle of the end picker shown;

[0030] Figure 3 for Figure 1 An exploded schematic diagram of the end effector shown;

[0031] Figure 4 for Figure 1 A partial structural schematic diagram of the end picker shown;

[0032] Figure 5 for Figure 4 A schematic diagram of a part of the structure of the end picker from another angle;

[0033] Figure 6 for Figure 1 A schematic structural diagram of a first angle of the first transverse clamping mechanism shown;

[0034] Figure 7 for Figure 1 A schematic structural diagram of a second angle of the first transverse clamping mechanism shown;

[0035] Figure 8 for Figure 1 A schematic structural diagram of a first angle of the second bottom plate and the longitudinal clamping mechanism shown;

[0036] Fig. 9 for Figure 1 A schematic structural diagram of a second angle of the second bottom plate and the longitudinal clamping mechanism shown;

[0037] Fig.10 for Figure 1 A schematic structural diagram of the second bottom plate and the longitudinal clamping mechanism at a third angle;

[0038] Fig.11 for Figure 1 A schematic structural diagram of the end picker at a third angle;

[0039] Fig.12 for Figure 1 A schematic structural diagram of a fourth angle of the end picker shown;

[0040] Fig.13 for Figure 1 A schematic structural diagram of the first base plate shown;

[0041] Fig.14 for Figure 1 The end picker is shown as a schematic diagram of the clamping of the material frame ready for depalletizing or just stacking;

[0042] Fig.15 for Figure 1 The end picker is shown as a schematic diagram of clamping close to a stack of material frames when carrying the material frames;

[0043] Fig.16 for Figure 1 The schematic diagram of the end picker holding the material frame is shown;

[0044] Fig.17 for Figure 1 The schematic diagram of the end picker avoiding when depalletizing or stacking is shown;

[0045] Fig.18 For installation Figure 1 A schematic diagram of the three-dimensional structure of the transfer device of the end picker is shown.

[0046] Description of reference numerals:

[0047] End picker 10; material frame 20;

[0048] Clamping guide rail 1; third slider 11;

[0049] Active clamping mechanism 2; clamping base plate 21; clamping cylinder 22; clamping cylinder piston rod 221; cylinder slot 222; clamping cylinder seat 23; I-shaped pad 231; L-shaped fixing piece 232; upper clamping plate 24;

[0050] Fixed clamping mechanism 3; support seat 31; buffer mechanism 32; spring 321; guide rod 322; linear bearing 323; fixing ring 324; lower clamping plate 33; support plate 34;

[0051] Transverse cylinder 4; transverse cylinder piston rod 41; first connecting member 42;

[0052] Longitudinal cylinder 5; longitudinal cylinder piston rod 51; second connecting member 52;

[0053] Oil pressure buffer 6; position sensor 7; gas interface 8;

[0054] First base plate 100; transverse guide rail 110; first slider 111; solenoid valve island 120; circuit interface 121; air pump interface 122; cylinder interface 123; solenoid valve 124; cylinder sensor interface 130; sheet metal 140; wiring hole 150; weight reduction hole 160; protective cover 170;

[0055] Second bottom plate 200; longitudinal guide rail 210; second slider 211; extension member 220; U-shaped groove 230;

[0056] First transverse clamping mechanism 300; second transverse clamping mechanism 400; longitudinal clamping mechanism 500; mounting arm 600; flange 610;

[0057] Transverse drive mechanism 700; motor 710; drive interface 711; encoder interface 712; left-right rotation equalizing screw 720; nut 721; first mounting seat 730; second mounting seat 740; coupling 750; longitudinal drive mechanism 800; drive cylinder 810; drive cylinder piston rod 811;

[0058] A first mounting base plate 900 ; a second mounting base plate 1000 ; and a moving component 1100 . DETAILED DESCRIPTION

[0059] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field based on this application belong to the scope of protection of the utility model.

[0060] As mentioned in the background technology, in the related technology, the end picker of the robot used for palletizing and unpalletizing material frames can only grab material frames of a single size, and cannot achieve compatibility with material frames of different sizes; the end picker structure that can achieve compatible grabbing of different material frames often has a complex action process, a slow beat, and a low load. In addition, when the end picker grabs the material frame, it will occupy the internal space of the material frame, and there is no buffer mechanism, which can easily cause the material frame to be squeezed and impacted and deformed.

[0061] In view of this, the embodiment of the first aspect of the present application provides an end picker. Figures 1 to 3 , Figure 1 A schematic diagram of the structure of the end tool provided in the embodiment of the present application at a first angle; Figure 2 for Figure 1 A schematic structural diagram of a second angle of the end picker shown; Figure 3 for Figure 1 Schematic diagram of the exploded view of the end effector shown.

[0062] like Figures 1 to 3 As shown, the end tool provided by the embodiment of the first aspect of the present application includes a first base plate 100, a second base plate 200, a first transverse clamping mechanism 300, a second transverse clamping mechanism 400, a longitudinal clamping mechanism 500 and a mounting arm 600; the second base plate 200 is perpendicular to the first base plate 100 in the horizontal direction and extends out of the first base plate 100 in the horizontal direction; the mounting arm 600 is fixedly arranged on the bottom surface of the first base plate 100 for connecting with an external device; the first transverse clamping mechanism 300 and the second transverse clamping mechanism 400 are relatively arranged on the first base plate 100 00, and can move toward or away from each other; the longitudinal clamping mechanism 500 is arranged on the top area where the second bottom plate 200 extends out of the first bottom plate 100, and can move in a direction away from or close to the first bottom plate 100; the first transverse clamping mechanism 300, the second transverse clamping mechanism 400 and the longitudinal clamping mechanism 500 are oriented in the same direction; the longitudinal clamping mechanism 500 is used to cooperate with the first transverse clamping mechanism 300 or the second transverse clamping mechanism 400 to respectively clamp an adjacent long side and a wide side exposed to the outside of the material frame 20 during the depalletizing or stacking process.

[0063] Specifically, see Figures 14 to 17 , Fig.14 for Figure 1The end picker is shown as a schematic diagram of the clamping of the material frame ready for depalletizing or just stacking; Fig.15 for Figure 1 The end picker is shown as a schematic diagram of clamping close to a stack of material frames when carrying the material frames; Fig.16 for Figure 1 The schematic diagram of the end picker holding the material frame is shown; Fig.17 for Figure 1 The schematic diagram shows the avoidance of the end picker when depalletizing or stacking.

[0064] like Figures 14 to 17 As shown, when the end picker is working, the mounting arm 600 is located above the first base plate 100 for connecting with external equipment, and the transverse clamping mechanism and the longitudinal clamping mechanism 500 are located below the first base plate 100 and are both facing downward for clamping the top edge of the material frame 20.

[0065] like Figure 3 and Figure 8 As shown, flanges 610 may be provided at both ends of the mounting arm 600, which are respectively used to be fixedly connected to the first base plate 100 and the external device. A U-shaped groove 230 is provided at one end of the second base plate 200 close to the flange 610 to prevent interference with the mounting arm 600 when the second base plate 200 is retracted below the first base plate 100.

[0066] When depalletizing, when the material frame 20 is neatly stacked, only two adjacent right-angled edges can be grasped at most, and the first transverse clamping mechanism 300 and the longitudinal clamping mechanism 500 clamp the two adjacent right-angled edges respectively, and the second transverse clamping mechanism 400 is in an evasive state; after the end picker clamps the material frame 20 and moves to a certain distance, the second transverse clamping mechanism 400 clamps the third edge of the material frame 20; after the transfer is completed, palletizing is performed. During palletizing, when the end picker approaches the palletizing position, the second transverse clamping mechanism 400 releases the clamped third edge and evades, leaving only the first transverse clamping mechanism 300 and the longitudinal clamping mechanism 500 to clamp. After stacking is completed, the first transverse clamping mechanism 300 and the longitudinal clamping mechanism 500 release the two right-angled edges and return.

[0067] The embodiment of the present application provides such an end picker, which clamps the material frame 20 on three sides through the first transverse clamping mechanism 300, the second transverse clamping mechanism 400 and the longitudinal clamping mechanism 500; the first transverse clamping mechanism 300 and the second transverse clamping mechanism 400 move toward or away from each other along the first bottom plate 100, and the longitudinal clamping mechanism 500 moves in the direction away from or close to the first bottom plate 100, so as to realize compatible grasping of material frames 20 of different sizes; in the process of depalletizing or palletizing, the longitudinal clamping mechanism 500 cooperates with the first transverse clamping mechanism 300 or the second transverse clamping mechanism 400 to clamp one adjacent long side and one wide side of the material frame 20 exposed to the outside, respectively, thereby simplifying the action process. The end picker clamps the top edge of the material frame 20 and only contacts the three sides of the material frame 20, avoiding encroachment on the internal space of the material frame 20.

[0068] See also Figures 4 to 5 , Figure 4 for Figure 1 A partial structural schematic diagram of the end picker shown; Figure 5 for Figure 4 A schematic diagram of the partial structure of the end pick-up from another angle.

[0069] In some embodiments of the present application, Figures 3 to 5 As shown, the end picker also includes a transverse driving mechanism 700 and a longitudinal driving mechanism 800; the transverse driving mechanism 700 is arranged on the top surface of the first base plate 100, and is connected to the first transverse clamping mechanism 300 and the second transverse clamping mechanism 400; the transverse driving mechanism 700 is used to drive the first transverse clamping mechanism 300 and the second transverse clamping mechanism 400 to move toward or away from each other; the longitudinal driving mechanism 800 is arranged on the top surface of the first base plate 100, and is connected to the longitudinal clamping mechanism 500; the longitudinal driving mechanism 800 is used to drive the longitudinal clamping mechanism 500 to move in a direction away from or close to the first base plate 100.

[0070] The transverse driving mechanism 700 includes a motor 710 and a left-right rotating equal-dividing screw 720; the left-right rotating equal-dividing screw 720 is arranged along the transverse direction; a nut 721 is respectively provided on the left and right sections of the left-right rotating equal-dividing screw 720; and they are respectively fixedly connected to the first transverse clamping mechanism 300 and the second transverse clamping mechanism 400; the motor 710 is used to drive the left-right rotating equal-dividing screw 720 to rotate, so that the two nuts 721 can drive the first transverse clamping mechanism 300 and the second transverse clamping mechanism 400 to move toward or away from each other along the transverse direction.

[0071] Specifically, both ends of the left-right rotating equal-sharing screw 720 pass through the first mounting seat 730 and the second mounting seat 740, and the first mounting seat 730 and the second mounting seat 740 are fixed on the first base plate 100; the left-right rotating equal-sharing screw 720 and the motor 710 are connected at the first mounting seat 730 through a coupling 750.

[0072] Different material frames 20 have large size variations in the length direction, so the transverse drive mechanism 700 adopts the method of using a motor 710 to drive a left-right rotating equal-dividing screw 720. The left and right sections of the left-right rotating equal-dividing screw 720 have opposite thread rotation directions. When the motor 710 drives the left-right rotating equal-dividing screw 720 to rotate in the forward direction, the nut 721 arranged on the left and right sections of the left-right rotating equal-dividing screw 720 drives the first transverse clamping mechanism 300 and the second transverse clamping mechanism 400 to move in opposite directions; when the motor 710 drives the left-right rotating equal-dividing screw 720 to rotate in the reverse direction, the nut 721 arranged on the left and right sections of the left-right rotating equal-dividing screw 720 drives the first transverse clamping mechanism 300 and the second transverse clamping mechanism 400 to move in opposite directions, thereby realizing the compatibility of the end picker with material frames 20 of different sizes in the length direction.

[0073] like Figure 1 , Figure 4 and Figure 5 As shown, the longitudinal driving mechanism 800 includes a driving cylinder 810; the driving cylinder 810 is fixedly arranged on the top surface of the first base plate 100, and the driving cylinder 810 and the left and right rotating equalizing screw 720 are arranged vertically; the driving cylinder 810 includes a driving cylinder piston rod 811, and the movable end of the driving cylinder piston rod 811 is fixedly connected to the longitudinal clamping mechanism 500, and is driven by the driving cylinder 810 to drive the longitudinal clamping mechanism 500 and the second base plate 200 to make linear motion along the longitudinal direction.

[0074] Specifically, the dimensional variation of different material frames 20 in the width direction is small, so the longitudinal drive mechanism 800 uses the drive cylinder 810 to drive the longitudinal clamping mechanism 500 to move in a direction away from or close to the first base plate 100, thereby achieving the compatibility of the end picker with material frames 20 of different sizes in the width direction.

[0075] In the embodiment of the present application, the transverse driving mechanism 700 drives the left-right rotating equalizing screw 720 through the motor 710, and controls the movement of the two groups of clamping mechanisms, the first transverse clamping mechanism 300 and the second transverse clamping mechanism 400, at the same time, simplifying the structure of the end picker driving part; the two groups of clamping mechanisms move simultaneously, and the clamping distance in the length direction of the end picker can be quickly adjusted to the size suitable for the current material frame 20, thereby improving the working efficiency of the end picker. The longitudinal driving mechanism 800 drives the longitudinal clamping mechanism 500 and the second bottom plate 200 to move linearly in the longitudinal direction through the driving cylinder 810, making the structure of the longitudinal driving part of the end picker simpler, and realizing the compatibility of the end picker with the width direction of material frames 20 of different sizes.

[0076] In some embodiments of the present application, Figure 4 and Figure 5As shown, a transverse guide rail 110 is disposed on the top surface of the first bottom plate 100; the first transverse clamping mechanism 300 and the second transverse clamping mechanism 400 are respectively disposed on the transverse guide rail 110 via first sliders 111 disposed oppositely; so that the first transverse clamping mechanism 300 and the second transverse clamping mechanism 400 can move toward or away from each other along the transverse guide rail 110;

[0077] A longitudinal guide rail 210 is arranged on the top surface of the second base plate 200; the second base plate 200 is slidably connected to the first base plate 100 through the longitudinal guide rail 210 and a second slider 211 arranged at the bottom of the first base plate 100, so that the longitudinal clamping mechanism 500 can move with the second base plate 200 in a direction away from or close to the first base plate 100.

[0078] The end tool also includes a first mounting base plate 900 and a second mounting base plate 1000; the first transverse clamping mechanism 300 is fixedly connected to one side of the first slider 111 disposed oppositely through the first mounting base plate 900; the second transverse clamping mechanism 400 is fixedly connected to the other side of the first slider 111 disposed oppositely through the second mounting base plate 1000.

[0079] By applying the embodiment of the present application, a transverse guide rail 110 and a longitudinal guide rail 210 are respectively arranged on the top surfaces of the first base plate 100 and the second base plate 200, so that the first mounting base plate 900 and the second mounting base plate 1000 can respectively drive the first transverse clamping mechanism 300 and the second transverse clamping mechanism 400 to move along the transverse guide rail 110, and the longitudinal clamping mechanism 500 and the second base plate 200 to move along the longitudinal guide rail 210, thereby reducing the resistance encountered when moving the transverse clamping mechanism and the longitudinal clamping mechanism 500; the linear guide rail has high overall strength and large load, and can realize the end picker to carry and grasp the large-load material frame 20.

[0080] In some embodiments of the present application, Figures 1 to 3 As shown, the first transverse clamping mechanism 300, the second transverse clamping mechanism 400 and the longitudinal clamping mechanism 500 all include a clamping guide rail 1, a movable clamping mechanism 2 and a fixed clamping mechanism 3;

[0081] The clamping guide rails 1 of the first transverse clamping mechanism 300 and the second transverse clamping mechanism 400 are arranged in parallel with the transverse guide rails 110 in the horizontal direction, and are arranged on the top surfaces of the first mounting base plate 900 and the second mounting base plate 1000 respectively; the clamping guide rails 1 of the longitudinal clamping mechanism 500 are arranged in parallel with the longitudinal guide rails 210 in the horizontal direction, and are arranged on the top surface of the second base plate 200;

[0082] The movable clamping mechanism 2 of the first transverse clamping mechanism 300 and the second transverse clamping mechanism 400 are slidably connected to the first mounting base plate 900 and the second mounting base plate 1000 through the clamping guide rail 1 and the third slider 11, respectively; the movable clamping mechanism 2 of the longitudinal clamping mechanism 500 is slidably connected to the second base plate 200 through the clamping guide rail 1 and the third slider 11;

[0083] The fixed clamping mechanism 3 of the first transverse clamping mechanism 300 and the second transverse clamping mechanism 400 are respectively arranged on the top surface of the first mounting base plate 900 and the second mounting base plate 1000; the longitudinal clamping mechanism 500 is arranged on the top surface of the second base plate 200;

[0084] The fixed clamping mechanism 3 of the first transverse clamping mechanism 300 , the second transverse clamping mechanism 400 and the longitudinal clamping mechanism 500 are all spaced apart from the movable clamping mechanism 2 , and the spacing distance is adjustable based on the sliding connection.

[0085] Specifically, the three groups of clamping structures of the end picker clamp the material frame 20 through the movable clamping mechanism 2 and the fixed clamping mechanism 3, and the movable clamping mechanism 2 can slide along the clamping guide rail 1 relative to the fixed clamping mechanism 3. Figures 14 to 17 As shown, when depalletizing, the movable clamping mechanism 2 of the second transverse clamping mechanism 400 moves away from the fixed clamping mechanism 3, thereby avoiding other material frames 20; when palletizing, the movable clamping mechanism 2 of the second transverse clamping mechanism 400 moves away from the fixed clamping mechanism 3, and releases the clamped third side for avoidance.

[0086] By applying the embodiment of the present application, the movable clamping mechanism 2 can slide adjustably along the clamping guide rail 1 relative to the fixed clamping mechanism 3, so that the end picker has the function of avoiding the stack of material frames 20 when depalletizing, and this avoidance method is achieved by setting the clamping guide rail 1 and the third slider 11, which makes the structure of the end picker simpler and simplifies the action process of the end picker.

[0087] See also Figures 6 to 10 , Figure 6 for Figure 1 A schematic structural diagram of a first angle of the first transverse clamping mechanism 300 is shown; Figure 7 for Figure 1 A schematic structural diagram of a second angle of the first transverse clamping mechanism 300 is shown; Figure 8 for Figure 1 A schematic structural diagram of the second bottom plate 200 and the longitudinal clamping mechanism 500 at a first angle is shown; Fig. 9 for Figure 1 A schematic structural diagram of the second bottom plate 200 and the longitudinal clamping mechanism 500 at a second angle is shown; Fig.10 for Figure 1A schematic structural diagram of the second base plate 200 and the longitudinal clamping mechanism 500 at a third angle is shown.

[0088] In some embodiments of the present application, Figure 3 , Figures 6 to 10 As shown, the first transverse clamping mechanism 300 and the second transverse clamping mechanism 400 both include a transverse cylinder 4;

[0089] The transverse cylinder 4 of the first transverse clamping mechanism 300 and the second transverse clamping mechanism 400 are respectively fixedly arranged on the top surfaces of the first mounting base plate 900 and the second mounting base plate 1000; the transverse cylinder 4 is located on one side of the movable clamping mechanism 2; the transverse cylinder 4 includes a transverse cylinder piston rod 41, and the transverse cylinder piston rod 41 is parallel to the transverse guide rail 110; the movable end of the transverse cylinder piston rod 41 is fixedly connected to the movable clamping mechanism 2 through the first connecting member 42, so as to drive the movable clamping mechanism 2 to perform linear motion along the clamping guide rail 1 relative to the fixed clamping mechanism 3;

[0090] like Figure 3 As shown, the longitudinal clamping mechanism 500 includes a longitudinal cylinder 5; the longitudinal cylinder 5 is fixedly arranged at the bottom of the second base plate 200; the longitudinal cylinder 5 includes a longitudinal cylinder piston rod 51, and the longitudinal cylinder piston rod 51 is parallel to the longitudinal guide rail 210; the movable end of the longitudinal cylinder piston rod 51 is fixedly connected to the movable clamping mechanism 2 through a second connecting member 52.

[0091] Specifically, air is supplied to the transverse cylinder 4 and the longitudinal cylinder 5, and the transverse cylinder piston rod 41 and the longitudinal cylinder piston rod 51 extend, respectively through the first connecting member 42 and the second connecting member 52, driving the movable clamping mechanism 2 to move away from the fixed clamping mechanism 3. When depalletizing, the first transverse clamping mechanism 300 and the longitudinal clamping mechanism 500 continue to clamp a right-angled side of the material frame 20 respectively. At this time, air is supplied to the transverse cylinder 4 of the second transverse clamping mechanism 400, and the transverse cylinder piston rod 41 extends, so that the movable clamping mechanism 2 is away from the fixed clamping mechanism 3, thereby avoiding the stack of the material frame 20 and preventing the second transverse clamping mechanism 400 from colliding with the stack of the material frame 20.

[0092] By applying the embodiment of the present application, the end picker drives the movable clamping mechanism 2 of the first transverse clamping mechanism 300, the second transverse clamping mechanism 400 and the longitudinal clamping mechanism 500 respectively through the transverse cylinder 4 and the longitudinal cylinder 5, and makes linear motion along the clamping guide rail 1 on the first mounting base plate 900, the second mounting base plate 1000 and the second base plate 200 respectively, thereby further making the structure of the end picker simpler and the action process of the end picker simpler.

[0093] In some embodiments of the present application, Figure 3 , Figures 6 to 10As shown, the movable clamping mechanism 2 of the first transverse clamping mechanism 300, the second transverse clamping mechanism 400 and the longitudinal clamping mechanism 500 all include: a clamping base plate 21, a clamping cylinder 22, a clamping cylinder seat 23 and an upper clamping plate 24;

[0094] Among them, the clamping base plate 21 of the first transverse clamping mechanism 300 and the second transverse clamping mechanism 400 is fixedly connected to the top surface of the third slider 11; the clamping cylinder seat 23 is fixedly arranged on the top surface of the clamping base plate 21; the clamping cylinder 22 is arranged on the side of the clamping cylinder seat 23 away from the fixed clamping mechanism 3, and is fixedly connected to the clamping base plate 21 and the clamping cylinder seat 23; the clamping cylinder 22 includes a clamping cylinder piston rod 221, the clamping cylinder piston rod 221 is perpendicular to the clamping base plate 21, and the movable end of the clamping cylinder piston rod 221 is fixedly connected to the upper clamping plate 24, which is used to drive the upper clamping plate 24 to perform linear motion perpendicular to the clamping base plate 21;

[0095] The clamping base plate 21 of the longitudinal clamping mechanism 500 is fixedly connected to the top surface of the third slider 11; the clamping cylinder seat 23 is fixedly arranged on the top surface of the clamping base plate 21, and the clamping cylinder 22 is arranged on the side of the clamping cylinder seat 23 away from the fixed clamping mechanism 3, and is fixedly connected to the clamping cylinder seat 23; the clamping cylinder 22 includes a clamping cylinder piston rod 221, and the clamping cylinder piston rod 221 is perpendicular to the clamping base plate 21. The movable end of the clamping cylinder piston rod 221 is fixedly connected to the upper clamping plate 24, which is used to drive the upper clamping plate 24 to make a linear motion perpendicular to the clamping base plate 21.

[0096] Specifically, since the movable clamping mechanism 2 of the longitudinal clamping mechanism 500 is installed on the second bottom plate 200, which is lower than the clamping bottom plate 21 of the transverse clamping mechanism, the clamping cylinder seat 23 also includes an I-shaped pad 231, which is used to raise the clamping cylinder 22 to the same height as the clamping cylinder 22 of the transverse clamping mechanism. In addition, the clamping cylinder seat 23 also includes an L-shaped fixing member 232, which is arranged on both sides of the clamping cylinder 22 to prevent the clamping cylinder 22 from moving in a direction perpendicular to the clamping guide rail 1.

[0097] like Figures 14 to 17As shown, when grabbing the material frame 20, the upper clamping plate 24 of the movable clamping mechanism 2 is used to press against the bottom of the edge of the material frame 20, and the fixed clamping mechanism 3 presses against the top of the edge of the material frame 20, and they cooperate with each other to clamp the edge of the material frame 20. When disassembling and stacking, the transverse cylinder 4 of the second transverse clamping mechanism 400 is supplied with air, and the transverse cylinder piston rod 41 extends to make the movable clamping mechanism 2 away from the fixed clamping mechanism 3. At the same time, the clamping cylinder 22 of the second transverse clamping mechanism 400 is supplied with air to make the clamping cylinder piston rod 221 retract and retract the upper clamping plate 24, so as to avoid the stack of the material frame 20 and prevent the second transverse clamping mechanism 400 from colliding with the stack of the material frame 20. When the end picker clamps the material frame 20 and moves to a certain distance, the transverse cylinder 4 of the second transverse clamping mechanism 400 is reversely supplied with air, and the transverse cylinder piston rod 41 retracts, so that the movable clamping mechanism 2 is close to the fixed clamping mechanism 3. At the same time, the clamping cylinder 22 of the second transverse clamping mechanism 400 is reversely supplied with air, so that the clamping cylinder piston rod 221 extends, and the upper clamping plate 24 is extended to clamp the third side of the material frame 20 again.

[0098] By using the embodiment of the present application, the position of the upper clamping plate 24 is controlled by driving the clamping cylinder 22, so that the three groups of clamping mechanisms of the end picker can maintain the clamping state on the sides of the material frame 20 to prevent the material frame 20 from falling; the clamping cylinder 22 and the horizontal cylinder 4 or the longitudinal cylinder 5 cooperate to work simultaneously during depalletizing and stacking, and avoid the stacks of material frames 20, which simplifies the action process, speeds up the depalletizing and stacking single process rhythm, and improves work efficiency.

[0099] In some embodiments of the present application, Figures 6 to 10 As shown, the fixed clamping mechanism 3 of the first transverse clamping mechanism 300, the second transverse clamping mechanism 400 and the longitudinal clamping mechanism 500 all include: a support seat 31, a buffer mechanism 32 and a lower clamping plate 33;

[0100] Among them, the support seats 31 of the first transverse clamping mechanism 300 and the second transverse clamping mechanism 400 are respectively arranged on the top surfaces of the first mounting base plate 900 and the second mounting base plate 1000; the buffer mechanism 32 is arranged on the top of the support seat 31, and the top of the buffer mechanism 32 is fixedly connected to the lower clamping plate 33, so that the lower clamping plate 33 can perform buffering movements relative to the support seat 31 in the directions perpendicular to the first mounting base plate 900 and the second mounting base plate 1000.

[0101] The support seat 31 of the longitudinal clamping mechanism 500 is arranged on the top surface of the second base plate 200; the buffer mechanism 32 is arranged on the top of the support seat 31, and the top of the buffer mechanism 32 is fixedly connected to the lower clamping plate 33, so that the lower clamping plate 33 can perform buffering movement relative to the support seat 31 in a direction perpendicular to the second base plate 200.

[0102] Specifically, since the fixed clamping mechanism 3 of the longitudinal clamping mechanism 500 is installed on the second base plate 200, which is lower than the first or second mounting base plate 1000 of the transverse clamping mechanism, the support seat 31 is longer than the support seat 31 of the longitudinal clamping mechanism 500, so that the lower clamping plate 33 of the longitudinal clamping mechanism 500 is at the same height as the lower clamping plate 33 of the transverse clamping mechanism.

[0103] In the embodiment of the present application, the upper clamping plate 24 and the lower clamping plate 33 respectively press against the bottom and top of the edge of the material frame 20, and the position of the upper clamping plate 24 is adjusted by the clamping cylinder 22 to ensure the clamping of the edge of the material frame 20; a buffer mechanism 32 is provided at the bottom of the lower clamping plate 33, which prevents the edge of the material frame 20 from being squeezed and deformed due to excessive force while cooperating with the upper clamping plate 24 to clamp the edge of the material frame 20.

[0104] In some embodiments of the present application, Figures 6 to 10 As shown, a support plate 34 is fixedly arranged on the top of the support seat 31 of the first transverse clamping mechanism 300, the second transverse clamping mechanism 400 and the longitudinal clamping mechanism 500, and the buffer mechanism 32 is divided into two groups, and the two groups of buffer mechanisms 32 are relatively arranged at the two ends of the support plate 34; each group of buffer mechanisms 32 includes a spring 321, a guide rod 322 and a linear bearing 323; through holes are arranged at both ends of the support plate 34, and the linear bearing 323 passes through the through holes and is fixedly connected to the support plate 34; the guide rod 322 passes through the center of the linear bearing 323; a fixing ring 324 is arranged on the guide rod 322 at the bottom end of the linear bearing 323; the top of the guide rod 322 is fixedly connected to the lower clamping plate 33; the spring 321 is sleeved on the guide rod 322, the top end of the spring 321 abuts against the lower clamping plate 33, and the bottom end abuts against the linear bearing 323.

[0105] Specifically, the linear bearing 323 is a flange-type linear bearing, the bottom bearing sleeve of the linear bearing 323 passes through the through hole of the support plate 34, and the top flange is located on the upper part of the support plate 34 and is fixedly connected to the support plate 34. When the upper clamping plate 24 squeezes the edge of the material frame 20, the material frame 20 applies pressure to the lower clamping plate 33, so that the lower clamping plate 33 and the guide rod 322 are buffered downward relative to the support plate 34. At this time, the top and bottom ends of the spring 321 are squeezed by the lower clamping plate 33 and the support plate 34 and deformed. Using the embodiment of the present application, the buffer mechanism 32 uses the spring 321 to perform flexible buffering protection on the material frame 20, which has a simple structure and low cost.

[0106] See also Fig.11 and Fig.12 , Fig.11 for Figure 1 A schematic structural diagram of the end picker at a third angle; Fig.12 for Figure 1 A schematic structural diagram of the end picker at a fourth angle is shown.

[0107] In some embodiments of the present application, Figures 6 to 8 and Fig.12 As shown, the top surface of the second bottom plate 200, the top surface of the first mounting bottom plate 900, the top surface of the second mounting bottom plate 1000 and the fixed clamping mechanism 3 are all provided with a hydraulic buffer 6, and the hydraulic buffer 6 abuts against the movable clamping mechanism 2 when the movable clamping mechanism 2 moves to the end of the stroke;

[0108] On the bottom of the first base plate 100, two oil pressure buffers 6 are arranged on one side of the second base plate 200. At the end of the second base plate 200, an extension piece 220 is arranged in the direction toward this side. When the second base plate 200 moves to the end of the stroke, the oil pressure buffer 6 abuts against the extension piece 220.

[0109] Specifically, Figures 6 to 9 As shown, the oil pressure buffer 6 on the fixed clamping mechanism 3 is specifically arranged on the support seat 31 .

[0110] Taking the first transverse clamping mechanism 300 as an example, when the first mounting base plate 900 drives the first transverse clamping mechanism 300 to move to the leftmost end of the clamping guide rail 1, the anti-collision cap of the oil pressure buffer 6 arranged on the first mounting base plate 900 abuts against the clamping base plate 21; when moving to the rightmost end of the clamping guide rail 1, the anti-collision cap of the oil pressure buffer 6 arranged on the fixed clamping mechanism 3 abuts against the clamping cylinder seat 23. By using the embodiment of the present application, the violent collision caused by the movable clamping mechanism 2 and the second base plate 200 when moving to the end of the stroke is prevented.

[0111] In some embodiments of the present application, Figure 5 As shown, the motor 710 is provided with a driving interface 711 and an encoder interface 712, and the first lateral clamping mechanism 300 and the second lateral clamping mechanism 400 are positioned by controlling the start and stop of the motor 710;

[0112] like Figure 5 As shown, a position sensor 7 is provided at each end of the driving cylinder 810, and the position information of the longitudinal clamping mechanism 500 is fed back by detecting the position of the driving cylinder piston rod 811.

[0113] like Figure 6 As shown, both ends of the transverse cylinder 4 of the first transverse clamping mechanism 300 and the second transverse clamping mechanism 400 are provided with a position sensor 7, which detects the position of the transverse cylinder piston rod 41 to feed back the position information of the movable clamping mechanism 2;

[0114] like Fig.10 As shown, a position sensor 7 is provided at each end of the longitudinal cylinder 5 , and the position information of the movable clamping mechanism 2 is fed back by detecting the position of the longitudinal cylinder piston rod 51 .

[0115] like Figure 6As shown, the clamping cylinder 22 includes a cylinder slot 222 perpendicular to the clamping base plate 21, and a position sensor 7 is respectively provided at the top and bottom ends of the cylinder slot 222, which detects the position of the clamping cylinder piston rod 221, thereby feeding back the position information of the upper clamping plate 24.

[0116] like Fig.11 and Fig.12 As shown, a solenoid valve island 120 and a plurality of cylinder sensor interfaces 130 are also provided at the bottom of the first base plate 100 ; the solenoid valve island 120 includes a circuit interface 121 , a plurality of air pump interfaces 122 and a plurality of cylinder interfaces 123 . Fig.11 In the figure, a plurality of solenoid valves 124 are integrated and installed on the solenoid valve island 120 for controlling the movement of each cylinder; the interfaces with a larger diameter located at both ends of the solenoid valve island 120 are air pump interfaces 122 for connecting external air supply equipment; the interface with a smaller diameter located in the middle of the solenoid valve island 120 is the cylinder interface 123, which is connected to each cylinder through an air pipe (not shown in the figure).

[0117] Specifically, the drive interface 711 of the motor 710 and the circuit interface 121 of the solenoid valve island 120 are electrically connected to the external control system, receive signals from the control system, and control and drive the motor 710 and each solenoid valve 124 according to the instructions issued by the control system, thereby controlling the actions of the first transverse clamping mechanism 300, the second transverse clamping mechanism 400 and the longitudinal clamping mechanism 500. In addition, in the embodiment of the present application, the encoder interface 712 of the motor 710 is connected to the encoder to measure the speed and other parameters of the motor 710, thereby providing the control system with the state information of the motor 710, and helping the control system to accurately control the motor 710.

[0118] In the embodiment of the present application, the driving cylinder 810, the transverse cylinder 4, the longitudinal cylinder 5 and the clamping cylinder 22 can all be double-acting cylinders, each of which is provided with a gas interface 8, which is connected to the cylinder interface 123 of the solenoid valve island 120 through an air pipe; the external control system controls the outflow, inflow and flow rate of the gas at the gas interface 8 at both ends of the cylinder by controlling the switching state of the solenoid valve 124, thereby controlling the movement direction, speed and midway stop of the cylinder.

[0119] The driving cylinder 810, the transverse cylinder 4, and the longitudinal cylinder 5 are circular cylinders, and the two ends are connected to the position sensor 7 through a clamp or other connectors. The position connector of the clamping cylinder 22 is set at both ends of the cylinder slot 222, and the position sensor 7 is connected to the cylinder sensor interface 130 at the bottom of the first base plate 100. By detecting the position of the cylinder piston rod, the position of the longitudinal driving mechanism 800, the movable clamping mechanism 2 and the upper clamping plate 24 is fed back to the external control system respectively. The external control system positions the longitudinal driving mechanism 800, the movable clamping mechanism 2 and the upper clamping plate 24 according to the feedback result of the position sensor 7, so as to grab the material frame 20. The position sensor 7 of the embodiment of the present application adopts a magnetic switch.

[0120] By applying the embodiments of the present application, the solenoid valve island 120 simplifies the installation method of the solenoid valve 124, saves installation space, and simplifies the structure of the end picker; the control system transmits electrical signals to the solenoid valve island 120 through the circuit interface 121 to control the movement of each cylinder, thereby controlling the three groups of clamping mechanisms to compatibly grasp material frames 20 of different sizes; there is no need to independently lead out signal control lines for a single solenoid valve 124, and multiple cylinder sensor interfaces 130 are integrated together, which reduces the wiring workload while improving the accuracy of the operation, and can also achieve precise control of the cylinder, thereby improving the efficiency and accuracy of the automatic control of the end picker.

[0121] See also Fig.13 , Fig.13 for Figure 1 In some embodiments of the present application, as shown in FIG. Figures 11 to 13 As shown, a plurality of sheet metal parts 140, wiring holes 150 and weight-reducing holes 160 for fixing cables are arranged at the bottom of the first bottom plate 100. A protective cover 170 is arranged on the bottom surface of the first bottom plate 100 to cover the components on the bottom surface of the first bottom plate 100; the mounting arm 600 passes through the protective cover 170.

[0122] Specifically, multiple weight-reducing holes 160 are provided to reduce the weight of the end picker; multiple wiring holes 150 are provided, and the wires and air pipes on the top surface of the first bottom plate 100 pass through the wiring holes 150 and extend to the bottom surface of the first bottom plate 100; multiple sheet metal parts 140 are provided on the first bottom plate 100 around the edge of the second bottom plate 200, and the sheet metal parts 140 are used to arrange the wires and air pipes, and the wires and air pipes are fixed to the through holes of the sheet metal parts 140 by cable ties. By using the embodiment of the present application, multiple sheet metal parts 140, wiring holes 150 and weight-reducing holes 160 are provided to reduce the weight of the end picker, and the wires and air pipes are arranged more neatly, and the protective cover 170 is provided to protect the various structures fixed on the bottom surface of the first bottom plate 100, making the end picker more beautiful.

[0123] The second aspect of the present application provides a transfer device, see Fig.18 , Fig.18 For installation Figure 1 The three-dimensional structural diagram of the transfer device of the end tool shown in the figure comprises: a moving component 1100 and the end tool 10 of any embodiment of the first aspect; and a mounting arm 600 is fixedly connected to the moving component 1100.

[0124] The transfer device of the embodiment of the present application includes an end picker of any embodiment of the first aspect, which clamps the material frame 20 on three sides through the first transverse clamping mechanism 300, the second transverse clamping mechanism 400 and the longitudinal clamping mechanism 500; the first transverse clamping mechanism 300, the second transverse clamping mechanism 400 and the longitudinal clamping mechanism 500 are driven to make linear motion in a direction perpendicular to their respective installation edges through the transverse driving mechanism 700 and the longitudinal driving mechanism 800, so as to achieve compatible grasping of material frames 20 of different sizes; in the process of depalletizing or stacking, the longitudinal clamping mechanism 500 cooperates with the first transverse clamping mechanism 300 or the second transverse clamping mechanism 400 to respectively clamp an adjacent long side and a wide side exposed to the outside of the material frame 20, thereby simplifying the action process.

[0125] Specifically, Fig.18 The transfer device shown is a transfer robot, and the moving part 1100 is a mechanical arm, which drives the end picker 10 to complete the transfer of the material frame 20. In other embodiments, the transfer device can also be a truss manipulator, and the moving part 1100 is a cantilever arranged on the truss, which drives the end picker 10 to move on the truss, thereby completing the transfer of the material frame 20.

[0126] In the depalletizing working environment, an external camera may be provided to detect the distance between the upper clamping plate and the lower clamping plate 33 and the edge of the material frame, as well as the distance between the clamped material frame and the material frame stack during depalletizing; a control system may be provided on the moving component 1100, and the control system sends a control signal to the motor 710 and the solenoid valve island 120 of the end picker 10 according to the detection data of the external camera, thereby controlling the action of the first transverse clamping mechanism 300, the second transverse clamping mechanism 400 and the longitudinal clamping mechanism 500.

[0127] like Figures 14 to 18As shown, the end picker 10 is hung upside down on the moving part 1100 through the mounting arm 600. Under the working condition of depalletizing the material frame 20, the action flow of the transfer equipment is as follows: when depalletizing, the first transverse clamping mechanism 300 and the longitudinal clamping mechanism 500 of the end picker 10 first clamp the two adjacent right-angled edges exposed by the material frame 20 to grab the material frame 20; the moving part 1100 moves to transport the material frame 20, and after the third edge of the material frame 20 is transported to a certain distance from the stack of the material frame 20, the second transverse clamping mechanism 400 clamps the third edge of the material frame 20; when the moving part 1100 transports the material frame 20 to a position close to the stacking position, the second transverse clamping mechanism 400 releases the third edge of the material frame 20 and retreats to avoid it; the moving part 1100 and the end picker 10 complete the unloading and stacking of the material frame 20; finally, the first transverse clamping mechanism 300 and the longitudinal clamping mechanism 500 are released and retreated.

[0128] In the above action flow, the mobile component 1100 and the end picker complete corresponding actions such as transfer and clamping or avoidance at the same time, which simplifies the action flow of the overall structure and realizes the optimization of the single-process rhythm.

[0129] The above description is only a preferred embodiment of the present invention and is not intended to limit the protection scope of the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention are included in the protection scope of the present invention.

Claims

1. An end picker, characterized in that: include: A first base plate (100), a second base plate (200), a first transverse clamping mechanism (300), a second transverse clamping mechanism (400), a longitudinal clamping mechanism (500) and a mounting arm (600); The second base plate (200) is perpendicular to the first base plate (100) in the horizontal direction and extends out of the first base plate (100) in the horizontal direction; the mounting arm (600) is fixedly arranged on the bottom surface of the first base plate (100) and is used for connecting to an external device; The first transverse clamping mechanism (300) and the second transverse clamping mechanism (400) are relatively arranged on the top surface of the first bottom plate (100) and can move towards each other or move away from each other; The longitudinal clamping mechanism (500) is arranged at the top area of ​​the second bottom plate (200) extending out of the first bottom plate (100), and is capable of moving in a direction away from or close to the first bottom plate (100); the first transverse clamping mechanism (300), the second transverse clamping mechanism (400) and the longitudinal clamping mechanism (500) are oriented in the same direction; The longitudinal clamping mechanism (500) is used to cooperate with the first transverse clamping mechanism (300) or the second transverse clamping mechanism (400) to respectively clamp an adjacent long side and a wide side exposed to the outside of the material frame (20) during the depalletizing or palletizing process.

2. The end tool according to claim 1, characterized in that: It also includes: a transverse driving mechanism (700) and a longitudinal driving mechanism (800); The transverse driving mechanism (700) is arranged on the top surface of the first bottom plate (100) and is connected to the first transverse clamping mechanism (300) and the second transverse clamping mechanism (400); the transverse driving mechanism (700) is used to drive the first transverse clamping mechanism (300) and the second transverse clamping mechanism (400) to move toward or away from each other; The longitudinal driving mechanism (800) is arranged on the top surface of the first bottom plate (100) and is connected to the longitudinal clamping mechanism (500); the longitudinal driving mechanism (800) is used to drive the longitudinal clamping mechanism (500) to move in a direction away from or close to the first bottom plate (100).

3. The end tool according to claim 2, characterized in that: The transverse driving mechanism (700) comprises a motor (710) and a left-right rotating equal-dividing screw (720); the left-right rotating equal-dividing screw (720) is arranged in the transverse direction; a nut (721) is sleeved on each of the left and right sections of the left-right rotating equal-dividing screw (720); and the nuts (721) are respectively fixedly connected to the first transverse clamping mechanism (300) and the second transverse clamping mechanism (400); The motor (710) is used to drive the left-right rotating equal-sharing screw (720) to rotate, so that the two nuts (721) can drive the first transverse clamping mechanism (300) and the second transverse clamping mechanism (400) to move toward or away from each other in the transverse direction.

4. The end tool according to claim 3, characterized in that: The longitudinal drive mechanism (800) comprises a drive cylinder (810); the drive cylinder (810) is fixedly arranged on the top surface of the first bottom plate (100), and the drive cylinder (810) and the left-right rotating equal-sharing screw (720) are arranged vertically; the drive cylinder (810) comprises a drive cylinder piston rod (811), and the movable end of the drive cylinder piston rod (811) is fixedly connected to the longitudinal clamping mechanism (500), and is driven by the drive cylinder (810) to drive the longitudinal clamping mechanism (500) and the second bottom plate (200) to perform linear motion along the longitudinal direction.

5. The end tool according to claim 1, characterized in that: A transverse guide rail (110) is disposed on the top surface of the first bottom plate (100); the first transverse clamping mechanism (300) and the second transverse clamping mechanism (400) are disposed on the transverse guide rail (110) via first sliders (111) disposed oppositely to each other, respectively; so that the first transverse clamping mechanism (300) and the second transverse clamping mechanism (400) can move toward or away from each other along the transverse guide rail (110); A longitudinal guide rail (210) is arranged on the top surface of the second bottom plate (200); the second bottom plate (200) is slidably connected to the first bottom plate (100) via the longitudinal guide rail (210) and a second sliding block (211) arranged at the bottom of the first bottom plate (100), so that the longitudinal clamping mechanism (500) can move along with the second bottom plate (200) in a direction away from or close to the first bottom plate (100).

6. The end tool according to claim 5, characterized in that: Also includes: A first mounting base plate (900) and a second mounting base plate (1000); The first transverse clamping mechanism (300) is fixedly connected to one of the first sliders (111) arranged oppositely via the first mounting base plate (900); and the second transverse clamping mechanism (400) is fixedly connected to the other of the first sliders (111) arranged oppositely via the second mounting base plate (1000).

7. The end tool according to claim 6, characterized in that: The first transverse clamping mechanism (300), the second transverse clamping mechanism (400) and the longitudinal clamping mechanism (500) all comprise: a clamping guide rail (1), a movable clamping mechanism (2) and a fixed clamping mechanism (3); The clamping guide rails (1) of the first transverse clamping mechanism (300) and the second transverse clamping mechanism (400) are arranged in parallel with the transverse guide rails (110) in the horizontal direction, and are arranged on the top surfaces of the first mounting base plate (900) and the second mounting base plate (1000) respectively; the clamping guide rails (1) of the longitudinal clamping mechanism (500) are arranged in parallel with the longitudinal guide rails (210) in the horizontal direction, and are arranged on the top surface of the second base plate (200); The movable clamping mechanisms (2) of the first transverse clamping mechanism (300) and the second transverse clamping mechanism (400) are slidably connected to the first mounting base plate (900) and the second mounting base plate (1000) respectively through a clamping guide rail (1) and a third slider (11); the movable clamping mechanism (2) of the longitudinal clamping mechanism (500) is slidably connected to the second base plate (200) through a clamping guide rail (1) and a third slider (11); The fixed clamping mechanisms (3) of the first transverse clamping mechanism (300) and the second transverse clamping mechanism (400) are respectively arranged on the top surfaces of the first mounting base plate (900) and the second mounting base plate (1000); the longitudinal clamping mechanism (500) is arranged on the top surface of the second base plate (200); The fixed clamping mechanism (3) of the first transverse clamping mechanism (300), the second transverse clamping mechanism (400) and the longitudinal clamping mechanism (500) are all arranged at intervals from the movable clamping mechanism (2), and the interval distance is adjustable based on the sliding connection.

8. The end tool according to claim 7, characterized in that: The first transverse clamping mechanism (300) and the second transverse clamping mechanism (400) both comprise a transverse cylinder (4); The transverse cylinders (4) of the first transverse clamping mechanism (300) and the second transverse clamping mechanism (400) are respectively fixedly arranged on the top surfaces of the first mounting base plate (900) and the second mounting base plate (1000); the transverse cylinder (4) is located on one side of the movable clamping mechanism (2); the transverse cylinder (4) comprises a transverse cylinder piston rod (41), and the transverse cylinder piston rod (41) is parallel to the transverse guide rail (110); the movable end of the transverse cylinder piston rod (41) is fixedly connected to the movable clamping mechanism (2) through a first connecting member (42) to drive the movable clamping mechanism (2) to perform linear motion along the clamping guide rail (1) relative to the fixed clamping mechanism (3); The longitudinal clamping mechanism (500) comprises a longitudinal cylinder (5); the longitudinal cylinder (5) is fixedly arranged at the bottom of the second base plate (200); the longitudinal cylinder (5) comprises a longitudinal cylinder piston rod (51), and the longitudinal cylinder piston rod (51) is parallel to the longitudinal guide rail (210); the movable end of the longitudinal cylinder piston rod (51) is fixedly connected to the movable clamping mechanism (2) via a second connecting member (52).

9. The end tool according to claim 7, characterized in that: The movable clamping mechanisms (2) of the first transverse clamping mechanism (300), the second transverse clamping mechanism (400) and the longitudinal clamping mechanism (500) all comprise: a clamping base plate (21), a clamping cylinder (22), a clamping cylinder seat (23) and an upper clamping plate (24); Wherein, the clamping base plates (21) of the first transverse clamping mechanism (300) and the second transverse clamping mechanism (400) are fixedly connected to the top surface of the third sliding block (11); the clamping cylinder seat (23) is fixedly arranged on the top surface of the clamping base plate (21); the clamping cylinder (22) is arranged on the side of the clamping cylinder seat (23) away from the fixed clamping mechanism (3), and is fixedly connected to the clamping base plate (21) and the clamping cylinder seat (23); the clamping cylinder (22) comprises a clamping cylinder piston rod (221), the clamping cylinder piston rod (221) is perpendicular to the clamping base plate (21), and the movable end of the clamping cylinder piston rod (221) is fixedly connected to the upper clamping plate (24), and is used to drive the upper clamping plate (24) to perform linear motion perpendicular to the clamping base plate (21); The clamping base plate (21) of the longitudinal clamping mechanism (500) is fixedly connected to the top surface of the third sliding block (11); the clamping cylinder seat (23) is fixedly arranged on the top surface of the clamping base plate (21); the clamping cylinder (22) is arranged on the side of the clamping cylinder seat (23) away from the fixed clamping mechanism (3) and is fixedly connected to the clamping cylinder seat (23); the clamping cylinder (22) includes a clamping cylinder piston rod (221), the clamping cylinder piston rod (221) is perpendicular to the clamping base plate (21), and the movable end of the clamping cylinder piston rod (221) is fixedly connected to the upper clamping plate (24) for driving the upper clamping plate (24) to perform linear motion perpendicular to the clamping base plate (21).

10. The end tool according to claim 7, characterized in that: The fixed clamping mechanism (3) of the first transverse clamping mechanism (300), the second transverse clamping mechanism (400) and the longitudinal clamping mechanism (500) all comprise: a support seat (31), a buffer mechanism (32) and a lower clamping plate (33); Wherein, the support seats (31) of the first transverse clamping mechanism (300) and the second transverse clamping mechanism (400) are respectively arranged on the top surfaces of the first mounting base plate (900) and the second mounting base plate (1000); the buffer mechanism (32) is arranged on the top of the support seat (31), and the top of the buffer mechanism (32) is fixedly connected to the lower clamping plate (33), so that the lower clamping plate (33) can perform buffering movement relative to the support seat (31) in a direction perpendicular to the first mounting base plate (900) and the second mounting base plate (1000); The support seat (31) of the longitudinal clamping mechanism (500) is arranged on the top surface of the second bottom plate (200); the buffer mechanism (32) is arranged on the top of the support seat (31), and the top of the buffer mechanism (32) is fixedly connected to the lower clamping plate (33), so that the lower clamping plate (33) can perform buffering movement relative to the support seat (31) in a direction perpendicular to the second bottom plate (200).

11. The end tool according to claim 10, characterized in that: A support plate (34) is fixedly arranged on the top of the support seat (31) of the first transverse clamping mechanism (300), the second transverse clamping mechanism (400) and the longitudinal clamping mechanism (500); the buffer mechanism (32) is divided into two groups, and the two groups of buffer mechanisms (32) are arranged at two ends of the support plate (34) in opposite directions; each group of buffer mechanisms (32) comprises a spring (321), a guide rod (322) and a linear bearing (323); through holes are arranged at both ends of the support plate (34); the linear shaft (323) is arranged at two ends of the support plate (34); The bearing (323) passes through the through hole and is fixedly connected to the support plate (34); the guide rod (322) passes through the center of the linear bearing (323) and is fixedly connected to the lower clamping plate (33) at the top; a fixing ring (324) is provided on the guide rod (322) at the bottom end of the linear bearing (323); the spring (321) is sleeved on the guide rod (322), the top end of the spring (321) abuts against the lower clamping plate (33), and the bottom end abuts against the linear bearing (323).

12. The end tool according to claim 7, characterized in that: A hydraulic buffer (6) is provided on the top surface of the second base plate (200), the top surface of the first mounting base plate (900), the top surface of the second mounting base plate (1000) and the fixed clamping mechanism (3); the hydraulic buffer (6) abuts against the movable clamping mechanism (2) when the movable clamping mechanism (2) moves to the end of the stroke; On the bottom of the first base plate (100), two oil pressure buffers (6) are arranged on one side of the second base plate (200); at the end of the second base plate (200), an extension piece (220) is arranged in the direction toward the side; when the second base plate (200) moves to the end of the stroke, the oil pressure buffer (6) abuts against the extension piece (220).

13. The end tool according to claim 4, characterized in that: The motor (710) is provided with a drive interface (711) and an encoder interface (712), and the first transverse clamping mechanism (300) and the second transverse clamping mechanism (400) are positioned by controlling the start and stop of the motor (710); A position sensor (7) is provided at each end of the driving cylinder (810), and the position information of the longitudinal clamping mechanism (500) is fed back to an external control system by detecting the position of the driving cylinder piston rod (811).

14. The end tool according to claim 8, characterized in that: A position sensor (7) is provided at both ends of the transverse cylinder (4) of the first transverse clamping mechanism (300) and the second transverse clamping mechanism (400), and the position information of the movable clamping mechanism (2) is fed back by detecting the position of the transverse cylinder piston rod (41); A position sensor (7) is provided at each end of the longitudinal cylinder (5), and the position information of the movable clamping mechanism (2) is fed back by detecting the position of the longitudinal cylinder piston rod (51).

15. The end tool according to claim 9, characterized in that: The clamping cylinder (22) comprises a cylinder slot (222) perpendicular to the clamping base plate (21), and a position sensor (7) is respectively provided at the top and bottom of the cylinder slot (222) to detect the position of the clamping cylinder piston rod (221), thereby feeding back the position information of the upper clamping plate (24).

16. The end tool according to claim 1, characterized in that: A solenoid valve island (120) and a plurality of cylinder sensor interfaces (130) are also provided at the bottom of the first base plate (100); the solenoid valve island comprises a circuit interface (121), a plurality of air pump interfaces (122) and a plurality of cylinder interfaces (123).

17. The end tool according to claim 1, characterized in that: The bottom of the first base plate (100) is provided with a plurality of sheet metal parts (140) for fixing cables, wiring holes (150) and weight-reducing holes (160).

18. The end tool according to claim 1, characterized in that: A protective cover (170) is provided on the bottom surface of the first bottom plate (100) for covering components on the bottom surface of the first bottom plate (100); the mounting arm (600) passes through the protective cover (170).

19. A transfer device, characterized in that: include: A moving part (1100) and an end tool as claimed in any one of claims 1 to 18; The mounting arm (600) is fixedly connected to the moving component (1100).

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