Double-station mechanical gripper

Abstract

The utility model provides a double-station mechanical gripper, and relates to the field of automatic production. The mechanical gripper comprises a base plate, the front face and the back face of the base plate are each provided with a clamping mechanism, each clamping mechanism comprises a clamping driving piece and two mounting plates, and each mounting plate is provided with at least one clamping jaw; a driving rod of the clamping driving part can stretch out and draw back in the first linear direction, two mounting plates are parallel to the driving rod and symmetrically arranged on the two sides of the driving rod, the two mounting plates are connected with the driving rod through at least one connecting plate, and the two ends of each connecting plate are in pivot joint with the driving rod and the corresponding mounting plate correspondingly. The clamping driving piece can drive the two mounting plates to be close to or away from each other in the second linear direction perpendicular to the first linear direction through the connecting plates. Compared with two structures for taking and placing two products, the mechanical gripper occupies small space in a static state and a dynamic state; and the clamping mechanism of the mechanical gripper adopts a parallelogram structure, so that the structure is simple, and the operation is stable.

Description

Technical Field

[0001] The utility model relates to the technical field of automated production, and particularly relates to a two-station mechanical claw. Background Art

[0002] In the non-standard automation industry, the demand for various automated equipment such as bonding, assembling, and detecting is increasing. In most automated equipment, a pick-and-place module is provided for picking, transporting, and placing materials. In the prior art, in the pick-and-place operation of the detection jig, the mechanical hand usually adopts a single-claw mechanism or a double-claw mechanism with a large structure, either with low efficiency or large space occupation, and it is impossible to achieve layout for some compact machines or is not applicable to scenarios with limited space. Content of the Utility Model

[0003] The purpose of the utility model is to provide a two-station mechanical claw to solve the technical problems of low pick-and-place efficiency or large space occupation of the mechanical claw in the prior art.

[0004] The two-station mechanical claw provided by the utility model includes a substrate, and a set of clamping mechanisms are respectively arranged on the front and back surfaces of the substrate. Each clamping mechanism includes a clamping driving part and two mounting plates, and at least one clamping claw is arranged on each mounting plate; the driving rod of the clamping driving part can stretch along a first straight line direction, the two mounting plates are parallel to the driving rod and symmetrically arranged on both sides of the driving rod, each of the two mounting plates is connected to the driving rod through at least one connecting plate, and both ends of each connecting plate are pivotally connected to the driving rod and the corresponding mounting plate respectively; the clamping driving part can drive the two mounting plates to approach or move away from each other along a second straight line direction through the connecting plates, and the second straight line direction is perpendicular to the first straight line direction.

[0005] Further, each mounting plate is connected to the driving rod through one connecting plate, and the two connecting plates on the same surface of the substrate are symmetrically arranged.

[0006] Further, a transmission plate is connected to the end of the driving rod, and the driving rod is connected to the ends of the two connecting plates through the transmission plate.

[0007] Further, the end of the driving rod is floatingly connected to the transmission plate through a floating joint.

[0008] Further, a plurality of first guide rails are arranged on both the front and back surfaces of the substrate, and the plurality of first guide rails all extend along the second straight line direction and are respectively arranged corresponding to the two mounting plates, and the two mounting plates are both slidably connected to the corresponding first guide rails;

[0009] And / or, the front and back sides of the substrate are both provided with second guide rails, the second guide rails are arranged to extend along the first linear direction, and the transmission plate is slidably connected to the second guide rails.

[0010] Furthermore, the clamping driving members, the transmission plates, the connecting plates and the mounting plates in the two sets of clamping mechanisms are respectively in a mirror image relationship, and the first guide rails and the second guide rails provided on the front and back sides of the substrate are also respectively in a mirror image relationship.

[0011] Furthermore, two jaws are respectively arranged on each mounting plate at intervals along the first linear direction, and along the first linear direction, among the four jaws on the two mounting plates on the same side of the substrate, the two jaws on one mounting plate are located inside the two jaws on the other mounting plate.

[0012] Furthermore, pressure sensors are also provided on the front and back sides of the substrate. The top surface of the pressure sensor is fixedly connected with a bearing plate for bearing a product, and the pressure sensor is used for detecting the downward pressure applied when the product is placed on the bearing plate.

[0013] Furthermore, a plurality of elastic support members are also provided on the front and back sides of the substrate, and the elastic support members are used for assisting in supporting the bearing plate.

[0014] Furthermore, the substrate is provided with a wiring terminal, and the clamping driving members and the pressure sensors of the two sets of clamping mechanisms are both connected to the wiring terminal, that is, the two sets of clamping mechanisms share one wiring terminal.

[0015] The double-station robot gripper provided by the present utility model can achieve the following beneficial effects:

[0016] The double-station robot gripper provided by the present utility model is provided with two sets of clamping mechanisms, that is, it has two stations and can pick and place two products at one time, so the efficiency of picking and placing materials is relatively high. Moreover, compared with two independent structures each only provided with one set of clamping mechanisms, the present utility model is provided with one set of clamping mechanisms on each of the front and back sides of the substrate of the entire robot gripper, and the two sets of clamping mechanisms share one substrate, making the thickness of the entire robot gripper relatively thin, so the space occupied by the robot gripper in the static state is relatively small; and when flipping, the space occupied by the robot gripper is almost the same as that of the structure only provided with one set of clamping mechanisms, that is, approximately only half of the space occupied by the two independent structures each only provided with one set of clamping mechanisms. Therefore, the space occupied by the robot gripper in the dynamic state is also relatively small.

[0017] The double-station robotic gripper provided by the present utility model. In each clamping mechanism, the driving rod drives the mounting plate through the connecting plate, and then drives the jaws to approach each other to clamp the product or move away from each other to release the product. Since the straight line where the driving rod is located, the straight line where the connecting plate is located, the straight line parallel to the mounting plate provided with the jaws, and the straight line parallel to the connecting plate can form a linkage mechanism similar to a parallelogram, and because the parallelogram mechanism has stability, the whole clamping mechanism is not only simple in structure but also very stable in operation.

[0018] In summary, compared with the two structures for picking and placing two products, the double-station robotic gripper provided by the present utility model occupies less space both statically and dynamically. In addition, in the clamping mechanism of this double-station robotic gripper, a parallelogram structure is used, so it is not only simple in structure but also stable in operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions in the embodiments of the present utility model or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only the embodiments of the present utility model. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on the provided drawings.

[0020] Figure 1 It is a schematic structural diagram of the double-station robotic gripper provided by the embodiment of the present utility model in an application scenario;

[0021] Figure 2 It is a schematic structural diagram of the double-station robotic gripper provided by the embodiment of the present utility model;

[0022] Figure 3 It is a partial structural diagram of the double-station robotic gripper provided by the embodiment of the present utility model, excluding the carrier plate;

[0023] Figure 4 It is a schematic diagram of the movement direction during the clamping process of the double-station robotic gripper provided by the embodiment of the present utility model;

[0024] Figure 5 It is a top view structural diagram of the double-station robotic gripper provided by the embodiment of the present utility model;

[0025] Figure 6 It is a schematic diagram of the movement direction during the opening process of the double-station robotic gripper provided by the embodiment of the present utility model.

[0026] DESCRIPTION OF THE REFERENCE NUMERALS:

[0027] 100 - Substrate; 110 - First guide rail; 120 - Second guide rail;

[0028] 210 - Clamping driving part; 211 - Driving rod; 220 - Floating joint; 230 - Transmission plate; 240 - Connecting plate; 250 - Mounting plate; 260 - Jaw; 261 - Rubber pad;

[0029] 310 - Pressure sensor; 320 - Bearing plate; 330 - Elastic support; 340 - Bushing;

[0030] 400 - Elastic nozzle;

[0031] 500 - Displacement sensor;

[0032] 600 - Terminal;

[0033] 700 - Photoelectric detection part;

[0034] 900 - Product. Specific embodiments

[0035] To make the above - mentioned objects, features and advantages of the present utility model more obvious and understandable, the following detailed description of specific embodiments of the present utility model is given in conjunction with the accompanying drawings. It should be understood that the specific embodiments described herein are only used to explain the present utility model and are not used to limit the present utility model.

[0036] This embodiment provides a double - station manipulator claw, as Figures 1 to 3 shown. The double - station manipulator claw includes a substrate 100. A set of clamping mechanisms are provided on each of the front and back surfaces of the substrate 100. The clamping mechanism includes a clamping driving part 210 and two mounting plates 250. At least one jaw 260 is provided on each mounting plate 250. The driving rod 211 of the clamping driving part 210 can extend and retract along a first linear direction. The two mounting plates 250 are both parallel to the driving rod 211 and symmetrically arranged on both sides of the driving rod 211. Each of the two mounting plates 250 is connected to the driving rod 211 through at least one connecting plate 240, and both ends of each connecting plate 240 are pivotally connected to the driving rod 211 and the corresponding mounting plate 250 respectively. The clamping driving part 210 can drive the two mounting plates 250 to approach or move away from each other along a second linear direction through the respective connecting plates 240. The second linear direction is perpendicular to the first linear direction. Further, in this embodiment, the substrate 100 is rectangular, its length direction is the first linear direction, and its width direction is the second linear direction.

[0037] The double-station robotic gripper provided in this embodiment is provided with two sets of clamping mechanisms, that is, it has two stations and can pick and place two products 900 at one time, so the efficiency of picking and placing materials is relatively high. Moreover, compared with two independent structures each with only one set of clamping mechanisms, in this embodiment, one set of clamping mechanisms is provided on each of the front and back sides of the substrate 100 of the entire robotic gripper, and the two sets of clamping mechanisms share one substrate 100, making the thickness of the entire robotic gripper relatively thin. Therefore, the space occupied by this robotic gripper under static conditions is relatively small; when flipping, the space occupied by this robotic gripper is almost the same as that of a structure with only one set of clamping mechanisms, that is, approximately only half of the space occupied by two independent structures each with only one set of clamping mechanisms. Therefore, the space occupied by this robotic gripper under dynamic conditions is also relatively small.

[0038] The double-station robotic gripper provided in this embodiment, as Figure 5 and Figure 6 shown, in each set of clamping mechanisms, the driving rod 211 drives the mounting plate 250 through the connecting plate 240, and then drives the jaws 260 to approach each other to clamp the product 900 or move away from each other to release the product 900. Because the straight line a where the driving rod 211 is located, the straight line where the connecting plate 240 is located, the straight line parallel to the mounting plate 250 where the jaws 260 are provided, and the straight line parallel to the connecting plate 240, these four straight lines can form a linkage mechanism similar to a parallelogram, as Figure 4 shown. Because the parallelogram mechanism has stability, the entire set of clamping mechanisms is not only simple in structure but also very stable in operation.

[0039] In summary, compared with two structures for picking and placing two products 900, the double-station robotic gripper provided in this embodiment occupies less space both under static conditions and under dynamic conditions; in addition, for this double-station robotic gripper, its clamping mechanism uses a parallelogram structure, so it is not only simple in structure but also stable in operation.

[0040] Specifically, in this embodiment, the clamping driving member 210 is a clamping cylinder. In other embodiments of the present application, the clamping driving member 210 can also be a clamping hydraulic cylinder, etc.

[0041] Specifically, in this embodiment, a rubber pad 261 is provided on the inner side of the jaw 260, which not only increases the friction with the product 900 but also can protect the product 900, effectively preventing the product 900 from being scratched, having scratches or being deformed, etc.

[0042] Specifically, in this embodiment, as Figure 3As shown, each mounting plate 250 is connected to the driving rod 211 through a connecting plate 240, and the two connecting plates 240 located on the same side of the substrate 100 are symmetrically arranged. In this setting form, the number of connecting plates 240 is small, and the connecting plates 240 located on the same side of the substrate 100 are symmetrically arranged, so the design and manufacturing are relatively simple. Of course, in other embodiments of the present application, each mounting plate 250 can also be connected to the driving rod 211 through two or more mutually parallel connecting plates 240, as long as the parallelism error between the connecting plates 240 is controlled to ensure that the mounting plate 250 can move smoothly. In addition, in other embodiments of the present application, the connecting plates 240 located on the same side of the substrate 100 can also be arranged asymmetrically, as long as the product 900 can be accurately clamped and loosened.

[0043] Specifically, in this embodiment, continue as Figure 3 shown, a transmission plate 230 is connected to the end of the driving rod 211, and the driving rod 211 is connected to the ends of the two connecting plates 240 through the transmission plate 230. In this setting form, connecting through the plate member and the connecting plate 240 is more convenient for operation and easier to control the assembly error, thereby ensuring the assembly accuracy and the movement accuracy. Of course, in other embodiments of the present application, the connecting plate 240 and the driving rod 211 can also be directly connected.

[0044] Specifically, in this embodiment, as Figure 1 and Figure 2 shown, the end of the driving rod 211 is floatingly connected to the transmission plate 230 through a floating joint 220. With this setting, the floating joint 220 can effectively eliminate the tolerance between the driving rod 211 and the transmission plate 230, and can also effectively absorb the vibration transmitted from the clamping driving member 210 to prevent it from being transmitted to the transmission plate 230.

[0045] Specifically, in this embodiment, as Figure 3As shown, four first guide rails 110 are provided on each of the front and back surfaces of the substrate 100. The four first guide rails 110 all extend along the second straight line direction and are grouped in pairs. The two groups of first guide rails 110 are respectively arranged corresponding to two mounting plates 250, and the two mounting plates 250 are both slidably connected to the corresponding first guide rails 110. More specifically, a first slider (not shown in the figure) is provided at the bottom of the mounting plate 250, and the first slider is slidably connected to the corresponding first guide rail 110. With such a setting, when the connecting plate 240 drives the mounting plate 250 to move, the mounting plate 250 will open outward or clamp the product 900 inward under the restriction and guidance of the first guide rail 110. Of course, in other embodiments of the present application, each mounting plate 250 is not limited to moving along two first guide rails 110, but can also move along one or three first guide rails 110. That is, the present application does not limit the number of the first guide rails 110, as long as the smooth and stable movement of the mounting plate 250 can be ensured.

[0046] Specifically, in this embodiment, second guide rails 120 are provided on both the front and back surfaces of the substrate 100. The second guide rails 120 extend along the first straight line direction, and the transmission plate 230 is slidably connected to the second guide rails 120. More specifically, a second slider (not shown in the figure) is provided at the bottom of the transmission plate 230, and the second slider is slidably connected to the corresponding second guide rail 120. With such a setting, when the driving rod 211 extends or retracts, the transmission plate 230 will extend or retract under the restriction and guidance of the second guide rail 120.

[0047] Specifically, in this embodiment, the clamping drive members 210, the transmission plates 230, the connecting plates 240, and the mounting plates 250 in the two sets of clamping mechanisms are respectively in a mirror image relationship, and the first guide rails 110 and the second guide rails 120 provided on both the front and back surfaces of the substrate 100 are also respectively in a mirror image relationship. With such a setting, the design of the entire robotic gripper is relatively simple, which can greatly improve the design efficiency.

[0048] Specifically, in this embodiment, each mounting plate 250 is provided with two clamping jaws 260 at intervals along the first straight line direction. And along the first straight line direction, among the four clamping jaws 260 on the two mounting plates 250 located on the same side of the substrate 100, the two clamping jaws 260 on one mounting plate 250 are located inside the two clamping jaws 260 on the other mounting plate 250. With such a setting, the four clamping jaws 260 located on the same side of the substrate 100 can also effectively and reliably clamp some products 900 with asymmetric structures. Of course, in other embodiments of the present application, the four clamping jaws 260 located on the same side of the substrate 100 may also be symmetrically arranged relative to the transmission plate 230. In addition, the number of clamping jaws 260 provided on each mounting plate 250 is not limited to two, but may also be one, three or more, and the number of clamping jaws 260 on each mounting plate 250 may also be different. That is, as long as the product 900 can be effectively clamped, the present application does not specifically limit the number of clamping jaws 260 on each mounting plate 250.

[0049] Specifically, in this embodiment, pressure sensors 310 are also provided on both the front and back surfaces of the substrate 100. The top surface of the pressure sensor 310 is fixedly connected with a bearing plate 320. The bearing plate 320 is used to bear the product 900, and the pressure sensor 310 is used to detect the downward pressure applied when the product 900 is placed on the bearing plate 320. During use, the product 900 is placed on the bearing plate 320 manually or by a robotic arm, etc., and the product 900 is appropriately pressed down, and then the clamping driving member 210 is controlled to drive the clamping jaws 260 to clamp the product 900. The pressure sensor 310 is used to detect the downward pressure of pressing down the product 900, so as to control the downward pressure within a normal range, thereby effectively avoiding damage to the device and ensuring that the entire device can work normally.

[0050] Specifically, in this embodiment, as Figure 3 shown, four elastic support members 330 are also provided on both the front and back surfaces of the substrate 100. The elastic support members 330 are used to assist in supporting the bearing plate 320. Further, the four elastic support members 330 can be respectively arranged near the four corners of the bearing plate 320 to respectively assist in supporting the four corners of the bearing plate 320. More specifically, in this embodiment, the elastic support member 330 can be a spring. Of course, in other embodiments of the present application, the elastic support member 330 can also be a telescopic tube or a rubber block, etc.

[0051] In this embodiment, the elastic support members 330 on both the front and back surfaces of the substrate 100 are both arranged through bushings 340, and moreover, the bushings 340 can be selected as standard parts. The two elastic support members 330 corresponding in position on different surfaces are arranged adjacent to each other. In this way, on the premise of ensuring the support of the corresponding corners of the corresponding bearing plate 320, the two do not interfere with each other, and the space of the substrate 100 can be utilized compactly and efficiently.

[0052] Specifically, in this embodiment, as Figure 1 shown, the substrate 100 is provided with a wiring terminal 600. The clamping driving members 210 and the pressure sensors 310 of the two sets of clamping mechanisms are both connected to the wiring terminal 600, that is, the two sets of clamping mechanisms share one wiring terminal 600. The wiring harness of the control system and the like can establish connections with the clamping driving members 210 and the pressure sensors 310 through the wiring terminal 600.

[0053] Specifically, in this embodiment, as Figure 1 shown, each surface of the substrate 100 is further provided with three elastic suction nozzles 400, and the three elastic suction nozzles 400 are not collinear, which are used to adsorb the product 900 to further ensure the stability of the product 900.

[0054] Specifically, in this embodiment, as Figure 1 shown, the substrate 100 is further provided with two displacement sensors 500. Further, they can be photoelectric sensors, which correspond to the two sets of clamping mechanisms respectively, and are used to detect the lifting displacement of the corresponding carrier plate 320 to ensure that the carrier plate 320 floats within a set range.

[0055] In addition, in this embodiment, each surface of the substrate 100 is further provided with a photoelectric detection member 700, which is located beside the pressure sensor 310 on the same side. The carrier plate 320 is provided with a corresponding avoidance space, and this photoelectric detection member 700 is used to detect whether there is a product 900 on the carrier plate 320.

[0056] In summary, the double-station robot gripper provided in this embodiment adopts a parallelogram mechanism. The telescopic movement of the simple cylinder drives the connecting rod to change the initial position and the end position of the jaw 260, realizing the clamping of the product 900. The structure is stable and simple, which is convenient for control, debugging and maintenance; in the case of requiring high efficiency and limited equipment space, two products 900 can be clamped at one time, and actions such as handling and 180° flipping can also be realized, and the actions are efficient and the operation is stable; in the case of stable vacuum, there will be no material dropping; in addition, the overall space occupied is small, which enables the robotic arm to perform a 180° flip in a relatively limited space, and has strong applicability to various similar devices; there are fewer high-precision machined parts, and the overall cost is relatively low.

[0057] Finally, it should also be noted that in this text, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variation thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements not only includes those elements but also includes other elements not expressly listed, or further includes elements inherent to such process, method, article or device.

[0058] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present utility model. Various modifications to the embodiments will be apparent to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present utility model. Therefore, the present utility model will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A double-station robotic gripper, characterized in that, It includes a substrate (100), and a set of clamping mechanisms are provided on each of the front and back surfaces of the substrate (100). The clamping mechanism includes a clamping driving member (210) and two mounting plates (250), and at least one clamping jaw (260) is provided on each mounting plate (250); the driving rod (211) of the clamping driving member (210) can expand and contract along a first linear direction, the two mounting plates (250) are both parallel to the driving rod (211) and symmetrically arranged on both sides of the driving rod (211), each of the two mounting plates (250) is connected to the driving rod (211) through at least one connecting plate (240), and both ends of each connecting plate (240) are pivotally connected to the driving rod (211) and the corresponding mounting plate (250); the clamping driving member (210) can drive the two mounting plates (250) to approach or separate from each other along a second linear direction through the respective connecting plates (240), and the second linear direction is perpendicular to the first linear direction.

2. The two-station robot gripper according to claim 1, characterized in that, Each mounting plate (250) is connected to the driving rod (211) through one connecting plate (240), and the two connecting plates (240) on the same surface of the substrate (100) are symmetrically arranged.

3. The two-station robotic gripper according to claim 1 or 2, characterized in that, A transmission plate (230) is connected to the end of the driving rod (211), and the driving rod (211) is connected to the ends of the two connecting plates (240) through the transmission plate (230).

4. The two-station robot gripper according to claim 3, characterized in that, The end of the driving rod (211) is floatingly connected to the transmission plate (230) through a floating joint (220).

5. The two-station robotic gripper according to claim 3, characterized in that, A plurality of first guide rails (110) are provided on both the front and back surfaces of the substrate (100), the plurality of first guide rails (110) all extend along the second linear direction and are respectively arranged corresponding to the two mounting plates (250), and the two mounting plates (250) are both slidably connected to the corresponding first guide rails (110); And / or, second guide rails (120) are provided on both the front and back surfaces of the substrate (100), the second guide rails (120) extend along the first linear direction, and the transmission plate (230) is slidably connected to the second guide rails (120).

6. The two-station robotic gripper according to claim 5, wherein, The clamping driving members (210), the transmission plates (230), the connecting plates (240) and the mounting plates (250) in the two sets of clamping mechanisms are respectively in a mirror image relationship, and the first guide rails (110) and the second guide rails (120) provided on both the front and back surfaces of the substrate (100) are also respectively in a mirror image relationship.

7. The two-station robotic gripper according to claim 1 or 2, characterized in that, Two clamping jaws (260) are spaced along the first linear direction on each mounting plate (250), and along the first linear direction, among the four clamping jaws (260) on the two mounting plates (250) on the same surface of the substrate (100), the two clamping jaws (260) on one mounting plate (250) are located inside the two clamping jaws (260) on the other mounting plate (250).

8. The double-station robotic gripper according to claim 1 or 2, wherein Pressure sensors (310) are also provided on both the front and back sides of the substrate (100). A top surface of the pressure sensor (310) is fixedly connected to a carrier plate (320), and the carrier plate (320) is used to carry a product (900). The pressure sensor (310) is used to detect a downward pressure applied when the product (900) is placed on the carrier plate (320).

9. The dual-station robotic gripper according to claim 8, wherein, A plurality of elastic support members (330) are also provided on both the front and back sides of the substrate (100), and the elastic support members (330) are used to assist in supporting the carrier plate (320).

10. The two-station mechanical gripper according to claim 8, characterized in that, The substrate (100) is provided with a wiring terminal (600), and the clamping drive members (210) and the pressure sensors (310) of the two sets of clamping mechanisms are both connected to the wiring terminal (600).

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