Combined gripper

Abstract

The embodiment of the utility model relates to the technical field of mechanical grippers, and discloses a combined gripper. The combined gripper comprises a driving structure, a memory bank gripper and a hard disk gripper. A main disc is arranged at the output end of the driving structure. The memory bank gripper comprises a base and a memory bank clamping jaw arranged on the base, and the base is further provided with a first tool shelf. The hard disk gripper comprises a base and a hard disk clamping jaw arranged on the base, and the base is further provided with a second tool plate. The driving structure can be switched between a first state and a second state, and in the first state, the main disc is connected with the first tool disc; and in the second state, the main disc is connected with the second tool disc. The combined gripper provided by the embodiment of the utility model can adapt to automatic insertion and extraction of different storage parts.

Description

Technical Field

[0001] The embodiments of the present application relate to the technical field of mechanical grippers, and in particular to a combined gripper. Background Art

[0002] With the continuous development of electronic technology, the types and functions of electronic devices are becoming increasingly diverse. People's daily lives are becoming increasingly dependent on various types of electronic devices. The performance of electronic devices also determines the user experience during use. The performance of various electronic devices is also constantly improving with the advancement of manufacturing processes.

[0003] Electronic devices contain numerous components, of which memory is a crucial component. This component also impacts the performance of electronic devices. During the production process, various memory components must be assembled and tested. To meet the requirements of automated production and improve production efficiency, a device capable of automatically inserting and removing various memory components is needed. Utility Model Content

[0004] The purpose of the embodiments of the present application is to provide a combined gripper that can adapt to the automated plugging and unplugging of different storage components.

[0005] To solve the above technical problems, an embodiment of the present application provides a combined gripper. The combined gripper includes a drive structure, a memory stick gripper, and a hard disk gripper. A main disk is provided at the output end of the drive structure. The memory stick gripper includes a base and a memory stick clamp provided on the base, and the base is also provided with a first tool tray. The hard disk gripper includes a base and a hard disk clamp provided on the base, and the base is also provided with a second tool tray. The drive structure can be transformed between a first state and a second state. In the first state, the main disk is connected to the first tool tray; in the second state, the main disk is connected to the second tool tray.

[0006] The combined grippers provided in the embodiments of this application include a memory stick gripper capable of holding a memory stick and a hard drive gripper capable of holding a hard drive. These grippers, driven by a drive structure, can complete the insertion and removal of corresponding storage components. The drive structure can be connected between a main tray and different tool trays to accommodate different grippers, allowing the drive structure to switch between two states. This allows for automated insertion and removal of different storage components.

[0007] In some embodiments, the memory stick grip includes a first and second movable hippocampus-shaped pressure rods, and a driving member for driving the first and second hippocampus-shaped pressure rods to move, wherein the first and second hippocampus-shaped pressure rods are used to press the hippocampus-shaped buckle. In this way, the hippocampus-shaped buckle can be unlocked by the pressing action of the hippocampus-shaped pressure rods.

[0008] In some embodiments, the base is provided with a bracket, the bracket being provided adjacent to the memory stick clamp, the first and second hippocampus pressure rods being movably provided on the bracket, and the driving member being provided on the bracket. In this way, the first and second hippocampus pressure rods can be mounted using an independent bracket, ensuring that the movement of the hippocampus pressure rods is not affected by the memory stick clamp.

[0009] In some embodiments, the bracket is provided with a first detector and a second detector, the first detector being provided adjacent to the first hippocampus head pressure rod, and the second detector being provided adjacent to the second hippocampus head pressure rod, and the first detector and the second detector being used to detect the state of the hippocampus head buckle. In this way, the detection of the state of the hippocampus head buckle by the detector can confirm whether the hippocampus head buckle is in a locked state.

[0010] In some embodiments, the memory stick clamp includes a first clamping portion and a second clamping portion disposed opposite each other, a first hippocampus pressure rod disposed opposite the first clamping portion, and a second hippocampus pressure rod disposed opposite the second clamping portion. This positional correspondence ensures that the hippocampus head buckle can be unlocked and the memory stick can be inserted and removed smoothly.

[0011] In some embodiments, the base is provided with a pressing member, which includes a mounting portion connected to the hard drive clamp and a pressing portion protruding from the mounting portion. The pressing portion is used to press a button. In this way, the hard drive gripper can be unlocked or turned on and off by pressing the pressing portion.

[0012] In some embodiments, the drive structure is provided with a first visual positioning device, and the memory stick gripper and the hard disk gripper are respectively provided with a second visual positioning device. In this way, the position of the memory stick or hard disk can be accurately identified through multi-level visual positioning.

[0013] In some embodiments, the driving structure is provided with a distance measuring sensor. In this way, the distance to the target can be detected by the distance measuring sensor.

[0014] In some embodiments, the driving structure is provided with a force sensor, so that the force can be detected by the force sensor.

[0015] In some embodiments, the driving structure is a multi-axis robot. In this way, the multi-axis robot can be used to realize the movement of different grippers between different positions in space. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] One or more embodiments are exemplarily illustrated by pictures in the corresponding drawings. These exemplifications do not constitute limitations on the embodiments. Elements with the same reference numerals in the drawings are represented as similar elements. Unless otherwise stated, the figures in the drawings do not constitute proportional limitations.

[0017] Figure 1 This is a schematic diagram of the structure in which a memory stick is installed in a memory slot in the prior art;

[0018] Figure 2 This is a structural diagram of a hard disk installed in a hard disk bay in the prior art;

[0019] Figure 3 is a schematic diagram of the three-dimensional structure of the driving structure of the combined gripper provided in some embodiments of the present application when it is in a first state;

[0020] Figure 4 is a schematic diagram of the three-dimensional structure of the driving structure of the combined gripper provided in some embodiments of the present application when it is in the second state;

[0021] Figure 5 is a schematic diagram of the three-dimensional structure of a memory stick gripper in a combination gripper provided in some embodiments of the present application;

[0022] Figure 6 This is a schematic diagram of the three-dimensional structure of a hard disk gripper in a combination gripper provided in some embodiments of the present application;

[0023] Figure 7 It is a schematic diagram of the three-dimensional structure of the driving structure provided in some embodiments of the present application. DETAILED DESCRIPTION

[0024] In order to make the purpose, technical solutions and advantages of the embodiments of the present application clearer, each embodiment of the present application will be described in detail below with reference to the accompanying drawings. However, it will be understood by those skilled in the art that in each embodiment of the present application, many technical details are proposed in order to enable the reader to better understand the present application. However, even without these technical details and various changes and modifications based on the following embodiments, the technical solutions claimed in the present application can be implemented. The division of the following embodiments is for convenience of description and should not constitute any limitation on the specific implementation of the present application. The various embodiments can be combined with each other and referenced to each other under the premise of no contradiction.

[0025] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which this application belongs; the terms used herein are for the purpose of describing specific embodiments only and are not intended to limit this application; the terms "including" and "having" and any variations thereof in the specification and claims of this application and the above-mentioned figure descriptions are intended to cover non-exclusive inclusions.

[0026] In the description of the embodiments of the present application, unless otherwise expressly specified or limited, technical terms such as "installed," "connected," and "connected" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integration; mechanical connections, or electrical connections; direct connections, or indirect connections through an intermediate medium; and can refer to internal connectivity between two components or interaction between two components. Those skilled in the art can understand the specific meanings of the above terms in the embodiments of the present application based on specific circumstances.

[0027] The storage components in electronic devices mainly include memory modules and hard disks. Memory modules are used to store computing data and exchange data with the hard disk. Memory modules are installed through memory slots. Memory slots are soldered to the motherboard of the electronic device. Personal desktop computers generally have two to four memory slots, while servers can have dozens of memory slots. Figure 1 As shown, the memory module 21 is secured to the memory slot via snaps at either end. These snaps, shaped like a seahorse, are called seahorse-head snaps 22. The memory slot is formed on a memory mounting member 23. Before installing the memory module 21, the seahorse-head snaps 22 must be opened. Once the memory module 21 is inserted into the memory slot, the seahorse-head snaps 22 return to their original position, securing the memory module 21.

[0028] Hard disk is an important storage component of electronic equipment. Figure 2 As shown, the hard disk can be installed in the hard disk compartment 31. The hard disk compartment 31 has a fixing member 32, which can be ejected by pressing a button 33 to extract the hard disk compartment 31 containing the hard disk from the hard disk box.

[0029] The most frequent production process for electronic devices like servers involves the assembly, insertion, and testing of hard drives and memory modules. However, currently, this process is mostly performed manually, which can be inefficient. Furthermore, the high force required for insertion and removal can easily fatigue the operator, leading to wasted time.

[0030] By designing grippers for hard drives and memory modules to achieve efficient, fully automated operation, we can reduce manual labor and improve efficiency. Therefore, to address the current situation of frequent manual operations, a highly efficient automated operation device is needed. Furthermore, the system needs to support rapid switching between multiple grippers, allowing the same device to handle a wide range of product types. This will significantly reduce production costs and improve efficiency.

[0031] To this end, some embodiments of the present application provide a combination gripper. The combination gripper includes a memory stick gripper and a hard drive gripper. The memory stick gripper includes a memory stick clamping claw for holding the memory stick, while the hard drive gripper includes a hard drive clamping claw for holding the hard drive. Different clamping claws can be driven by external forces to clamp different storage components. Both grippers can be installed at the output end of the drive structure when the corresponding storage component needs to be plugged in or out, through the coordination between the tool tray and the main tray of the drive structure, to achieve automated plugging and unplugging of different storage components.

[0032] The following combination Figures 3 to 7 The combined grippers provided in some embodiments of the present application are described.

[0033] like Figures 3 to 6 As shown, some embodiments of the present application provide a combined gripper including a drive structure 11, a memory stick gripper 12, and a hard disk gripper 13. A main disk 14 is provided at the output end of the drive structure 11. The memory stick gripper 12 includes a base 121 and a memory stick clamp 122 provided on the base 121, and the base 121 is also provided with a first tool tray 15. The hard disk gripper 13 includes a base 131 and a hard disk clamp 132 provided on the base 131, and the base 131 is also provided with a second tool tray 16. The drive structure 11 can be transformed between a first state and a second state. In the first state, the main disk 14 is connected to the first tool tray 15; in the second state, the main disk 14 is connected to the second tool tray 16.

[0034] The drive structure 11 is the part that drives different grippers to move in space. The drive structure 11 can be a translation module that moves in multiple directions, or a robot that moves in multiple directions. The drive structure 11 facilitates the movement of the grippers between different positions. The main disk 14 provided at the output end of the drive structure 11 provides a basis for connection with different grippers. The main disk 14 is part of the quick-change disk, which can play a role in rapid replacement, facilitating the disassembly and installation between the drive structure 11 and different grippers. The quick-change disk can be controlled in an electric, pneumatic or other manner.

[0035] The memory stick gripper 12 is the part that grabs the memory stick 21. The base 121 of the memory stick gripper 12 provides a foundation for the installation of components such as the memory stick clamp 122. The memory stick clamp 122 can clamp the memory stick 21 and move along with the drive structure 11 as a whole to complete the action of plugging and unplugging the memory stick 21. The clamping parts on both sides of the memory stick clamp 122 can move in a direction of approaching or moving away from each other, thereby clamping on the memory stick 21, or withdrawing from clamping the memory stick 21. The memory stick clamp 122 can be controlled in an electric form, a pneumatic form or other forms. The first tool tray 15 is set at the installation position of the base 121 and can cooperate with the main tray 14 to fix the base 121 at the output end of the drive structure 11.

[0036] The hard disk clamp 132 is the part that grabs the hard disk. The base 131 of the hard disk gripper 13 provides a foundation for the installation of components such as the hard disk clamp 132. The hard disk clamp 132 can clamp the hard disk compartment 31 containing the hard disk, and move along with the drive structure 11 as a whole to complete the action of plugging and unplugging the hard disk. The clamping parts on both sides of the hard disk clamp 132 can move in a direction of approaching or moving away from each other, thereby clamping on the hard disk compartment 31, or withdrawing from clamping the hard disk compartment 31. The hard disk clamp 132 can be controlled in an electric form, a pneumatic form or other forms. The second tool tray 16 is set at the installation position of the base 131 and can cooperate with the main tray 14 to fix the base 131 at the output end of the drive structure 11.

[0037] Some embodiments of the present application provide a combination gripper, including a memory stick gripper 12 capable of gripping a memory stick 21, and a hard drive gripper 13 capable of gripping a hard drive. These grippers, driven by a drive structure 11, can be used to insert and remove corresponding storage components. The drive structure 11 can be connected to different tool trays via a main tray 14, allowing it to be installed with different grippers, switching between two states. This allows for automated insertion and removal of different storage components.

[0038] In some embodiments, the memory stick gripper 12 may include a movable first hippocampus head pressure rod 123 and a second hippocampus head pressure rod 124, and a driving member 125 for driving the first hippocampus head pressure rod 123 and the second hippocampus head pressure rod 124 to move, and the first hippocampus head pressure rod 123 and the second hippocampus head pressure rod 124 are used to press the hippocampus head buckle 22.

[0039] When the memory stick gripper 12 grabs the memory stick 21 from the memory slot, the hippocampus head pressing rod can pre-press the hippocampus head buckle 22 to release the hippocampus head buckle 22 from the memory stick 21. This allows the memory stick clamping claw 122 to clamp the memory stick 21 and, driven by the driving structure 11, remove the memory stick 21 from the memory slot.

[0040] like Figure 5 As shown, the base 121 may be provided with a bracket 126 , which is provided adjacent to the memory stick clamp 122 , the first hippocampus pressure rod 123 and the second hippocampus pressure rod 124 are movably provided on the bracket 126 , and the driving member 125 is provided on the bracket 126 .

[0041] The support 126 provides a basis for the installation of the hippocampus pressure bar and makes the hippocampus pressure bar independent of the memory stick clamp 122. The action of the hippocampus pressure bar will not be affected by the memory stick clamp 122 part.

[0042] In addition, the first hippocampus pressure rod 123 and the second hippocampus pressure rod 124 can be arranged on the same connecting piece, that is, they form a whole through the connecting piece. This facilitates the provision of a matching structure between the connecting piece and the bracket 126 to achieve the movement of the hippocampus pressure rod relative to the bracket 126. For example, a slide rail and a slide groove matching structure can be provided between the connecting piece and the bracket 126 to ensure the stability of the hippocampus pressure rod when it moves relative to the bracket 126. An elastic member can also be provided between the hippocampus pressure rod and the connecting piece so that the hippocampus pressure rod has a certain elasticity when pressed to avoid the occurrence of crushing.

[0043] like Figure 5 As shown, the installation position of the hippocampus pressure rod is adjacent to the clamping portion of the memory module clamping claw 122. The memory module clamping claw 122 includes a first clamping portion 1221 and a second clamping portion 1222 disposed opposite each other, a first hippocampus pressure rod 123 disposed opposite the first clamping portion 1221, and a second hippocampus pressure rod 124 disposed opposite the second clamping portion 1222.

[0044] The two clamping parts are designed to accommodate the memory stick 21 and may be formed with grooves to accommodate the memory stick 21, thereby accommodating the memory stick 21. In practice, the two clamping parts can be installed on the clamping jaws of an existing electric clamp, so that when the electric clamp is activated, they move toward or away from each other to clamp and release the memory stick 21.

[0045] In some embodiments, the bracket 126 can be provided with a first detector 127 and a second detector 128. The first detector 127 is provided adjacent to the first hippocampus head pressure rod 123, and the second detector 128 is provided adjacent to the second hippocampus head pressure rod 124. The first detector 127 and the second detector 128 are used to detect the status of the hippocampus head buckle 22.

[0046] The first detector 127 and the second detector 128 can be visual detectors that detect whether the hippocampus head buckle 22 is in a locked state by measuring the position of the hippocampus head buckle 22. In other words, before pressing the hippocampus head buckle 22, the detector can detect the state of the hippocampus head buckle 22 to determine whether the hippocampus head buckle 22 is in a locked state. Furthermore, before and after inserting the memory stick 21, the detector can also detect the state of the hippocampus head buckle 22 to determine whether the hippocampus head buckle 22 is in an unlocked state or a locked state.

[0047] In addition, a channel may be provided on the detector to form an optical path so that the camera of the second visual positioning device 18 in the memory stick gripper 12 can capture image information of the memory stick 21 through the detector.

[0048] like Figure 6As shown, the base 131 may be provided with a pressing member 133 , which includes a mounting portion 1331 connected to the hard disk clamp 132 , and a pressing portion 1332 protruding from the surface of the mounting portion 1331 , and the pressing portion 1332 is used to press the button.

[0049] The pressing member 133 can be used to press the gripper to unlock or open the hard drive. The mounting portion 1331 is connected to the hard drive clamp 132. The pressing member 1332 protrudes relative to the mounting portion 1331 at the end of the clamping portion of the hard drive clamp 132. Specifically, the pressing member 1332 extends away from the base 121 at the end of the clamping portion of the hard drive clamp 132. Before the hard drive clamp 132 clamps the hard drive bay 31, the pressing member 1332 can be used to press the button 33 of the fixing member 32 of the hard drive bay 31, causing the fixing member 32 to pop out. The fixing member 32 is then clamped by the hard drive clamp 132, and the drive mechanism 11 drives the hard drive bay 31 to emerge from the hard drive enclosure opening. The fixing member 32 is then released, allowing the hard drive bay 31, containing the hard drive, to be removed from the enclosure. When inserting the hard drive bay 31 into the hard drive enclosure, the hard drive bay 31 can be clamped and the portion of the hard drive bay 31 containing the hard drives can be pushed into the enclosure. The clamping mechanism 1332 can then be released and the button 33 can be pressed to fully insert the hard drive bay 31 into the enclosure. Finally, the pressing mechanism 1332 can be used to press the fixing member 32, locking the fixing member 32.

[0050] In some embodiments, the drive structure 11 may be provided with a first visual positioning device 17 , and the memory stick gripper 12 and the hard disk gripper 13 may be provided with a second visual positioning device 18 , respectively.

[0051] The visual positioning device can identify the position of a specific object through the image information captured by the camera. The first visual positioning device 17 provided on the drive structure 11 can preliminarily locate the object to be detected, and the second visual positioning device 18 provided on a different gripper can accurately locate the object to be detected. In other words, when determining the position of the memory stick 21 or the hard disk bay 31, the position can be first obtained by multiple shots of the camera in the first visual positioning device 17, and the image of the physical object captured by the camera can be transmitted to the image processing system for feature recognition. After preliminarily obtaining the position of the memory stick 21 or the hard disk bay 31, the camera of the second visual positioning device 18 is used to perform a second precise positioning. This ensures the position accuracy of the gripper when grasping the corresponding object.

[0052] In some embodiments, the drive structure 11 may be provided with a distance measuring sensor 19 .

[0053] The distance measuring sensor 19 can be a laser distance measuring sensor. The distance between the gripper and the memory stick 21 or the hard disk bay 31 can be detected by the distance measuring sensor 19 to determine the gripping position of the gripper.

[0054] In addition, the drive structure 11 may be provided with a force sensor 20 .

[0055] The force sensor 20 can detect the force applied by the gripper to the memory stick 21 or the hard disk, thereby preventing damage to the memory stick 21 or the hard disk due to excessive force applied.

[0056] like Figure 7 As shown, the driving structure 11 can be a multi-axis robot.

[0057] Multi-axis robots have multiple degrees of freedom, enabling movement in various directions, thereby driving different grippers to move between different locations in space. Multi-axis robots can be four-, five-, or six-axis. The collaboration between the multi-axis robot and different grippers enables automated insertion and removal of different storage components.

[0058] Those skilled in the art will appreciate that the above-mentioned embodiments are specific examples for implementing the present application, and that in actual applications, various changes may be made thereto in form and detail without departing from the spirit and scope of the present application.

Claims

1. A combined gripper, characterized in that: include: A driving structure, wherein a main disk is provided at an output end of the driving structure; A memory stick gripper, comprising a base and a memory stick clamping claw arranged on the base, wherein the base is also provided with a first tool tray; A hard disk gripper, comprising a base and a hard disk clamping claw arranged on the base, wherein the base is also provided with a second tool tray; The driving structure can be switched between a first state and a second state. In the first state, the main disk is connected to the first tool disk; in the second state, the main disk is connected to the second tool disk.

2. The combined gripper according to claim 1, characterized in that: The memory stick gripper includes a movable first hippocampus head pressure rod and a second hippocampus head pressure rod, and a driving member for driving the first hippocampus head pressure rod and the second hippocampus head pressure rod to move, and the first hippocampus head pressure rod and the second hippocampus head pressure rod are used to press the hippocampus head buckle.

3. The combined gripper according to claim 2, characterized in that: The base is provided with a bracket, the bracket is arranged adjacent to the memory stick clamp, the first hippocampus head pressure rod and the second hippocampus head pressure rod are movably arranged on the bracket, and the driving member is arranged on the bracket.

4. The combined gripper according to claim 3, characterized in that: The memory stick clamp comprises a first clamping portion and a second clamping portion which are arranged opposite to each other, the first hippocampus head pressure rod is arranged opposite to the first clamping portion, and the second hippocampus head pressure rod is arranged opposite to the second clamping portion.

5. The combined gripper according to claim 3, characterized in that: The bracket is provided with a first detector and a second detector. The first detector is provided adjacent to the first hippocampal head pressure rod, and the second detector is provided adjacent to the second hippocampal head pressure rod. The first detector and the second detector are used to detect the state of the hippocampal head buckle.

6. The combined gripper according to claim 1, characterized in that: The base is provided with a pressing member, which includes a mounting portion connected to the hard disk clamp and a pressing portion protruding from the surface of the mounting portion, and the pressing portion is used for pressing a button.

7. The combined gripper according to claim 1, characterized in that: The driving structure is provided with a first visual positioning device, and the memory stick gripper and the hard disk gripper are respectively provided with a second visual positioning device.

8. The combined gripper according to claim 1, characterized in that: The driving structure is provided with a distance measuring sensor.

9. The combined gripper according to claim 1, characterized in that: The driving structure is provided with a force sensor.

10. The combined gripper according to claim 1, characterized in that: The driving structure is a multi-axis robot.

Images